A gimbal vibration damping device for UAV mapping
By combining multi-layered shock absorption structures and components, the problem of poor shock absorption effect of UAV mapping gimbals in complex field environments has been solved, thereby improving the stability of the camera and the mapping effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDONG HUANNENG DESIGN INST
- Filing Date
- 2024-03-21
- Publication Date
- 2026-07-17
Smart Images
Figure CN117989278B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of shock absorption devices, specifically a shock absorption device for a gimbal used in UAV mapping. Background Technology
[0002] Drone aerial photography, surveying, and inspection technologies can be widely applied in resource exploration, environmental monitoring, land and water resource surveys, crop growth monitoring and yield estimation, agricultural operations, natural disaster monitoring and assessment, urban planning and municipal management, forest pest and disease prevention and monitoring, ecological environment protection and monitoring, public safety, national defense, digital earth, and advertising photography, among other fields, with broad market demand. Currently, most unmanned rotary-wing aircraft are quadcopters or hexacopters, which offer advantages such as easy control of flight attitude and simple structure.
[0003] Furthermore, drone aerial photography and surveying are generally used in conjunction with gimbals to adjust the shooting angle in a timely manner, resulting in more diverse shooting angles and obtaining the required surveying data. However, during surveying camera operations, vibrations generated by various components, as well as vibrations caused by airflow interference, can blur the images taken by the surveying drone's camera. This is especially true when the gimbal and camera are mounted together on the surveying drone, which greatly amplifies the vibration amplitude. The resulting vibrations significantly interfere with the drone's camera, causing blurry images and affecting the effectiveness of aerial photography. Currently, most gimbal vibration reduction relies on shock-absorbing balls made of special materials. Single vibration reduction devices cannot cope with the complex and ever-changing environment in the field, resulting in unsatisfactory vibration reduction effects. Summary of the Invention
[0004] The purpose of this invention is to provide a gimbal vibration damping device for UAV surveying, which solves the problem of existing damping methods being too simplistic, improves the damping effect between the gimbal and the UAV, and ensures surveying results in various environments.
[0005] To achieve the above objectives, the invention employs the following technical solution:
[0006] A gimbal vibration damping device for UAV mapping includes a vibration damping device disposed between the UAV and the gimbal. The gimbal is equipped with a camera. The vibration damping device includes a chassis disposed at the end of the UAV and a bracket connected to the gimbal. A vibration damping frame is disposed between the chassis and the bracket. A plurality of first vibration damping structures and second vibration damping structures are respectively disposed between the vibration damping frame and the chassis, and between the vibration damping frame and the bracket. A third vibration damping structure is disposed laterally between the gimbal and the bracket.
[0007] Furthermore, the first shock-absorbing structure includes a vertical rod slidably connected to the shock absorber frame on the chassis, and a sleeve on the shock absorber frame. A piston is slidably connected to the sleeve at the end of the vertical rod. A first spring, a second spring, and a third spring are respectively provided between the sleeve and the chassis, between the piston and the shock absorber frame, and between the piston and the sleeve. A support rod slidably connected to the chassis is provided on the shock absorber plate, and a limiting block is provided at the end of the support rod that contacts the chassis.
[0008] Furthermore, a sealed chamber is formed between the piston, sleeve, and shock absorber, and the piston is provided with a number of air holes that communicate with the sealed chamber.
[0009] Furthermore, an adjusting block is slidably connected to the vertical rod, and the first spring is sleeved on the vertical rod and positioned between the adjusting block and the piston.
[0010] Furthermore, a drive block is slidably connected to the chassis, the end of the adjustment block is provided with a conical surface, the end of the drive block is provided with a protrusion that contacts the conical surface, and a turntable is rotatably connected to the chassis to simultaneously drive several drive blocks to move radially on the chassis.
[0011] The chassis is provided with a guide groove that slides in a radial direction and is connected to the drive block. The turntable is provided with an arc-shaped groove that slides in contact with the drive block. The chassis is provided with a drive motor that drives the turntable to rotate.
[0012] Furthermore, a sliding sleeve is slidably connected to the outer side of the piston, the end of the sliding sleeve is in contact with the adjusting block, and a fourth spring is provided between the sliding sleeve and the sleeve.
[0013] Furthermore, a cross support plate connected to the bracket is provided between the chassis and the shock absorber frame, and the second shock absorber structure includes shock absorber balls disposed between the cross support plate and the shock absorber frame.
[0014] Furthermore, the pan-tilt unit includes a U-shaped frame and an L-shaped frame connected to the support bracket. The end of the L-shaped frame is rotatably connected to the middle of the U-shaped frame. It also includes a first hydraulic cylinder, a second hydraulic cylinder, and a fixed frame rotatably connected to the U-shaped frame. The camera is mounted on the fixed frame. The two ends of the first hydraulic cylinder are rotatably connected to the fixed frame and the U-shaped frame, respectively. The two ends of the second hydraulic cylinder are rotatably connected to the U-shaped frame and the L-shaped frame, respectively.
[0015] Furthermore, the bottom of the bracket is provided with several connecting rods, the L-shaped frame is provided with an adjustment groove for the connecting rods to pass through, the end of the connecting rod is provided with a protrusion that contacts the L-shaped frame, and the third shock absorption structure includes a first electromagnet provided at both ends of the L-shaped frame, and a second electromagnet symmetrically provided at the bottom of the bracket to cooperate with the first electromagnet.
[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0017] 1. A six-axis drone carries a camera mounted on a gimbal into the air, and the drone's flight attitude is adjusted to control the approximate direction of the camera's movement. Through the coordination of the first and second hydraulic cylinders, the fixed frame, the U-shaped frame, the L-shaped frame, and the support, the shooting angle can be adjusted slightly in a timely manner, making the shooting angle more diverse and obtaining the data required for surveying. This enables aerial surveying and mapping by the drone, improving the effect and efficiency of drone surveying. At the same time, by slightly rotating the gimbal, the shooting angle of the camera can be corrected, offsetting the influence of the drone's own fixed-frequency vibration on the camera.
[0018] 2. During the surveying process, vibrations are generated by various components of the UAV and interference from ambient airflow. These vibrations are transmitted to the gimbal via the chassis, shock absorber, and support. First, the vibrations pass through several primary shock absorber structures between the UAV and the shock absorber. The buffering force generated by the compression of these primary shock absorber structures plays a major role in buffering vertical vibrations. However, when the external environment is harsh, causing the vibration amplitude to increase and exceed the damping range of the primary shock absorber structures, the vibration is transmitted to the secondary shock absorber structures. The buffering force generated by the compression of these secondary shock absorber structures, combined with the primary shock absorber structures, achieves two rounds of damping, resulting in a good damping effect and ensuring the flight stability of the UAV.
[0019] In addition, a third shock-absorbing structure is installed horizontally between the gimbal and the support to buffer the lateral shaking of the drone, thereby coping with the complex and ever-changing environment in the field, improving the vertical shock absorption effect between the gimbal and the drone, and thus ensuring the mapping effect in various environments.
[0020] 3. When the vertical force generated by the drone's vibration is transmitted from the chassis to the vertical rod, the cooperation between the first spring, the vertical rod, the shock absorber, the piston, the chassis, the first spring, the sleeve, and the second spring provides multiple buffers to mitigate the vertical force, thus coping with the complex and ever-changing environment in the field and improving the vertical shock absorption effect between the gimbal and the drone, thereby ensuring the mapping effect in various environments. When the vertical force generated by the drone's vibration disappears, the cooperation between the first spring, the second spring, the piston, and the third spring restricts the piston from sliding rapidly within the sleeve, thereby preventing the vertical rod from quickly returning to its original position and causing the camera to shake. This further improves the vertical shock absorption effect between the gimbal and the drone, ensuring the stability of the camera on the drone and improving the mapping effect of the drone in various environments.
[0021] 4. When the vertical force generated by the drone's vibration is too large, the vertical force generated by the drone's vibration is further buffered through the cooperation between the vertical rod, shock absorber, piston, sleeve, sealed chamber, and air hole; at the same time, when the adjusting block contacts the sliding sleeve, the resistance generated by the first shock absorber structure is further increased through the cooperation between the sliding sleeve, sleeve, fourth spring, and first spring, so as to better play the role of shock absorption, avoid large-scale shaking of the camera on the gimbal, ensure the stability of the camera on the drone, and improve the surveying effect of the drone in various environments;
[0022] When the vertical force generated by the drone's vibration disappears, the rebound force generated by the compression of the first spring will drive the chassis to quickly reset. Through the cooperation between the vertical rod, limit block, piston, sleeve, air hole, and sealed chamber, the vertical rod is further prevented from quickly resetting, thus avoiding the camera shaking caused by the chassis returning to its original position. This improves the vertical vibration reduction effect between the gimbal and the drone, ensures the stability of the camera on the drone, and improves the surveying effect of the drone in various environments.
[0023] 5. Through the cooperation between the drive motor, turntable, chassis, arc groove, drive block, and guide groove, several drive blocks can slide radially on the chassis; at the same time, there is no need to set up a separate power unit to drive the adjustment block to move on the vertical rod, reducing the space required for power unit installation and the cost of manufacturing.
[0024] When encountering a stable airflow, the drive block is driven to slide inward through the above steps. At the same time, through the cooperation between the first spring, the adjusting block, the vertical rod, the conical surface, the drive block, and the protrusion, the magnitude of the first spring's buffering force is reduced. This prevents the distance between the shock-absorbing plate and the chassis from being unable to be reduced due to excessive pre-made buffering force when the drone shifts downward slightly, thus preventing the camera on the gimbal from shaking significantly. This ensures the stability of the camera on the drone and improves the drone's mapping effect in various environments.
[0025] When encountering strong airflow, the drive block slides outward through the above steps. At the same time, through the cooperation between the protrusion, cone, adjusting block, vertical rod and first spring, the buffering force of the first spring is increased, absorbing most of the vibration generated by the airflow on the drone, avoiding large-scale turbulence of the camera on the gimbal, ensuring the stability of the camera on the drone, and improving the mapping effect of the drone in various environments.
[0026] 6. When the first shock absorption structure cannot completely eliminate vibration, the shock absorption ball plays a secondary shock absorption role, while also offsetting some of the lateral vibration; in addition, the shock absorption ball is set between the horizontal support plate and the shock absorption frame, effectively increasing the vertical installation space of the UAV, making the overall structure more compact and ensuring that the camera does not collide with the ground during landing.
[0027] When the lateral vibrations generated by the drone are transmitted to the support, the resistance generated by the cooperation between the support, the second electromagnet, the L-shaped frame, and the first electromagnet counteracts the force generated by the lateral vibrations of the drone. In addition, when encountering strong airflow, the magnetic force of the first and second electromagnets can be increased to prevent the camera on the gimbal from shaking significantly, ensuring the stability of the camera on the drone and improving the mapping effect of the drone in various environments. Attached Figure Description
[0028] Appendix Figure 1 This is a structural schematic diagram of the UAV of the present invention.
[0029] Appendix Figure 2 This is a schematic diagram of the gimbal structure of the present invention.
[0030] Appendix Figure 3 This is a schematic diagram of the shock absorber frame of the present invention.
[0031] Appendix Figure 4 This is a schematic diagram of the structure of the vertical rod of the present invention.
[0032] Appendix Figure 5 This is a schematic diagram of the arc-shaped groove of the present invention.
[0033] Appendix Figure 6 This is a schematic diagram of the U-shaped frame of the present invention.
[0034] Appendix Figure 7 This is a schematic diagram of the structure of the first electromagnet and the second electromagnet of the present invention.
[0035] The labels shown in the attached diagram:
[0036] 1. Drone; 2. Gimbal; 3. Camera; 4. Chassis; 5. Bracket; 6. Shock absorber; 7. First shock absorber structure; 8. Second shock absorber structure; 9. Third shock absorber structure; 10. Vertical rod; 11. Sleeve; 12. Piston; 13. First spring; 14. Second spring; 15. Third spring; 16. Support rod; 17. Limiting block; 18. Sealed chamber; 19. Air hole; 20. Adjusting block; 21. Drive block; 22. Conical surface; 23. Protrusion; 24. Turntable; 25. Guide groove; 26. Arc groove; 27. Drive motor; 28. Sliding sleeve; 29. Fourth spring; 30. Horizontal support plate; 31. Shock absorber ball; 32. U-shaped frame; 33. L-shaped frame; 34. First hydraulic cylinder; 35. Second hydraulic cylinder; 36. Fixing frame; 37. Connecting rod; 38. Adjusting groove; 39. First electromagnet; 40. Second electromagnet. Detailed Implementation
[0037] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined in this application.
[0038] This invention provides a gimbal vibration damping device for UAV surveying, such as... Figure 1 and Figure 2 As shown, the system includes a vibration damping device positioned between the drone 1 and the gimbal 2. Specifically, the drone 1 can be a six-axis rotorcraft, facilitating control of its flight attitude and improving the mapping effect. Simultaneously, the vibration damping device between the gimbal 2 and the drone 1 buffers the vibrations transmitted from the drone 1 to the gimbal 2, preventing interference with the drone 1's camera and avoiding blurry images, thus affecting the aerial photography. The gimbal 2 is equipped with a camera 3 for aerial mapping by the drone 1, improving the mapping effect and efficiency. Furthermore, the gimbal 2 between the drone 1 and the camera 3 allows for timely adjustment of the shooting angle, providing more diverse shooting angles and obtaining the required mapping data. The vibration damping device includes a chassis 4 at the end of the drone 1 and a support 5 connected to the gimbal 2. A vibration damping frame 6 is positioned between the chassis 4 and the support 5. Several first vibration damping structures 7 and second vibration damping structures 8 are respectively positioned between the vibration damping frame 6 and the chassis 4, and between the vibration damping frame 6 and the support 5. Vibrations generated by the components of UAV 1 and interference from ambient airflow are transmitted to the gimbal 2 via the chassis 4, shock absorber 6, and support 5. First, the vibrations pass through several first shock absorber structures 7 located between UAV 1 and the shock absorber 6. The buffering force generated by the compression of the first shock absorber structures 7 primarily buffers the vertical vibrations. When the external environment is harsh, causing the vibration amplitude to increase and exceed the damping range of the first shock absorber structures 7, the vibration is transmitted from the shock absorber 6 to the second shock absorber structure 8. The buffering force generated by the compression of the second shock absorber structure 8, combined with the first shock absorber structures 7, achieves dual damping, resulting in a good damping effect and ensuring the flight stability of UAV 1. This helps to cope with complex and changing outdoor environments, improves the vertical damping effect between the gimbal 2 and UAV 1, and thus ensures mapping performance in various environments. A third shock absorber structure 9 is located laterally between the gimbal 2 and the support 5, which buffers the lateral shaking of UAV 1, improves the lateral damping effect between the gimbal 2 and UAV 1, and thus ensures mapping performance in various environments.
[0039] Priority, such as Figure 3 and Figure 4As shown, the first shock-absorbing structure 7 includes a vertical rod 10 slidably connected to the shock absorber frame 6 on the chassis 4, and a sleeve 11 on the shock absorber frame 6. A piston 12 is slidably connected to the end of the vertical rod 10 on the sleeve 11. A first spring 13, a second spring 14, and a third spring 15 are respectively provided between the sleeve 11 and the chassis 4, between the piston 12 and the shock absorber frame 6, and between the piston 12 and the sleeve 11. A support rod 16 slidably connected to the chassis 4 is provided on the shock absorber plate. A limiting block 17 in contact with the chassis 4 is provided at the end of the support rod 16. When the vertical force generated by the vibration of the UAV 1 is transmitted from the chassis 4 to the vertical rod 10, the rebound force of the first spring 13 offsets part of the force, and then the vertical rod 10 slides on the shock absorber frame 6, further compressing the first spring 13 between the piston 12 and the chassis 4. The resistance generated by the compression of the first spring 13 buffers the vertical force generated by the vibration of the UAV 1. Simultaneously, the vertical rod 10 causes the piston 12 to slide within the sleeve 11, further compressing the second spring 14. The rebound force generated after compression further buffers the vertical force generated by the vibration of the drone 1, thus coping with the complex and ever-changing environment in the field, improving the vertical shock absorption effect between the gimbal 2 and the drone 1, and ensuring the mapping effect under various environments. When the vertical force generated by the vibration of the drone 1 disappears, the rebound force generated after the compression of the first spring 13 and the second spring 14 will drive the chassis 4 to quickly reset. At this time, the piston 12 will compress the third spring 15. The rebound force generated after the compression of the third spring 15 restricts the piston 12 from sliding quickly within the sleeve 11, thereby blocking the reset of the vertical rod 10, preventing the chassis 4 from quickly returning to its original position and causing the camera to shake, thus improving the vertical shock absorption effect between the gimbal 2 and the drone 1, ensuring the stability of the camera on the drone 1, and improving the mapping effect of the drone 1 under various environments.
[0040] Priority, such as Figure 3 and Figure 4As shown, a sealed chamber 18 is formed between the piston 12, sleeve 11, and shock absorber 6. The piston 12 has several air holes 19 communicating with the sealed chamber 18. When the vertical force generated by the vibration of the drone 1 is too large, the driving rod 10 moves rapidly on the shock absorber 6, causing the piston 12 to slide quickly within the sleeve 11. This prevents the air in the sealed chamber 18 from being discharged from the air holes 19 in time, further increasing the resistance generated by the piston 12 compressing the air in the sealed chamber 18, thereby further buffering the vertical force generated by the vibration of the drone 1. Simultaneously, when the vertical force generated by the vibration of the drone 1 disappears... The rebound force generated by the compression of the first spring 13 will drive the chassis 4 to quickly return to its original position until the limiting block 17 at the end of the vertical rod 10 contacts the piston 12, causing the piston 12 to slide quickly inside the sleeve 11. Since the external air cannot be discharged from the air hole 19 in time, a pressure difference is generated between the air in the sealed chamber 18 and the outside air, preventing the piston 12 from sliding inside the sleeve 11, thereby further preventing the vertical rod 10 from quickly returning to its original position and avoiding the chassis 4 from quickly returning to its original position, which would cause the camera to shake. This improves the vertical shock absorption effect between the gimbal 2 and the drone 1, ensures the stability of the camera on the drone 1, and improves the mapping effect of the drone 1 in various environments.
[0041] Priority, such as Figure 3 and Figure 4 As shown, an adjusting block 20 is slidably connected to the vertical rod 10. The first spring 13 is sleeved on the vertical rod 10 and positioned between the adjusting block 20 and the piston 12. By changing the position of the adjusting block 20 on the vertical rod 10, the compression of the first spring 13 in the equilibrium state is changed, and the rebound force of the first spring 13 in the equilibrium state is changed, thereby changing the magnitude of the buffer force pre-fabricated on the chassis 4. When encountering strong airflow, the adjusting block 20 increases the magnitude of the buffer force of the first spring 13, absorbing most of the vibration generated by the airflow on the drone 1, and avoiding large-scale turbulence of the camera 3 on the gimbal 2. When encountering stable airflow, if the drone 1 shifts downward slightly, the adjusting block 20 reduces the magnitude of the buffer force of the first spring 13, causing the drone 1 to shift downward. This prevents the distance between the shock absorber and the chassis 4 from not being reduced due to excessive pre-fabricated buffer force, thus preventing large-scale turbulence of the camera 3 on the gimbal 2, thereby ensuring the stability of the camera on the drone 1 and improving the mapping effect of the drone 1 in various environments.
[0042] Priority, such as Figure 4 and Figure 5As shown, a drive block 21 is slidably connected to the chassis 4. The end of the adjusting block 20 is provided with a conical surface 22. The end of the drive block 21 is provided with a protrusion 23 that contacts the conical surface 22. A turntable 24 is rotatably connected to the chassis 4, which simultaneously drives several drive blocks 21 to move radially on the chassis 4. The turntable 24 drives several drive blocks 21 to move radially on the chassis 4 simultaneously, so that the protrusion 23 at the end of the drive block 21 contacts the conical surface 22, and drives several adjusting blocks 20 to slide on the vertical rod 10, changing the magnitude of the pre-made buffer force on the first spring 13 to meet the needs of the first shock absorption structure 7 under different environments, thereby ensuring the stability of the camera on the UAV 1 and improving the mapping effect of the UAV 1 in various environments; at the same time, there is no need to set up a separate power device to drive the adjusting block 20 to move on the vertical rod 10, reducing the space required for power device installation and the cost of manufacturing.
[0043] Priority, such as Figure 4 and Figure 5 As shown, the chassis 4 has a guide groove 25 radially connected to the drive block 21, and the turntable 24 has an arc-shaped groove 26 that slides in contact with the drive block 21. The chassis 4 has a drive motor 27 that drives the turntable 24 to rotate. Specifically, the movable end of the drive motor 27 has a gear, and the inner side of the turntable 24 has a rack that meshes with the gear. The drive motor 27 drives the gear to rotate. Because the gear and the rack mesh, the turntable 24 rotates on the chassis 4, so that the arc-shaped grooves 26 on the turntable 24 are in contact with the corresponding drive blocks 21. The contact generates a component force that drives the drive block 21 to move on the turntable 24. At the same time, the drive block 21 is guided by the guide groove 25, causing several drive blocks 21 to slide radially on the chassis 4. This changes the magnitude of the pre-made buffer force on the first spring 13, meeting the needs of the first shock absorption structure 7 under different environments. This ensures the stability of the camera on the UAV 1 and improves the mapping effect of the UAV 1 in various environments. Meanwhile, there is no need to set up a separate power unit to drive the adjustment block 20 to move on the vertical rod 10, reducing the space required for power unit installation and the cost of manufacturing.
[0044] Priority, such as Figure 3 and 4As shown, a sliding sleeve 28 is slidably connected to the outer side of the piston 12. The end of the sliding sleeve 28 is in contact with the adjusting block 20. A fourth spring 29 is provided between the sliding sleeve 28 and the sleeve 11. When the force generated by the vibration of the UAV 1 is too large, it drives the first spring 13 to compress significantly, which in turn drives the adjusting block 20 to press down the first spring 13, so that the adjusting block 20 is in contact with the sliding sleeve 28 and drives the sliding sleeve 28 to slide on the sleeve 11, compressing the fourth spring 29 between the sliding sleeve 28 and the sleeve 11. The rebound force generated after the compression of the fourth spring 29, combined with the rebound force generated after the compression of the first spring 13, further increases the resistance generated by the first shock absorption structure 7, thereby better achieving the shock absorption effect, avoiding large-scale turbulence of the camera 3 on the gimbal 2, ensuring the stability of the camera on the UAV 1, and improving the mapping effect of the UAV 1 in various environments.
[0045] Priority, such as Figure 3 As shown, a horizontal support plate 30 connected to the bracket 5 is provided between the chassis 4 and the shock absorber 6. The second shock absorber structure 8 includes a shock absorber ball 31 disposed between the horizontal support plate 30 and the shock absorber 6. When the first shock absorber structure 7 cannot completely eliminate vibration, the shock absorber ball 31 plays a secondary shock absorber role and also offsets part of the lateral vibration. In addition, the shock absorber ball 31 is disposed between the horizontal support plate 30 and the shock absorber 6, effectively increasing the vertical installation space of the UAV 1, making the overall structure more compact and ensuring that the camera does not collide with the ground when landing.
[0046] Priority, such as Figure 6 As shown, the gimbal 2 includes a U-shaped frame 32 and an L-shaped frame 33 connected to the support 5. The end of the L-shaped frame 33 is rotatably connected to the middle of the U-shaped frame 32. It also includes a first hydraulic cylinder 34, a second hydraulic cylinder 35, and a fixed frame 36 rotatably connected to the U-shaped frame 32. The camera 3 is mounted on the fixed frame 36. The two ends of the first hydraulic cylinder 34 are rotatably connected to the fixed frame 36 and the U-shaped frame 32, respectively. The two ends of the second hydraulic cylinder 35 are rotatably connected to the U-shaped frame 32 and the L-shaped frame 33, respectively. Specifically, the U-shaped frame 32 and the L-shaped frame 33 are respectively provided with connecting blocks rotatably connected to the first hydraulic cylinder 34 and the second hydraulic cylinder 35. By extending and retracting the first hydraulic cylinder 34 and the second hydraulic cylinder 35, the fixed frame 36 is driven to rotate on the U-shaped frame 32 and on the L-shaped frame 33, changing the shooting angle of the camera on the fixed frame 36. At the same time, the shooting angle of the camera can be corrected by slightly rotating the gimbal 2, thus offsetting the influence of the fixed frequency vibration of the drone 1 on the camera.
[0047] Priority, such as Figure 6 and Figure 7As shown, the bottom of the support 5 is provided with several connecting rods 37, and the L-shaped frame 33 is provided with an adjustment groove 38 for the connecting rods 37 to pass through, so that the L-shaped frame 33 can move slightly left and right on the support 5. The end of the connecting rod 37 is provided with a protrusion 23 that contacts the L-shaped frame 33. The third shock absorption structure 9 includes a first electromagnet 39 disposed at both ends of the L-shaped frame 33, and a second electromagnet 40 symmetrically disposed at the bottom of the support 5 to cooperate with the first electromagnet 39. When the lateral vibration generated by the UAV 1 is transmitted to the support 5, it will be carried to the support 5 and The second electromagnet 40 at its bottom moves together, so that the second electromagnet 40 on one side approaches the corresponding first electromagnet 39 on the L-shaped frame 33. The resistance generated by the repulsion between the two first electromagnets 39 and the second electromagnet 40 counteracts the force generated by the lateral vibration of the UAV 1. In addition, when encountering strong airflow, the magnetic force of the first electromagnet 39 and the second electromagnet 40 can be increased to avoid large-scale shaking of the camera 3 on the gimbal 2, ensure the stability of the camera on the UAV 1, and improve the mapping effect of the UAV 1 in various environments.
[0048] Example 1
[0049] This invention provides a gimbal vibration damping device for UAV surveying, such as... Figure 1 and Figure 2 As shown, a camera mounted on a gimbal 2 is brought into the air by a six-axis drone 1, and the flight attitude of the drone 1 is adjusted to control the general direction of the camera's movement. The gimbal 2 is used to make small adjustments to the shooting angle in a timely manner, so that the shooting angle is more diverse and the data required for surveying is obtained. This enables the drone 1 to perform aerial surveying and improves the effectiveness and efficiency of the drone 1's surveying.
[0050] During the surveying process, vibrations are generated by the components of the UAV 1 and the interference of ambient airflow. These vibrations are transmitted to the gimbal 2 via the chassis 4, shock absorber 6, and support 5. First, the vibrations pass through several first shock absorber structures 7 located between the UAV 1 and the shock absorber 6. The buffering force generated by the compression of the first shock absorber structures 7 provides the primary buffering effect for vertical vibrations. When the external environment is harsh, causing the vibration amplitude to increase and exceed the damping range of the first shock absorber structures 7, the vibration is transmitted from the shock absorber 6 to the second shock absorber structure 8. The buffering force generated by the compression of the second shock absorber structure 8, combined with the first shock absorber structures 7, achieves two rounds of damping, resulting in a good damping effect and ensuring the flight stability of the UAV 1. Furthermore, a third shock absorber structure 9 is located laterally between the gimbal 2 and the support 5, which buffers the lateral shaking of the UAV 1. This helps to cope with the complex and ever-changing environment in the field, improves the vertical damping effect between the gimbal 2 and the UAV 1, and ultimately ensures surveying results in various environments.
[0051] Example 2
[0052] Based on Example 1, such as Figure 3 and Figure 4 As shown, when the whole is in a balanced state, the limiting block 17 at the end of the support rod 16 contacts the chassis 4, the first spring 13 is in a compressed state, and the rebound force of the first spring 13 after compression is applied to the chassis 4 to offset part of the vertical force generated by the vibration of the drone 1. The rebound force of the second spring 14 after compression is equal to the rebound force of the third spring 15.
[0053] When the vertical force generated by the vibration of UAV 1 is transmitted from the chassis 4 to the vertical rod 10, the pre-loaded rebound force of the first spring 13 offsets part of the force, causing the vertical rod 10 to slide on the shock absorber 6, further compressing the first spring 13 between the piston 12 and the chassis 4. The resistance generated by the compression of the first spring 13 buffers the vertical force generated by the vibration of UAV 1. At the same time, the vertical rod 10 causes the piston 12 to slide within the sleeve 11, further compressing the second spring 14. The rebound force generated by its compression further buffers the vertical force generated by the vibration of UAV 1, thus coping with the complex and ever-changing environment in the field and improving the performance of the gimbal 2 and the UAV. The vertical vibration damping effect between the gimbal 2 and the drone 1 ensures the mapping effect in various environments. When the vertical force generated by the vibration of the drone 1 disappears, the rebound force generated by the compression of the first spring 13 and the second spring 14 will drive the chassis 4 to quickly reset. At this time, the piston 12 will compress the third spring 15. The rebound force generated by the compression of the third spring 15 restricts the piston 12 from sliding quickly in the sleeve 11, thereby blocking the reset of the vertical rod 10 and preventing the chassis 4 from shaking due to rapid return. This improves the vertical vibration damping effect between the gimbal 2 and the drone 1, ensures the stability of the camera on the drone 1, and improves the mapping effect of the drone 1 in various environments.
[0054] Example 3
[0055] Based on Example 2, such as Figure 3 and Figure 4As shown, when the vertical force generated by the vibration of the UAV 1 is too large, the drive rod 10 moves quickly on the shock absorber 6, causing the piston 12 to slide quickly in the sleeve 11. This causes the air in the sealed chamber 18 to be unable to be discharged from the air hole 19 in time, which further increases the resistance generated by the piston 12 compressing the air in the sealed chamber 18, thereby further buffering the vertical force generated by the vibration of the UAV 1. At the same time, when the adjusting block 20 contacts the sliding sleeve 28, it drives the sliding sleeve 28 to slide on the sleeve 11, compressing the fourth spring 29 between the sliding sleeve 28 and the sleeve 11. The rebound force generated by the compression of the fourth spring 29, combined with the rebound force generated by the compression of the first spring 13, further increases the resistance generated by the first shock absorber structure 7, which better achieves the shock absorption effect, avoids large-amplitude shaking of the camera 3 on the gimbal 2, ensures the stability of the camera on the UAV 1, and improves the mapping effect of the UAV 1 in various environments.
[0056] When the vertical force generated by the vibration of the UAV 1 disappears, the rebound force generated by the compression of the first spring 13 will drive the chassis 4 to quickly return to its original position until the limiting block 17 at the end of the vertical rod 10 contacts the piston 12, causing the piston 12 to slide quickly inside the sleeve 11. Since the external air cannot be discharged from the air hole 19 in time, a pressure difference is generated between the air in the sealed chamber 18 and the outside air, preventing the piston 12 from sliding inside the sleeve 11, thereby further preventing the vertical rod 10 from quickly returning to its original position and avoiding the camera shaking caused by the rapid return of the chassis 4. This improves the vertical shock absorption effect between the gimbal 2 and the UAV 1, ensures the stability of the camera on the UAV 1, and improves the mapping effect of the UAV 1 in various environments.
[0057] Example 4
[0058] Based on Example 1, such as Figure 5 and Figure 6 As shown, the turntable 24 is driven to rotate on the chassis 4 by the drive motor 27, so that several arc-shaped grooves 26 on the turntable 24 come into contact with the corresponding drive blocks 21. The resulting force drives the drive blocks 21 to move on the turntable 24. At the same time, the drive blocks 21 are guided by the guide groove 25, so that several drive blocks 21 slide radially on the chassis 4, changing the magnitude of the pre-made buffer force on the first spring 13 to meet the needs of the first shock absorption structure 7 in different environments, thereby ensuring the stability of the camera on the UAV 1 and improving the mapping effect of the UAV 1 in various environments. At the same time, there is no need to set up a separate power unit to drive the adjustment block 20 to move on the vertical rod 10, reducing the space required for power unit installation and the cost of manufacturing.
[0059] When encountering a stable airflow, the drive block 21 is driven to slide inward through the above steps. In conjunction with the rebound force generated by the compression of the first spring 13, the adjustment block 20 is driven to slide upward on the vertical rod 10 until the conical surface 22 contacts the protrusion 23 at the end of the drive block 21. This reduces the magnitude of the buffer force of the first spring 13, so that when the UAV 1 shifts downward slightly, it avoids the distance between the shock absorber and the chassis 4 from not being reduced due to excessive pre-made buffer force. This prevents the camera 3 on the gimbal 2 from shaking significantly, thereby ensuring the stability of the camera on the UAV 1 and improving the mapping effect of the UAV 1 in various environments.
[0060] When encountering strong airflow, the above steps drive block 21 to slide outward, bringing protrusion 23 into contact with cone surface 22. This drives adjustment block 20 to slide downward on vertical rod 10, further compressing the first spring 13. This increases the buffering force of the first spring 13, absorbing most of the vibrations generated by the airflow on the UAV 1, preventing the camera 3 on the gimbal 2 from shaking significantly, ensuring the stability of the camera on the UAV 1, and improving the mapping effect of the UAV 1 in various environments.
[0061] Example 5
[0062] Based on Example 1, such as Figure 1 As shown, when the first damping structure 7 cannot completely eliminate the vibration, the damping ball 31 plays a secondary damping role, while also offsetting some of the lateral vibration; in addition, the damping ball 31 is set between the horizontal support plate 30 and the damping frame 6, effectively increasing the vertical installation space of the UAV 1, making the overall structure more compact and ensuring that the camera does not collide with the ground when landing.
[0063] like Figure 6 and Figure 7 As shown, when the lateral vibration generated by the UAV 1 is transmitted to the support 5, it will cause the support 5 and the second electromagnet 40 at its bottom to move together, so that the second electromagnet 40 on one side approaches the corresponding first electromagnet 39 on the L-shaped frame 33. Through the repulsion between the two first electromagnets 39 and the second electromagnet 40, the resistance generated can counteract the force generated by the lateral vibration of the UAV 1. In addition, when encountering strong airflow, the magnetic force of the first electromagnet 39 and the second electromagnet 40 can be increased to avoid large-scale shaking of the camera 3 on the gimbal 2, ensure the stability of the camera on the UAV 1, and improve the mapping effect of the UAV 1 in various environments.
[0064] By extending and retracting the first hydraulic cylinder 34 and the second hydraulic cylinder 35, the fixed frame 36 is driven to rotate on the U-shaped frame 32 and the U-shaped frame 32 on the L-shaped frame 33, thereby changing the shooting angle of the camera on the fixed frame 36; at the same time, the shooting angle of the camera can be corrected by slightly rotating the gimbal 2, thus offsetting the influence of the fixed frequency vibration of the drone 1 on the camera.
Claims
1. A gimbal vibration damping device for UAV mapping, comprising a vibration damping device disposed between a UAV (1) and a gimbal (2), wherein a camera (3) is mounted on the gimbal (2), characterized in that: The shock absorption device includes a chassis (4) at the end of the UAV (1) and a bracket (5) connected to the gimbal (2). A shock absorption frame (6) is provided between the chassis (4) and the bracket (5). Several first shock absorption structures (7) and second shock absorption structures (8) are provided between the shock absorption frame (6) and the chassis (4) and between the shock absorption frame (6) and the bracket (5). A third shock absorption structure (9) is provided in the transverse direction between the gimbal (2) and the bracket (5). The first shock absorption structure (7) includes a vertical rod (10) slidably connected to the shock absorber frame (6) on the chassis (4) and a sleeve (11) slidably connected to the sleeve (11) and a piston (12) at the end of the vertical rod (10). A first spring (13), a second spring (14) and a third spring (15) are respectively provided between the sleeve (11) and the chassis (4), between the piston (12) and the shock absorber frame (6), and between the piston (12) and the sleeve (11). A support rod (16) slidably connected to the chassis (4) is provided on the shock absorber frame (6). A limiting block (17) that contacts the chassis (4) is provided at the end of the support rod (16). An adjusting block (20) is slidably connected to the vertical rod (10), and the first spring (13) is sleeved on the vertical rod (10) and disposed between the adjusting block (20) and the sleeve (11); A sliding sleeve (28) is slidably connected to the outside of the piston (12). The end of the sliding sleeve (28) is in contact with the adjusting block (20). A fourth spring (29) is provided between the sliding sleeve (28) and the sleeve (11).
2. The gimbal vibration damping device for UAV mapping according to claim 1, characterized in that: A sealed chamber (18) is formed between the piston (12), the sleeve (11) and the shock absorber (6), and the piston (12) is provided with a number of air holes (19) that communicate with the sealed chamber (18).
3. The gimbal vibration damping device for UAV mapping according to claim 1, characterized in that: A drive block (21) is slidably connected to the chassis (4). The end of the adjustment block (20) is provided with a conical surface (22). The end of the drive block (21) is provided with a protrusion (23) that contacts the conical surface (22). A turntable (24) is rotatably connected to the chassis (4) to simultaneously drive several drive blocks (21) to move radially on the chassis (4).
4. The gimbal vibration damping device for UAV mapping according to claim 3, characterized in that: The chassis (4) is provided with a guide groove (25) that is slidably connected to the drive block (21) along the radial direction. The turntable (24) is provided with an arc groove (26) that is slidably in contact with the drive block (21). The chassis (4) is provided with a drive motor (27) that drives the turntable (24) to rotate.
5. The gimbal vibration damping device for UAV mapping according to claim 1, characterized in that: The chassis (4) and the shock absorber (6) are provided with a horizontal support plate (30) connected to the bracket (5), and the second shock absorber structure (8) includes a shock absorber ball (31) disposed between the horizontal support plate (30) and the shock absorber (6).
6. The gimbal vibration damping device for UAV mapping according to claim 1, characterized in that: The pan-tilt unit (2) includes a U-shaped frame (32) and an L-shaped frame (33) connected to the bracket (5). The end of the L-shaped frame (33) is rotatably connected to the middle of the U-shaped frame (32). It also includes a first hydraulic cylinder (34), a second hydraulic cylinder (35), and a fixed frame (36) rotatably connected to the U-shaped frame (32). The camera (3) is mounted on the fixed frame (36). The two ends of the first hydraulic cylinder (34) are rotatably connected to the fixed frame (36) and the U-shaped frame (32) respectively. The two ends of the second hydraulic cylinder (35) are rotatably connected to the U-shaped frame (32) and the L-shaped frame (33) respectively.
7. A gimbal vibration damping device for UAV mapping according to claim 6, characterized in that: The bottom of the bracket (5) is provided with several connecting rods (37), the L-shaped frame (33) is provided with an adjustment groove (38) for the connecting rods (37) to pass through, the end of the connecting rod (37) is provided with a protrusion (23) that contacts the L-shaped frame (33), and the third shock absorption structure (9) includes a first electromagnet (39) provided at both ends of the L-shaped frame (33) and a second electromagnet (40) symmetrically provided at the bottom of the bracket (5) to cooperate with the first electromagnet (39).