Vertically downward mechanical stability augmentation holder device

Abstract

The invention discloses a vertically downward mechanical stability augmentation holder device which comprises a universal fisheye bearing, a fixing plate, a damping rod, a hollow connecting rod and an optical camera. The fixing plate is connected with an unmanned aerial vehicle platform, the connecting rod is connected with the fixing plate through a universal fisheye bearing, and multi-angle swinging of the connecting rod is achieved through the universal fisheye bearing; two ends of the damping rod are respectively connected with the fixing plate and the connecting rod for absorbing vibration of the holder device; the optical camera is fixed to the bottom of the connecting rod and used for shooting. Compared with the prior art, by means of the principle of the pendulum bob, the gravity reset characteristic and the combined action of the damping rod, the fine adjustment steel ring and the optical camera are rapidly recovered to be in the vertical state, the device adapts to the complex dynamic environment, stable operation of equipment can be kept even in the violent shaking environment, and the pure mechanical stability augmentation structure is high in durability, simple in design and low in cost. Cost and power consumption are low.

Description

Technical Field

[0001] The present invention belongs to the technical field of pan-tilt, and particularly relates to a vertically downward mechanically stabilized pan-tilt device. Background Art

[0002] As is well known, the current UAV electric pan-tilt is assembled by a pan-tilt controller, a brushless motor, metal aluminum alloy parts, etc. After an optical camera is installed and fixed, the motor of the corresponding axis is controlled by the pan-tilt controller to rotate to automatically correct the pitch, roll, and yaw during flight, so as to ensure that the camera sensor always points to the task direction.

[0003] For the existing pan-tilt devices on the market, combining functions such as stabilization and direction control, their structures and functions are too complex for aerial survey requirements. First, there is power consumption. Since the motor and controller will consume the power of the UAV especially, it will affect the endurance ability. Second, the weight is not light enough. The lightest electric pan-tilt weighs more than 1 kg, which greatly affects the endurance ability of the UAV.

[0004] The existing pan-tilt devices are mostly used for horizontal shooting and stable control. However, in the vertically downward shooting scenario, such as when the UAV is used for ground monitoring, building detection, agricultural plant protection monitoring, etc., the requirements for stability and accuracy are relatively high. However, due to the combined action of inertial force and gravity, the traditional pan-tilt is prone to jitter or deviation during vertically downward shooting, and cannot meet the use requirements of high-precision scenarios. At present, there is a lack of a pan-tilt device on the market that can achieve high stability and anti-inertial interference for the vertically downward scenario. Summary of the Invention

[0005] The purpose of the present invention is to provide a vertically downward mechanically stabilized pan-tilt device, which can provide high-precision mechanical stability in the vertically downward shooting scenario, and at the same time has the characteristics of simple structure, economic cost, high reliability, etc.

[0006] The technical solution for realizing the purpose of the present invention is: a vertically downward mechanically stabilized pan-tilt device, including a universal fisheye bearing, a fixing plate, a damping rod, a hollow connecting rod and an optical camera; the fixing plate is connected to the UAV platform, the connecting rod is connected to the fixing plate through the universal fisheye bearing, and the multi-angle swing of the connecting rod is realized through the universal fisheye bearing; both ends of the damping rod are respectively connected to the fixing plate and the connecting rod, and are used to absorb the vibration of the pan-tilt device; the optical camera is fixed at the bottom of the connecting rod and is used for shooting.

[0007] Further, the universal fisheye bearing includes a gland, a universal fisheye ball, a universal fisheye sleeve, and a universal fisheye bearing seat; the universal fisheye bearing seat is fixed at the central hole position of the fixing plate, the universal fisheye ball is installed in the spherical groove in the universal fisheye sleeve, the universal fisheye sleeve is installed in the annular groove in the universal fisheye bearing seat, and is pressed tightly by the gland.

[0008] Furthermore, there are three groups of damping rods evenly distributed, and upper mounting seats are evenly distributed on the lower surface of the fixed plate; the upper mounting seats are fixedly connected to the fixed plate; the lower mounting seats are installed on the hollow connecting rods through threads; at both ends of each group of damping rods, second spherical bearings are provided, and one end of each group of damping rods is connected to the upper mounting seat through the second spherical bearing, and the other end of each group of damping rods is connected to the lower mounting seat through the second spherical bearing.

[0009] Furthermore, on the outer cylindrical surface of the connecting rod close to the optical camera, there is a thread for installing a fine-tuning steel ring, and through the fine-tuning steel ring, it is used to adjust the swinging force of the optical camera.

[0010] Furthermore, anti-slip grooves are provided around the fine-tuning steel ring for convenient screwing operation.

[0011] Furthermore, the inside of the connecting rod is set as a hollow structure for passing the wires of the optical camera.

[0012] Furthermore, a cylinder is fixed on the upper surface of the fixed plate for connecting with the drone.

[0013] A drone platform carries the vertical downward mechanically stabilized gimbal device described above.

[0014] Compared with the prior art, the significant advantages of the present invention are:

[0015] (1) High stability: The present invention utilizes the principle that the gravity of the pendulum always points to the center of the earth, and with the combined action of the gravity reset characteristic and the damping rods, the fine-tuning steel ring and the optical camera can quickly return to the vertical state, adapting to complex dynamic environments, and can maintain the stable operation of the device even in a violently shaking environment; moreover, the pure mechanical stabilization structure has high durability and can adapt to harsh environments (such as strong wind and vibration conditions).

[0016] (2) Low power consumption and low cost: The stabilization function of the present invention is realized by a pure mechanical structure, with a simple design, reducing the dependence on electronic components and algorithms, capable of solving the problems of power consumption of electronic devices in the application of existing electric gimbals in drone aerial surveys and power consumption caused by large weight, and reducing the manufacturing and maintenance costs.

[0017] (3) Versatility: By moving a fine-tuning steel ring up and down to adjust the magnitude of the swinging force of the optical camera, it can be adapted to various types of devices and is widely used in scenarios such as drone photography, building inspection, and topographic surveying.

[0018] (4) In the present invention, the hollow connecting rod and the circular fixed plate are connected through a universal spherical bearing, thereby realizing the multi-angle rotation of the hollow connecting rod;

[0019] (5) In the present invention, the damping rod is connected to the circular fixing plate and the hollow connecting rod by a first spherical bearing, which absorbs the excessive swing of the fine-tuning steel ring and the optical camera and prevents secondary vibration.

[0020] (6) In the present invention, the lower mounting base is threadedly connected to the hollow connecting rod, which is used to adjust the stroke of different damping rods and is applicable to different damping rods. Description of the Drawings

[0021] Figure 1 is the overall schematic diagram of a vertically downward mechanical stabilization pan-tilt device in the present invention;

[0022] Figure 2 is the three-dimensional view and three orthographic views of the main structure of a vertically downward mechanical stabilization pan-tilt device in the present invention, where (a) is the three-dimensional view, (b) is the top view, (c) is the left view, and (d) is the front view;

[0023] Figure 3 is the exploded view of the main structure of a vertically downward mechanical stabilization pan-tilt device in the present invention;

[0024] Figure 4 is the main structure schematic diagram of a circular fixing plate 7 in the present invention;

[0025] Figure 5 is the main structure schematic diagram of a universal spherical bearing seat 6 in the present invention, where (a) is the three-dimensional view and (b) is its cross-sectional view;

[0026] Figure 6 is the main structure schematic diagram of a universal spherical bushing 5 in the present invention, where (a) is the three-dimensional view and (b) is the cross-sectional view;

[0027] Figure 7 is the main structure schematic diagram of a universal spherical ball in the present invention, where (a) is the three-dimensional view and (b) is the cross-sectional view;

[0028] Figure 8 is the main structure schematic diagram of a gland in the present invention;

[0029] Figure 9 is the main structure schematic diagram of a fine-tuning steel ring in the present invention;

[0030] Figure 10 is the main structure schematic diagram of a hollow connecting rod in the present invention, where (a) is the three-dimensional view and (b) is the cross-sectional view;

[0031] Figure 11 is the main structure schematic diagram of an optical camera in the present invention;

[0032] Figure 12It is the main structural schematic diagram of an upper mounting seat in the present invention;

[0033] Figure 13 It is the main structural schematic diagram of a lower mounting seat in the present invention;

[0034] Figure 14 It is the main structural schematic diagram of a damping rod in the present invention;

[0035] Figure 15 It is a schematic diagram showing that three upper mounting seats and three damping rods in the present invention are circumferentially and evenly installed on a lower mounting seat 10;

[0036] Figure 16 It is the upper part cross-sectional view of the main structure of a vertically downward mechanical stabilization gimbal device in the present invention; (a) is a three-dimensional view, and (b) is an enlarged cross-sectional view;

[0037] Figure 17 It is the overall cross-sectional view of the main structure of a vertically downward mechanical stabilization gimbal device in the present invention;

[0038] Figure 18 It is a schematic diagram showing that the hollow connecting rod in the present invention uses the "tail thread" to move a fine-tuning steel ring up and down to adjust the swinging force of the "pendulum"; (a) is a schematic diagram of the fine-tuning steel ring moving upward, and (b) is a schematic diagram of the fine-tuning steel ring moving downward;

[0039] Figure 19 It is a schematic diagram showing that when the UAV flight platform tilts 5 degrees in the present invention, using the principle that the gravity of the pendulum always points to the center of the earth, and with the combined action of three damping rods, forcing the optical camera to be able to automatically return to its position and continue to be perpendicular to the horizontal plane; (a) is a schematic diagram of the UAV flight platform tilting 5 degrees, and (b) is a schematic diagram of the optical camera being able to automatically return to its position;

[0040] Figure 20 It is a schematic diagram showing that when the UAV flight platform tilts 10 degrees in the present invention, using the principle that the gravity of the pendulum always points to the center of the earth, and with the combined action of three damping rods, forcing the optical camera 13 to be able to automatically return to its position and continue to be perpendicular to the horizontal plane; (a) is a schematic diagram of the UAV flight platform tilting 10 degrees, and (b) is a schematic diagram of the optical camera 13 being able to automatically return to its position;

[0041] Figure 21 It is a schematic diagram showing that a vertically downward mechanical stabilization gimbal device in the present invention is installed on the UAV flight platform. Specific embodiments

[0042] Next, the attached drawings in the embodiments of the present invention will be combined Figure 1-21, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0043] Combined with Figure 1 - Figure 21 , a vertically downward mechanically stabilized gimbal device disclosed in this embodiment is designed using the principle that the gravity of the pendulum always points to the center of the earth. The pendulum system includes four parts: a fulcrum (suspension point), a pendulum rod, a pendulum bob / pendulum block, and a damping device. In the present invention, a universal fisheye bearing serves as the fulcrum (suspension point). The hollow connecting rod 12 serves as the pendulum rod, the fine-tuning steel ring 11 and the optical camera 13 serve as the pendulum bob / pendulum block, and the damping rod 9 serves as the damping device.

[0044] The present invention utilizes the gravity reset characteristic of the pendulum bob plus the damping rod to absorb excessive swings to achieve the purpose of gimbal stabilization, and has the characteristics of low power consumption, low cost, strong reliability, high stability, etc. The three damping rods 9 adopted in the present invention are respectively and circumferentially arranged between three upper mounting seats 8 and a lower mounting seat 10 to absorb the excessive swings of the fine-tuning steel ring 11 and the optical camera 13, and can effectively absorb external vibrations and inertial impacts to prevent secondary vibrations. A fine-tuning steel ring 11 is also provided and can move up and down to adjust the magnitude of the swinging force of the optical camera 13, and can be adapted to various types of optical cameras 13 and other devices. When the vertically downward mechanically stabilized gimbal device in the present invention is carried on a drone, during the flight of the drone, no matter how the flight attitude changes, the lens of the optical camera 13 is horizontal and the orientation is always vertically downward, so as to better obtain images of ground objects. It is suitable for special application scenarios such as drone monitoring and engineering detection that require high precision and high stability, and can adapt to various device capabilities, making it have wide competitiveness and application prospects in the market!

[0045] Combined with Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 , a vertically downward mechanically stabilized gimbal device of this embodiment includes four aluminum columns 1, two large nuts 2, a universal fisheye bearing, a circular fixing plate 7, three upper mounting seats 8, three damping rods 9, a lower mounting seat 10, a fine-tuning steel ring 11, a hollow connecting rod 12, and an optical camera 13.

[0046] The universal fish-eye bearing includes a gland 3, a universal fish-eye ball 4, a universal fish-eye sleeve 5, and a universal fish-eye bearing seat 6.

[0047] Figure 4 Among them, a circular fixing plate 7 is provided with a central large circular hole 7-1, six upper mounting seat mounting holes 7-2, four universal fish-eye bearing seat mounting holes 7-3, and four integral mounting holes 7-4.

[0048] There are a group of aluminum columns 1, which are fixed in the integral mounting holes 7-4 of the circular fixing plate 7, and are used to connect the entire vertically downward mechanical stability-increasing pan-tilt device 14 to the UAV flight platform 15.

[0049] Figure 5 Among them, a universal fish-eye bearing seat 6 is provided with four first mounting ears 6-1, an annular groove 6-2, and a central circular hole 6-3. Each of its four first mounting ears 6-1 is provided with a screw hole, and an annular groove 6-2 is used to place the universal fish-eye sleeve 5 therein.

[0050] Figure 6 Among them, a universal fish-eye sleeve 5 is provided with an annular sleeve 5-2, which is convenient for installation in the annular groove 6-2 on the universal fish-eye bearing seat 6. A spherical groove 5-1 is provided in the center for placing a universal fish-eye ball 4.

[0051] Figure 7 Among them, a universal fish-eye ball 4 is provided with a ball hole 4-1 and a sphere 4-2. When installed in the spherical groove 5-1 of the universal fish-eye sleeve 5, the provided sphere can make it rotate flexibly, and the ball hole 4-1 is used to cooperate with the outer shaft of the hollow connecting rod 12 (the optical axis between the head thread 12-2 and the shaft shoulder 12-3).

[0052] Figure 8 Among them, a gland 3 is provided with a central circular hole 3-1 and four second mounting ears 3-2. Each of the four second mounting ears 3-2 is provided with a screw hole. The gland 3 and the universal fish-eye bearing seat 6 are connected and matched by bolts, and then the lower universal fish-eye sleeve 5 is tightened to fix it in the universal fish-eye bearing seat 6 to prevent the universal fish-eye sleeve 5 from loosening.

[0053] Figure 9 Among them, an anti-slip groove 11-2 is provided around a fine-tuning steel ring 11, which is convenient for screwing and operating with fingers. A middle threaded hole 11-1 is provided at the central position of the fine-tuning steel ring 11. Using the thread self-locking function, according to different equipment types, it can be moved up and down within a small range to achieve the purpose of adjusting the swinging force of the "pendulum", and it can be adapted to various types of equipment. It is made of high-density metal materials (such as lead, tungsten, steel), and has a moderate weight to ensure sufficient gravity effect and belongs to a part of the "pendulum".

[0054] Figure 10 Among them, the hollow connecting rod 12 is a hollow rotating body. A wire passing hole 12-1 is arranged at the center of the hollow connecting rod 12 to facilitate the wire of the optical camera 13 below to pass through and connect to the power supply on the UAV flight platform 15. On the shaft body 12-5, a head thread 12-2, a shaft shoulder 12-3, a middle thread 12-4, a tail thread 12-6 and a shaft collar 12-7 are arranged in sequence from top to bottom.

[0055] The head thread 12-2 passes through the ball hole 4-1 of the universal fish eye ball 4 and cooperates with the large nut 2; the shaft shoulder 12-3 contacts the bottom of the sphere 4-2 of the universal fish eye ball 4 and is used to limit the universal fish eye ball 4 together with the large nut 2; the middle thread 12-4 cooperates with the central threaded hole 10-1 of the mounting seat 10; the tail thread 12-6 cooperates with the fine-tuning steel ring 11, and four screw holes are also arranged on the shaft collar 12-7 for fixing the optical camera 13 below.

[0056] Figure 11 Among them, the optical camera 13 also has weight and can be used as another part of the "pendulum". It is provided with a wire 13-1, a camera housing 13-2 and a camera lens 12-3. A wire 13-1 is connected to the power supply on the UAV flight platform 15 to make the camera lens 13-3 work normally; four screw holes are arranged at the top of the camera housing 13-2 for connecting the hollow connecting rod 12 above.

[0057] Figure 12 Among them, each upper mounting seat 8 is provided with a pair (2) of first damper rod mounting ears 8-1 and two slotted mounting holes 8-2. The two slotted mounting holes 8-2 on it are fixed at the positions of the upper mounting seat mounting holes 7-2 on the circular fixing plate 7 with screws and nuts. The upper mounting seats 8 are evenly distributed in three groups; then one end of the micro fish eye bearing 9-1 of a damper rod 9 is placed between this pair of damper rod mounting ears 8-1, and then a screw is passed through the hole on the first damper rod mounting ear 8-1 and the central hole on the micro fish eye bearing 9-1, and finally tightened and locked with a nut.

[0058] Figure 13 As shown in the figure, a lower mounting seat 10 is provided with three pairs of second damper rod mounting ears 10-2 and a central threaded hole 10-1, and screw holes are arranged on each pair of second damper rod mounting ears 10-2. Among them, the three pairs of second damper rod mounting ears 10-2 are evenly distributed in a circular pattern around a central threaded hole 10-1. First, the lower mounting seat 10 is installed at the position of the middle thread 12-4 of the hollow connecting rod 12 by using the central threaded hole 10-1 above. One end of the micro fish eye bearing 9-1 at the piston rod 9-3 end of each damper rod 9 is placed between a pair of damper rod mounting ears 10-2, and then a screw is passed through the screw hole and the central hole of the micro fish eye bearing 9-1, and finally tightened and locked with a nut.

[0059] As Figure 14 shown, a damping rod 9 includes an outer cylinder 9-2 and a piston rod 9-3; a piston is also arranged inside the outer cylinder 9-2, which is in close fit with the inner wall of the outer cylinder 9-2, playing a role in separating and transmitting pressure. Miniature fish-eye bearings 9-1 are respectively arranged at the ends of the outer cylinder 9-2 and the piston rod 9-3, and both ends of the damping rod 9 are respectively connected to the upper mounting seat 8 and the lower mounting seat 10;

[0060] Meanwhile, the two miniature fish-eye bearings 9-1 can also enable both ends of the damping rod 9 to move slightly left and right, thereby ensuring that the optical camera 13 below can swing freely within a 360-degree range in the horizontal plane. The main function of the damping rod 9 is to absorb the excessive swing of the "pendulum" and prevent secondary vibration from occurring.

[0061] As Figure 15 shown, the three damping rods 9 are respectively connected to the upper mounting seat 8 and the lower mounting seat 10 through the miniature fish-eye bearings 9-1 at both ends.

[0062] Figure 16 In, a gland 3, a universal fish-eye ball 4, a universal fish-eye sleeve 5 and a universal fish-eye bearing seat 6 together form a "universal fish-eye bearing", which is used to enable the lower hollow connecting rod 12 and an optical camera 13 to swing flexibly at various angles and directions. With the combined action of the three damping rods 9, the optical camera 13 is forced to always maintain a vertical state with the ground to achieve the function of stabilizing. The three damping rods 9 adopted are respectively installed between the upper mounting seat 8 and the lower mounting seat 10 in a circumferentially evenly distributed manner, used to absorb the excessive swing of the pendulum, and can effectively absorb external vibrations and inertial impacts to prevent secondary vibration from occurring.

[0063] Figure 17 In, the installation process of the universal fish-eye bearing is as follows:

[0064] (1) Place a universal fish-eye ball 4 into the spherical groove of a universal fish-eye sleeve 5, and it can rotate flexibly in the spherical groove. Then embed them together in the annular groove of a universal fish-eye bearing seat 6, and then place the three together in the central large circular hole of a circular fixing plate 7. The screw holes of the four mounting ears on the universal fish-eye bearing seat 6 are aligned with the four universal fish-eye bearing seat mounting holes on a circular fixing plate 7 one by one. Then press a gland 3 from top to bottom above the universal fish-eye bearing seat 6. After its four mounting ear screw holes are also aligned, pass four screws through the screw holes of the mounting ears respectively, and then tighten them with four nuts to fix them. At this time, only the universal fish-eye ball 4 can rotate flexibly.

[0065] (2) Thread the wire 13-1 of an optical camera 13 upward through the wire passing hole 12-1 at the center of a hollow connecting rod 12, and install it at a position below the collar 12-7 of the hollow connecting rod 12. Pass four screws through four screw holes respectively to connect and fix the two to form a rigid whole.

[0066] (3) Slip a fine-tuning steel ring 11 onto the threaded part 12-6 at the tail of a hollow connecting rod 12 from top to bottom, and use the threads provided on both sides to enable the fine-tuning steel ring 11 to move slightly up and down and lock it in place. Slip a lower mounting base 10 onto the threaded part 12-4 in the middle of a hollow connecting rod 12 from top to bottom as well, and also use the self-locking function of the threads provided on both to fix the lower mounting base 10 and form a rigid whole with the hollow connecting rod 12.

[0067] (4) Align the hollow connecting rod 12 with the central circular hole 6-3 below a universal fisheye bearing seat 6. After passing the head thread 12-2 above the hollow connecting rod 12 through the ball hole 4-1 of a universal fisheye ball 4 inside and touching the shoulder 12-3 above the hollow connecting rod 12, tighten and fix it with two large nuts 2. And this universal fisheye ball 4 also forms a rigid whole with the hollow connecting rod 12.

[0068] In the present invention, as Figure 18 shown, the hollow connecting rod 12 cooperates with the fine-tuning steel ring 11 using the tail thread 12-6, and the fine-tuning steel ring 11 moves up and down to adjust the magnitude of the swinging force of the optical camera 13. In Figure 18 (a), when the fine-tuning steel ring 11 rotates counterclockwise and moves upward a small distance, the swinging force of the "pendulum" becomes smaller; in the attached drawing (b), when the fine-tuning steel ring 11 rotates clockwise and moves downward a small distance, the swinging force of the "pendulum" becomes larger. The weights of various optical camera devices on the market vary, and the fine-tuning steel ring 11 can be moved back and forth to control and adjust the required swinging force of the "pendulum", so that it can be adapted to various types of devices.

[0069] Figure 19 In, when the UAV flight platform 15 tilts by 5 degrees, using the principle that the gravity of the pendulum always points to the center of the earth, and with the combined action of three damping rods 9, it forces the optical camera 13 to be able to automatically return to its position and continue to maintain a vertical state with the horizontal plane. The attached drawing (a) is a schematic diagram of the UAV flight platform 15 tilting by 5 degrees, and the attached drawing (b) is a schematic diagram of the optical camera 13 being able to automatically return to its position;

[0070] Figure 20In [the situation], when the UAV flight platform 15 is tilted by 10 degrees, by utilizing the principle that the gravity of the pendulum always points to the center of the earth, and with the combined action of the three damping rods 9, it forces the optical camera 13 to be able to automatically return to its position and continue to maintain a vertical state with the horizontal plane. Schematic diagram: Figure (a) is a schematic diagram of the UAV flight platform 15 tilted by 10 degrees, and Figure (b) is a schematic diagram of the optical camera 13 being able to automatically return to its position;

[0071] Figure 21 It is a schematic diagram of a vertically downward mechanical stabilization gimbal device 14 of the present invention installed on the UAV flight platform 15. First, one end of each of the four aluminum columns 1 is installed on the four overall mounting holes provided on the circular fixing plate 7, and then the other ends of the four aluminum columns 1 are connected to the equipment mounting plate at the rear lower part of the frame. The equipment mounting plate is also provided with four corresponding screw holes for each of the four screws to pass through and tighten and fix the entire vertically downward mechanical stabilization gimbal device 14.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vertical downward mechanical stabilization gimbal device, characterized in that: It includes a universal fisheye bearing, a fixing plate, a damping rod, a hollow connecting rod and an optical camera; the fixing plate is connected to the UAV platform, the connecting rod is connected to the fixing plate through the universal fisheye bearing, and the multi-angle swing of the connecting rod is realized through the universal fisheye bearing; the two ends of the damping rod are respectively connected to the fixing plate and the connecting rod, which are used to absorb the vibration of the gimbal device; the optical camera is fixed at the bottom of the connecting rod for shooting.

2. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: The universal fisheye bearing comprises a pressure cover, a universal fisheye ball, a universal fisheye sleeve, and a universal fisheye bearing seat; the universal fisheye bearing seat fixes the central hole position of the fixing plate, the universal fisheye ball is installed in the spherical groove in the universal fisheye sleeve, the universal fisheye sleeve is installed in the annular groove in the universal fisheye bearing seat, and is tightened by the pressure cover.

3. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: There are three groups of damping rods evenly distributed, and upper mounting seats are evenly distributed on the lower surface of the fixed plate; the upper mounting seats are fixedly connected to the fixed plate; the lower mounting seats are installed on the hollow connecting rod through threads; second fisheye bearings are respectively provided at both ends of each group of damping rods, one end of each group of damping rods is connected to the upper mounting seat through the second fisheye bearing, and the other end of each group of damping rods is connected to the lower mounting seat through the second fisheye bearing.

4. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: The outer cylindrical surface of the connecting rod close to the optical camera is provided with a thread for installing a fine-tuning steel ring, and the fine-tuning steel ring is used to adjust the swing force of the optical camera.

5. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: There are anti-slip grooves around the fine-tuning steel ring to facilitate the twisting operation.

6. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: The interior of the connecting rod is set as a hollow structure for passing the wires of the optical camera.

7. The vertical downward mechanical stabilization pan / tilt device according to claim 1, characterized in that: A column is fixed on the upper surface of the fixing plate for connecting with the drone.

8. An unmanned aerial vehicle platform, characterized in that: Equipped with the vertical downward mechanical stabilization gimbal device as described in any one of claims 1-7.

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