Fixing support for camera carried by unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a fixing support for a camera carried by an unmanned aerial vehicle and the unmanned aerial vehicle. The lower module comprises a bearing plate and a support main body, the bearing plate is arranged on the upper module, the support main body is arranged on the bearing plate, and the support main body is used for bearing a camera and adjusting the position of the camera; the adjusting module comprises a supporting assembly, a damping assembly and an adjusting assembly, the supporting assembly is arranged on the support body, the adjusting assembly is arranged on the bearing plate, the damping assembly is connected with the supporting assembly and the adjusting assembly, and the adjusting assembly is used for driving the damping assembly to move on the bearing plate. Therefore, the acting force arm of the damping assembly is changed. The vibration isolator has the effect of improving and considering the high-frequency vibration isolation performance and the low-frequency anti-interference performance under different working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a fixing support for a camera carried by an unmanned aerial vehicle. BACKGROUND

[0002] At present, unmanned aerial vehicles are increasingly widely used in aerial photography, surveying and mapping, and inspection, and high stability of the pictures taken by the on-board camera is required. In order to eliminate the influence of the vibration of the unmanned aerial vehicle body and the change of the flight attitude on the pictures, the unmanned aerial vehicle usually carries a three-axis stabilizing gimbal.

[0003] In the related art, the unmanned aerial vehicle gimbal generally adopts a standard architecture, that is, a group of damping components (such as damping balls or rubber dampers) with fixed physical characteristics are used to flexibly connect the gimbal body and the unmanned aerial vehicle body. As a passive vibration isolation system, the group of damping components mainly filters the high-frequency vibration transmitted from the body. Inside the gimbal body, three independent drive motors are used to control the pitch, roll and yaw axes of the camera, respectively, to actively compensate for the attitude shaking of the unmanned aerial vehicle. In this design, the physical stiffness of the damping components is fixed once selected and installed and does not change during the entire use process.

[0004] However, the flight conditions of the unmanned aerial vehicle are dynamically variable, and the main vibration interference sources under different conditions are completely different. On the one hand, in the stable conditions such as hovering or uniform slow flight of the unmanned aerial vehicle, the main interference source is the high-frequency, small-amplitude vibration from the motor and the propeller. At this time, in order to effectively isolate this vibration, the base connection system of the gimbal needs to have low stiffness, that is, it needs to be "flexible", so as to efficiently absorb the vibration energy and avoid the "jelly effect" of the camera picture.

[0005] On the other hand, when the unmanned aerial vehicle performs intense maneuvering conditions such as rapid acceleration, sharp turning or wind-resistant flight, the main interference source is the large-amplitude, low-frequency attitude change and inertial impact of the body, and at this time the system needs to have high stiffness (i.e. "stiffness") to effectively resist these large swings and prevent the camera from drifting and swaying due to the softness of the system.

[0006] Therefore, the gimbal in the related art cannot adaptively adjust according to the different flight conditions of the unmanned aerial vehicle due to the fixed stiffness of the damping system, and thus has the technical problem of being difficult to improve and balance the high-frequency vibration isolation performance and the low-frequency disturbance resistance performance under different conditions. SUMMARY

[0007] In order to improve and balance the high-frequency vibration isolation performance and the low-frequency disturbance resistance performance under different conditions, the present application provides a fixing support for a camera carried by an unmanned aerial vehicle.

[0008] The fixing support for a camera carried by an unmanned aerial vehicle provided by the present application adopts the following technical solution: A fixing support for a camera carried by a UAV, comprising: an upper module configured to be arranged on a UAV body; a lower module comprising a bearing plate and a support body, the bearing plate being arranged on the upper module, the support body being arranged on the bearing plate, the support body being configured to carry a camera and adjust a position of the camera; an adjusting module comprising a support assembly, a damping assembly and an adjusting assembly, the support assembly being arranged on the support body, the adjusting assembly being arranged on the bearing plate, the damping assembly being connected with the support assembly and the adjusting assembly respectively, the adjusting assembly being configured to drive the damping assembly to move on the bearing plate to change an acting arm of the damping assembly.

[0009] By adopting the above technical solution, the upper module is arranged on the UAV body, the bearing plate provides support for the support body, the support body can carry the camera and adjust the position of the camera, and the use requirement of the camera in different scenes is met. The support assembly is arranged on the support body, the adjusting assembly is arranged on the bearing plate, the damping assembly is connected with the support assembly and the adjusting assembly, and the adjusting assembly drives the damping assembly to move on the bearing plate to change the acting arm thereof, so that the rigidity of the system can be adjusted according to actual conditions. When the acting arm of the damping assembly is increased by the adjusting assembly, according to the principle of a lever, the ability of the system to resist external interference is enhanced, the system becomes "stiff", and at this time, anti-interference is prioritized. When the acting arm of the damping assembly is reduced by the adjusting assembly, the ability of the system to resist external interference is relatively weakened, while the vibration isolation effect is relatively enhanced, the system becomes "flexible", and at this time, vibration isolation is prioritized, so that the system can adapt to different flight states and environments of the UAV, and the stability of the camera in operation is improved.

[0010] Optionally, the upper module comprises a mounting plate and a plurality of flexible damping members, the mounting plate is configured to be arranged on the UAV body, the plurality of flexible damping members are uniformly distributed on the mounting plate, and the bearing plate is connected with the mounting plate through the flexible damping members. The support body comprises a yaw part, a pitch part and a roll part, the yaw part is arranged on the bearing plate, the support assembly is arranged at an end of the yaw part away from the bearing plate, the pitch part is arranged on the yaw part, the roll part is arranged on the pitch part, the yaw part is configured to drive the pitch part to rotate, the pitch part is configured to drive the roll part to rotate, and the roll part is configured to carry the camera and drive the camera to roll.

[0011] By adopting the technical scheme, the mounting plate is arranged on the unmanned aerial vehicle body, the plurality of flexible damping members are uniformly distributed on the mounting plate, the bearing plate is connected with the mounting plate through the flexible damping members, the elastic damping characteristics of the flexible damping members are utilized to absorb and attenuate high-frequency micro-vibrations from the unmanned aerial vehicle itself, and a relatively stable working basis is provided for the lower system. The yaw part is arranged on the bearing plate and can drive the pitch part to rotate, the pitch part is arranged on the yaw part and can drive the roll part to rotate, and the roll part is used for bearing the camera and driving the camera to roll, so that the camera can be flexibly rotated in the yaw, pitch and roll directions, and the shooting angle and position of the camera can be adjusted according to actual requirements. Meanwhile, the support assembly is arranged at the end of the yaw part away from the bearing plate, so as to ensure the stability of the camera during rotation.

[0012] Optionally, the yaw part comprises a yaw driving member and a yaw rod, the yaw driving member is arranged on the bearing plate, the yaw rod is rotationally connected to the bearing plate and connected with the yaw driving member, the pitch part and the support assembly are arranged at the bottom of the yaw rod respectively, the support assembly is located below the pitch part, and the bearing plate, the damping assembly, the support assembly and the yaw rod jointly constitute a four-bar linkage mechanism, and the pitch part and the roll part can pass through between the yaw rod and the damping assembly.

[0013] By adopting the technical scheme, the yaw driving member is arranged on the bearing plate and connected with the yaw rod rotationally connected to the bearing plate, can drive the yaw rod to rotate, realizes angle adjustment of the camera in the yaw direction, and meets different shooting requirements. The support assembly is arranged at the bottom of the yaw rod, jointly constitutes a four-bar linkage mechanism with the bearing plate, the damping assembly and the yaw rod, the four-bar linkage mechanism has certain stability and flexibility, can provide stable support during movement of the camera, allows a certain range of movement at the same time, and ensures flexibility of the camera adjustment. The pitch part and the roll part can pass through between the yaw rod and the damping assembly, further optimizes the structure layout, reduces space occupation between the parts, makes the whole fixing bracket structure more compact, and is favorable for installation and use in limited unmanned aerial vehicle space.

[0014] Optionally, the support assembly comprises a support member and a first pivot joint, the support member is designed in a U shape, a middle part of the support member is arranged at the bottom of the yaw rod through the first pivot joint, the damping assembly comprises at least one damper, two ends of the damper are respectively provided with second pivot joints, one end of the damper is arranged on the support member through the second pivot joint, and the other end of the damper is arranged on the adjustment assembly through the second pivot joint.

[0015] By adopting the technical scheme, the support member is designed in a U shape, the opening of which faces upward, can provide a movement avoiding space for other structures, and the middle part of the support member is arranged at the bottom of the yawing rod through the first pivot joint, so that the support member and the yawing rod can flexibly rotate. The second pivot joint is arranged at both ends of the damper, one end of which is connected with the support member, and the other end is connected with the adjusting assembly, so that the damper can move at different angles between different components, so as to drive the damper to move by the adjusting assembly, and change the force arm of the damper.

[0016] Optionally, the damper is a magneto-rheological damper.

[0017] By adopting the technical scheme, the magneto-rheological damper can make the rheological properties of the internal magneto-rheological fluid change reversibly under the action of a magnetic field, so as to change the damping force.

[0018] Optionally, two dampers are arranged symmetrically on both sides of the yawing rod, and the number of the adjusting assemblies is equal to the number of the dampers and is arranged one by one.

[0019] By adopting the technical scheme, the two dampers are arranged symmetrically on both sides of the yawing rod, and the number of the adjusting assemblies is equal to the number of the dampers and is arranged one by one, so that when the adjusting assembly drives the damper to move and changes the force arm, the forces on both sides of the yawing rod can be uniform, the yawing rod can be prevented from tilting or shaking due to uneven force on one side, and the stability and accuracy of the camera position adjustment can be ensured; at the same time, the symmetrical structure can also make both sides change synchronously when the rigidity and the damping are adjusted, improve the adjustment effect, and ensure that the camera can obtain stable support and appropriate vibration isolation and anti-interference performance in different flight states.

[0020] Optionally, the roll part comprises a roll driving member and a camera mounting frame, the roll driving member is arranged on the pitch part, and the camera mounting frame is rotationally connected to the pitch part and connected with the roll driving member.

[0021] By adopting the technical scheme, the roll driving member is arranged on the pitch part, the camera mounting frame is rotationally connected to the pitch part and connected with the roll driving member, and the roll driving member can drive the camera mounting frame to rotate when working, so as to facilitate the roll movement of the camera by the rotation of the camera mounting frame, and then realize the adjustment of the roll angle of the camera to meet different shooting requirements.

[0022] Optionally, the adjusting assembly comprises a lead screw driving member and a sliding block, the sliding block is slidingly arranged on the bearing plate, the sliding block is connected with the lead screw driving member, and the damping assembly is movably arranged on the sliding block.

[0023] By adopting the technical scheme, the lead screw driving member can drive the sliding block to slide on the bearing plate, the sliding block can drive the damping assembly to move on the bearing plate, so as to change the force arm of the damping assembly, and the adjustment of the system stiffness is realized, the force arm is reduced when the sliding block is inwardly retracted, the system becomes "soft", and the vibration isolation is preferentially realized; the force arm is increased when the sliding block is outwardly pulled, the system becomes "stiff", and the disturbance resistance is preferentially realized.

[0024] Optionally, the control unit is arranged on the unmanned aerial vehicle body, and the control unit is electrically connected with the damping assembly and the adjusting assembly respectively, and the control unit is used for cooperatively controlling the adjusting assembly and the damping assembly according to flight state data of the unmanned aerial vehicle.

[0025] By adopting the technical scheme, the control unit is arranged on the unmanned aerial vehicle body and electrically connected with the damping assembly and the adjusting assembly respectively, the flight state data of the unmanned aerial vehicle can be acquired, the adjusting assembly and the damping assembly are cooperatively controlled according to the flight state data, the adjusting assembly can drive the damping assembly to move on the bearing plate to change the force arm, the adjustment of the system stiffness is realized, and the fixed support can better adapt to the flight state of the unmanned aerial vehicle, and the stability of the camera carrying and the shooting quality are improved.

[0026] In the second aspect, the application provides an unmanned aerial vehicle, and the unmanned aerial vehicle carries the fixed support for the camera.

[0027] In summary, the application has at least one of the following beneficial technical effects: 1. By the cooperation of the supporting assembly, the damping assembly and the adjusting assembly, the adjusting assembly can drive the damping assembly to move, so as to change the force arm of the damping assembly, actively adjust the system stiffness, and adapt to different flight states and environments of the unmanned aerial vehicle, and help to improve the stability of the camera operation. 2. By the cooperation of the supporting member, the first pivot joint, the damper and the second pivot joint, the damper can move at different angles between different components, so that the adjusting assembly drives the damper to move and changes the force arm of the damper. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of a fixed support for a camera carried by an unmanned aerial vehicle in an embodiment of the application.

[0029] Figure 2 is a schematic diagram of part of the structure of an upper module and a lower module in an embodiment of the application.

[0030] Figure 3 is a schematic diagram of part of the structure of a fixed support for a camera carried by an unmanned aerial vehicle in an embodiment of the application.

[0031] Figure 4 is a partial structure schematic diagram of a support body in an embodiment of the present application.

[0032] Figure 5 is a partial structure schematic diagram of a fixed support for a camera carried by a UAV from another perspective in an embodiment of the present application.

[0033] Legend: 1, upper module; 11, mounting plate; 12, flexible damping member; 2, lower module; 21, bearing plate; 22, support body; 221, yaw part; 2211, yaw driving member; 2212, yaw rod; 222, pitch part; 2221, pitch plate; 2222, pitch driving member; 223, roll part; 2231, roll driving member; 2232, camera mounting frame; 3, adjustment module; 31, support assembly; 311, support member; 312, first pivot joint; 32, damping assembly; 321, damper; 322, second pivot joint; 33, adjustment assembly; 331, screw driving member; 332, sliding block; 4, UAV; 5, camera; 6, control unit. DETAILED DESCRIPTION

[0034] The following will be described in detail below with reference to the accompanying drawings. Figures 1-5 The present application will be further described in detail.

[0035] The present application discloses a fixed support for a camera carried by a UAV.

[0036] It should be noted that in the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] Referring to Figure 1 A fixed support for a camera carried by a UAV includes an upper module 1, a lower module 2 and an adjustment module 3. Among them, the upper module 1 is arranged on the UAV 4 body, the lower module 2 is arranged on the upper module 1, the adjustment module 3 is arranged on the lower module 2, and the adjustment assembly 33 can adaptively adjust the vibration isolation and disturbance resistance performance according to different flight conditions of the UAV 4, so as to adapt to the vibration interference under different conditions.

[0038] Referring to Figure 1 and Figure 2The upper module 1 comprises a mounting plate 11 and a plurality of flexible damping members 12. The mounting plate 11 is a flat plate made of metal, such as aluminum alloy, and is rigidly connected to the belly of the unmanned aerial vehicle 4 through standard screw holes.

[0039] The plurality of flexible damping members 12 are evenly distributed on the mounting plate 11. The flexible damping members 12 utilize their elastic damping properties as the first line of defense for physical vibration isolation, absorbing and attenuating high-frequency micro-vibrations from the unmanned aerial vehicle 4 itself, and providing a relatively stable working basis for the lower-level system.

[0040] In this embodiment, the flexible damping members 12 are damping balls. When the unmanned aerial vehicle 4 is flying, high-frequency micro-vibrations generated by the motor and propeller are transmitted to the mounting plate 11, and the damping balls will elastically deform, converting the vibration energy into heat energy and dissipating it, thereby reducing the vibrations transmitted to the bearing plate 21. In other embodiments, the flexible damping members 12 can also be configured as rubber damping blocks.

[0041] Referring to Figure 1 and Figure 3 , the lower module 2 comprises a bearing plate 21 and a bracket body 22. The bearing plate 21 is connected to the mounting plate 11 through the flexible damping members 12. The bracket body 22 is arranged on the bearing plate 21, and the bracket body 22 is used to carry the camera 5 and adjust the position of the camera 5.

[0042] Specifically, the bracket body 22 comprises a yawing part 221, a pitching part 222, and a horizontal rolling part 223. The yawing part 221 comprises a yawing driving member 2211 and a yawing rod 2212. The yawing driving member 2211 is installed at the center of the bearing plate 21, and the yawing driving member 2211 is fixedly connected to the upper end of the yawing rod 2212. In this embodiment, the yawing driving member 2211 is an electric motor, so as to drive the yawing rod 2212 to rotate 360° without limit, thereby realizing yawing control of the camera 5.

[0043] Referring to Figure 3 and Figure 4 , the pitching part 222 comprises a pitching plate 2221 and a pitching driving member 2222. The pitching driving member 2222 is installed on the yawing rod 2212, and the pitching plate 2221 is rotationally connected to the yawing rod 2212 and fixedly connected to the output end of the pitching driving member 2222. In this embodiment, the pitching driving member 2222 is an electric motor, so as to drive the pitching plate 2221 to rotate, thereby realizing adjustment of the camera 5 in the pitching direction.

[0044] The horizontal roll part 223 comprises a horizontal roll driving member 2231 and a camera mounting frame 2232. The horizontal roll driving member 2231 is mounted on the pitch plate 2221, the camera mounting frame 2232 is rotationally connected to the pitch plate 2221 and fixedly connected with the horizontal roll driving member 2231, and the camera 5 is mounted on the camera mounting frame 2232. In this embodiment, the horizontal roll driving member 2231 is a motor, so as to drive the camera mounting frame 2232 to rotate, thereby realizing the horizontal roll adjustment of the camera 5.

[0045] With reference to Figure 1 and Figure 3 , the adjustment module 3 comprises a support assembly 31, a damping assembly 32 and an adjustment assembly 33. The support assembly 31 is arranged at the bottom of the yaw rod 2212, the adjustment assembly 33 is arranged on the bearing plate 21, the damping assembly 32 is connected with the support assembly 31 and the adjustment assembly 33 respectively, and the adjustment assembly 33 is used to drive the damping assembly 32 to move on the bearing plate 21, so as to change the force arm of the damping assembly 32.

[0046] The support assembly 31 comprises a support member 311 and a first pivot joint 312. The support member 311 is designed in a U shape and can be welded by metal pipes, and the bottom of the yaw rod 2212 is rotationally connected with the middle part of the crossbeam of the U-shaped support member 311 through the first pivot joint 312. At this time, the opening of the support member 311 is arranged upward to provide a movement avoiding space for other structures. In other embodiments, the cross section of the support member 311 can be designed in a circular shape to reduce the wind resistance.

[0047] The damping assembly 32 comprises at least one damper 321. In this embodiment, the damper 321 is a magneto-rheological damper. In other embodiments, the damper 321 can also be arranged as a hydraulic damper.

[0048] The two ends of the damper 321 are respectively provided with a second pivot joint 322, one end of the damper 321 is connected with the support member 311 through the second pivot joint 322, and the other end of the damper 321 is arranged on the adjustment assembly 33 through the second pivot joint 322. There are two dampers 321, which are symmetrically arranged on both sides of the yaw rod 2212. In this embodiment, the first pivot joint 312 and the second pivot joint 322 are both ball bearings.

[0049] With reference to Figure 3 , the number of the adjustment assemblies 33 is equal to the number of the dampers 321 and arranged one by one, and the two adjustment assemblies 33 are symmetrically arranged on the bearing plate 21 and respectively located on both sides of the yaw driving member 2211.

[0050] With reference to Figure 3 and Figure 5The adjusting assembly 33 comprises a screw rod driving element 331 and a sliding block 332. In this embodiment, the screw rod driving element 331 comprises a stepper motor and a screw rod, the stepper motor is installed on the bearing plate 21, and the screw rod is rotationally arranged on the bearing plate 21 and fixedly connected with the output end of the stepper motor. In other embodiments, the screw rod driving element 331 can also be replaced by an electric push rod.

[0051] The bearing plate 21 is provided with a sliding rail, the sliding block 332 is slidingly arranged on the sliding rail and threadedly connected with the screw rod, and the damper 321 is connected with the sliding block 332 through the second pivot joint 322, so that when the stepper motor drives the screw rod to rotate, the screw rod can drive the sliding block 332 to move, so that the sliding block 332 moves close to or away from the yawing rod 2212, and then the sliding block 332 drives the damper 321 to move, so as to adjust the force arm of the damper 321.

[0052] With reference to Figure 3 The bearing plate 21, the damper 321, the supporting element 311 and the yawing rod 2212 jointly constitute a four-bar linkage mechanism, so that the whole structure can stably and coordinately move in the process of changing the force arm of the damper 321 by moving the sliding block 332, further enhancing the stability and reliability of the system. And there is enough gap between the supporting element 311 and the damper 321 to avoid interference with the adjustment of the position of the camera 5.

[0053] With reference to Figure 1 and Figure 3 This embodiment also comprises a control unit 6, which is arranged on the body of the unmanned aerial vehicle 4 and is usually integrated on a PCB board, and can be flexibly arranged at a free position of the bearing plate 21 to obtain the shortest signal path. And the control unit 6 is electrically connected with all the motors (yaw, pitch, roll, screw rod driving element 331) and the magnetorheological damper, so that the control unit 6 can coordinate the work of the whole system.

[0054] When the unmanned aerial vehicle 4 is hovering, the control unit 6 detects that the main interference is high-frequency micro-vibration, at this time, the sliding block 332 is driven to move towards each other, the sliding block 332 drives the damper 321 to move, so as to reduce the force arm of the damper 321, and at the same time, the current of the magnetorheological damper is adjusted, the damping is reduced, and the vibration isolation performance is improved.

[0055] In this embodiment, sensors can be used to detect flight attitude data such as inertia, angular velocity and acceleration during flight of the unmanned aerial vehicle 4, and the control unit 6 can control the work of each component according to the flight attitude data to realize adaptive adjustment.

[0056] For example, a threshold judgment method can be adopted, and thresholds of the acceleration and the angular velocity are set. When the absolute value of the angular velocity is continuously lower than the threshold of the angular velocity and the absolute value of the acceleration is continuously lower than the threshold of the acceleration within a certain time window, the control unit 6 judges that the UAV 4 is in a steady flight state, and controls the adjusting assembly 33 to minimize the force arm. When the absolute value of the angular velocity exceeds the threshold of the angular velocity or the absolute value of the acceleration exceeds the threshold of the acceleration, it is judged that the UAV 4 is in a maneuvering state, and the adjusting assembly 33 is controlled to maximize the force arm.

[0057] The implementation principle of the fixed support for the camera carried by the UAV in the embodiment of the application is as follows: when the control unit 6 judges that the UAV 4 is in a hovering or low-speed steady flight state, in order to maximize the filtering of high-frequency vibration, the control unit 6 controls the two screw driving members 331 to work synchronously, the screw driving member 331 drives the damper 321 to move through the sliding block 332, so that the two dampers 321 are folded inward to the nearest point. At this time, the upper end of the damper 321 is close to the yaw axis, the force arm is minimized, the stiffness of the overall system is reduced, and the system presents “flexibility”, which can effectively absorb the high-frequency residual vibration from the upper layer. At the same time, the current applied to the damper 321 is reduced, so that the damper 321 is in a low-damping state, and the vibration isolation effect is further enhanced.

[0058] When the control unit 6 judges that the UAV 4 is performing a large maneuver (such as emergency stop or emergency turn), in order to strongly suppress large shaking, the control unit 6 controls the two screw driving members 331 to work in reverse, so that the two sliding blocks 332 are pulled apart to the farthest point. At this time, the upper end of the damper 321 is away from the yaw axis, the force arm is maximized, the stiffness of the system becomes the highest, and the system presents “rigidity”, so that the support force of the damper 321 applied to the yaw rod 2212 is increased, the inertia moment is effectively resisted, and the “nodding” and shaking of the camera 5 are suppressed. At the same time, the current applied to the damper 321 is increased, so that the damper 321 is in a high-damping state, and the shaking energy is quickly absorbed.

[0059] In the embodiment of the application, through the cooperation of the adjusting assembly 33 and the magnetorheological damper, a two-dimensional dynamic response adjusting space is formed. When facing the demand for rapid stabilization after a violent maneuver, the control unit 6 can simultaneously instruct the adjusting assembly 33 to adjust the force arm of the magnetorheological damper to the maximum (high stiffness), and instruct the magnetorheological damper to apply the maximum current (high damping), so as to realize the fastest shaking suppression and energy absorption. When hovering aerial photography with extreme vibration isolation is required, the force arm can be adjusted to the minimum (low stiffness) at the same time, and the current of the magnetorheological damper is adjusted to the minimum (low damping), so that the system approaches the state of free floating without damping, and the high-frequency vibration is maximally isolated. The ability of stiffness-damping decoupling control is far superior to the scheme of only single adjustment of stiffness or damping, and the optimal suppression of vibration and disturbance in the whole flight envelope is realized.

[0060] The embodiment of the application further discloses a UAV, which comprises the fixing support for the UAV-mounted camera.

[0061] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so that: any equivalent changes made according to the structure, shape, principle of the application should be covered in the protection scope of the application.

Claims

1. A mounting bracket for a camera mounted on a drone, characterized in that, The utility model relates to a gimbal mechanism for unmanned aerial vehicle, comprising: an upper module (1) arranged on the body of the unmanned aerial vehicle (4); a lower module (2) comprising a bearing plate (21) and a support body (22), the bearing plate (21) is arranged on the upper module (1), the support body (22) is arranged on the bearing plate (21), the support body (22) is used for bearing a camera (5) and adjusting the position of the camera (5); an adjusting module (3) comprising a support assembly (31), a damping assembly (32) and an adjusting assembly (33), the support assembly (31) is arranged on the support body (22), the adjusting assembly (33) is arranged on the bearing plate (21), the damping assembly (32) is connected with the support assembly (31) and the adjusting assembly (33) respectively, the adjusting assembly (33) is used for driving the damping assembly (32) to move on the bearing plate (21) to change the action arm of the damping assembly (32). 2.The UAV camera mounting bracket of claim 1, wherein: The upper module (1) comprises a mounting plate (11) and a plurality of flexible damping members (12), the mounting plate (11) is arranged on the body of the unmanned aerial vehicle (4), the plurality of flexible damping members (12) are uniformly distributed on the mounting plate (11), and the bearing plate (21) is connected with the mounting plate (11) through the flexible damping members (12); The support body (22) comprises a yaw part (221), a pitch part (222) and a roll part (223), the yaw part (221) is arranged on the bearing plate (21), the support assembly (31) is arranged at one end of the yaw part (221) away from the bearing plate (21), the pitch part (222) is arranged on the yaw part (221), the roll part (223) is arranged on the pitch part (222), the yaw part (221) can drive the pitch part (222) to rotate, the pitch part (222) can drive the roll part (223) to rotate, and the roll part (223) is used for bearing the camera (5) and driving the camera (5) to roll. 3.The UAV camera mounting bracket of claim 2, wherein: The yaw part (221) comprises a yaw driving member (2211) and a yaw rod (2212), the yaw driving member (2211) is arranged on the bearing plate (21), the yaw rod (2212) is rotationally connected to the bearing plate (21) and connected with the yaw driving member (2211), the pitch part (222) and the support assembly (31) are arranged at the bottom of the yaw rod (2212) respectively, the support assembly (31) is located below the pitch part (222), and the bearing plate (21), the damping assembly (32), the support assembly (31) and the yaw rod (2212) jointly form a four-bar linkage mechanism, and the pitch part (222) and the roll part (223) can pass through between the yaw rod (2212) and the damping assembly (32). 4.The UAV camera mounting bracket of claim 3, wherein: The support assembly (31) includes a support member (311) and a first pivot joint (312). The support member (311) is U-shaped. The middle part of the support member (311) is disposed at the bottom of the yaw stick (2212) through the first pivot joint (312). The damping assembly (32) includes at least one damper (321). The two ends of the damper (321) are respectively provided with second pivot joints (322). One end of the damper (321) is disposed on the support member (311) through the second pivot joint (322), and the other end of the damper (321) is disposed on the adjustment assembly (33) through the second pivot joint (322). 5.The UAV camera mounting bracket of claim 4, wherein: The damper (321) is a magnetorheological damper (321). 6.The UAV-mounted camera fixing support of claim 4, wherein: Two dampers (321) are provided, and the two dampers (321) are symmetrically arranged on both sides of the yaw rod (2212). The number of adjustment components (33) is equal to the number of dampers (321) and they are arranged in a one-to-one correspondence. 7.The UAV-mounted camera fixing support of claim 2, wherein: The roll section (223) includes a roll drive (2231) and a camera mounting frame (2232). The roll drive (2231) is disposed on the pitch section (222), and the camera mounting frame (2232) is rotatably connected to the pitch section (222) and connected to the roll drive (2231). 8.The UAV-mounted camera fixing support of claim 1, wherein: The adjustment component (33) includes a lead screw drive (331) and a slider (332). The slider (332) is slidably disposed on the bearing plate (21). The slider (332) is connected to the lead screw drive (331). The damping component (32) is movably disposed on the slider (332). 9.The UAV camera mounting bracket of claim 1, wherein: It also includes a control unit (6), which is mounted on the fuselage of the UAV (4). The control unit (6) is electrically connected to the damping component (32) and the adjustment component (33) respectively. The control unit (6) is used to coordinate the control of the adjustment component (33) and the damping component (32) according to the flight status data of the UAV (4).

10. A drone, characterized in that, include: The camera mounting bracket for a drone as described in any one of claims 1-9.

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