Unmanned aerial vehicle cradle head driven by worm gear and worm

Abstract

A worm and gear transmission cradle head for an unmanned aerial vehicle relates to the field of unmanned aerial vehicles, a worm and gear driving mechanism I drives a rotating shaft I to rotate so as to enable a connecting arm to rotate horizontally, and a worm and gear driving mechanism II drives a rotating shaft II to rotate so as to enable a load to rotate on a pitch axis. The worm gear and the worm have the self-locking characteristic, after the motor stops moving, the rotating shaft I and the rotating shaft II are locked, the load cannot move freely, the shock resistance of the whole holder is improved, the loading capacity of the holder is improved, and the service life of the holder is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of unmanned aerial vehicles, and particularly relates to a pan-tilt for unmanned aerial vehicles driven by a worm and worm gear. Background Art

[0002] Due to the extensive application of unmanned aerial vehicles, research on mission payloads using pan-tilts has emerged in an endless stream. Conventional small unmanned aerial vehicles with hoisted pan-tilts have problems such as small load capacity, large volume, being heavy and bulky, poor wind and impact resistance, and short service life. In order to better carry mission payloads onto unmanned aerial vehicles through pan-tilts, it is mainly to make them miniaturized, lightweight and modular. Limited by the payload capacity of unmanned aerial vehicles, usually on the premise of ensuring the normal operation of the pan-tilt, the structural weight and volume of the pan-tilt are reduced and the load capacity of the pan-tilt is increased. Among them, the strength and accuracy of the transmission and shafting parts are very important indicators. The weight of the transmission and shafting of the existing unmanned aerial vehicle pan-tilt accounts for a relatively large proportion of the total weight of the pan-tilt. Summary of the Invention

[0003] The utility model provides a pan-tilt for unmanned aerial vehicles with high mechanical strength and compact structure in order to overcome the above-mentioned deficiencies in technology.

[0004] The technical solution adopted by the utility model to overcome its technical problems is:

[0005] A pan-tilt for unmanned aerial vehicles driven by a worm and worm gear, comprising:

[0006] Mounting seat Ⅰ, inside which a rotating shaft Ⅰ is rotatably installed through a bearing Ⅰ, and the axis of the rotating shaft Ⅰ is arranged vertically;

[0007] A bracket, installed above the mounting seat Ⅰ, and the upper end of the bracket is connected to the unmanned aerial vehicle;

[0008] A connecting arm, arranged horizontally, the connecting arm is located at the lower end of the mounting seat Ⅰ, the connecting arm is connected to the lower end of the rotating shaft Ⅰ, an installation seat Ⅱ is arranged vertically at the right end of the connecting arm, and an installation seat Ⅲ is arranged vertically at the left end thereof;

[0009] A worm and worm gear driving mechanism Ⅰ, installed on the mounting seat Ⅰ, for driving the rotating shaft Ⅰ to rotate;

[0010] A rotating shaft Ⅲ, rotatably installed on the mounting seat Ⅲ through a bearing Ⅲ, and the axis of the rotating shaft Ⅲ is arranged horizontally;

[0011] A rotating shaft Ⅱ, rotatably installed on the mounting seat Ⅱ through a bearing Ⅱ, and the rotating shaft Ⅱ is coaxial with the rotating shaft Ⅲ;

[0012] A worm and worm gear driving mechanism Ⅱ, installed on the mounting seat Ⅱ, for driving the rotating shaft Ⅱ to rotate;

[0013] L-shaped connecting plates are installed at the inner ends of the rotating shaft Ⅱ and the rotating shaft Ⅲ. Mounting holes are provided on the connecting plates, and both ends of the load are respectively installed in the mounting holes of the corresponding connecting plates on the same side through threaded fasteners.

[0014] Furthermore, the worm and worm gear drive mechanism Ⅰ includes a motor Ⅰ installed on the mounting seat Ⅰ, a worm Ⅰ rotatably installed on the mounting seat Ⅰ, and a worm gear Ⅰ installed on the rotating shaft Ⅰ. The worm Ⅰ is in transmission connection with the output shaft of the motor Ⅰ, and the worm Ⅰ meshes with the worm gear Ⅰ.

[0015] Furthermore, the worm and worm gear drive mechanism Ⅱ includes a motor Ⅱ installed on the mounting seat Ⅱ, a worm Ⅱ rotatably installed on the mounting seat Ⅱ through a bearing Ⅳ, and a worm gear Ⅱ installed at the outer end of the rotating shaft Ⅱ. The worm Ⅱ is in transmission connection with the output shaft of the motor Ⅱ through a coupling, and the worm Ⅱ meshes with the worm gear Ⅱ.

[0016] To facilitate the detection of the rotation angle of the load, an encoder installed on the mounting seat Ⅱ is also included, and the encoder is coaxially in transmission connection with the rear end of the rotating shaft Ⅱ.

[0017] To improve reliability, a protective cover Ⅰ is also installed at the outer end of the mounting seat Ⅱ, and the rotating shaft Ⅱ and the worm and worm gear drive mechanism Ⅱ are located inside the protective cover Ⅰ.

[0018] To improve reliability, a protective cover Ⅱ is also installed at the outer end of the mounting seat Ⅲ, and the rotating shaft Ⅲ is located inside the protective cover Ⅱ.

[0019] To improve the service life, the worm gear Ⅰ, the worm Ⅰ, the worm gear Ⅱ, and the worm Ⅱ are all made of POM material.

[0020] The beneficial effects of the present utility model are as follows: The worm and worm gear drive mechanism Ⅰ drives the rotation of the rotating shaft Ⅰ, so that the connecting arm rotates horizontally. The worm and worm gear drive mechanism Ⅱ drives the rotation of the rotating shaft Ⅱ, so that the load rotates on the pitching axis. The worm and worm gear have a self-locking characteristic. After the motor stops moving, the rotating shaft Ⅰ and the rotating shaft Ⅱ are locked, and the load will not move freely, improving the anti-impact performance of the entire pan-tilt head, and improving the load capacity and service life of the pan-tilt head. Description of the Drawings

[0021] Figure 1 is the three-dimensional structure diagram of the present utility model;

[0022] Figure 2 is the main view sectional structure diagram of the present utility model;

[0023] Figure 3 is the structure diagram of the worm Ⅱ part of the present utility model;

[0024] In the figure, 1. Bracket; 2. Mounting base I; 3. Motor I; 4. Worm gear I; 5. Connecting arm; 6. Mounting base II; 7. Mounting base III; 8. Connecting plate; 9. Mounting hole; 10. Rotating shaft I; 11. Bearing I; 12. Worm I; 13. Rotating shaft II; 14. Bearing II; 15. Worm gear II; 16. Encoder; 17. Bearing III; 18. Rotating shaft III; 19. Protective cover I; 20. Protective cover II; 21. Bearing IV; 22. Worm II; 23. Coupling; 24. Motor II. Detailed implementation mode

[0025] The following will further illustrate the present utility model in conjunction with Figure 1 , Figure 2 , Figure 3 the appended drawings.

[0026] A pan-tilt for an unmanned aerial vehicle with worm and worm gear transmission includes: a mounting base I 2, inside which a rotating shaft I 10 is rotatably mounted through a bearing I 11, and the axis of the rotating shaft I 10 is arranged vertically; a bracket 1, mounted above the mounting base I 2, and the upper end of the bracket 1 is connected to the unmanned aerial vehicle; a connecting arm 5, arranged horizontally, the connecting arm 5 is located at the lower end of the mounting base I 2, the connecting arm 5 is connected to the lower end of the rotating shaft I 10, an installation base II 6 is arranged vertically at the right end of the connecting arm 5, and an installation base III 7 is arranged vertically at the left end thereof; a worm and worm gear driving mechanism I, mounted on the mounting base I 2, for driving the rotating shaft I 10 to rotate; a rotating shaft III 18, rotatably mounted on the mounting base III 7 through a bearing III 17, and the axis of the rotating shaft III 18 is arranged horizontally; a rotating shaft II 13, rotatably mounted on the mounting base II 6 through a bearing II 14, and the rotating shaft II 13 is coaxial with the rotating shaft III 18; a worm and worm gear driving mechanism II, mounted on the mounting base II 6, for driving the rotating shaft II 13 to rotate; L-shaped connecting plates 8 are mounted on the inner sides of the rotating shaft II 13 and the rotating shaft III 18, mounting holes 9 are arranged on the connecting plates 8, and both ends of the load are respectively mounted in the mounting holes 9 of the corresponding connecting plates 8 on the same side through threaded fasteners. It is mounted on the unmanned aerial vehicle through the bracket 1, both ends of the load of the unmanned aerial vehicle are respectively fixed to the corresponding connecting plates 8 on the same side, the load of the unmanned aerial vehicle can be a camera, an infrared camera, a speaker, etc., the worm and worm gear driving mechanism I drives the rotating shaft I 10 to rotate, so that the connecting arm 5 rotates horizontally, and the worm and worm gear driving mechanism II drives the rotating shaft II 13 to rotate, so that the load rotates on the pitching axis. The worm and worm gear have a self-locking characteristic. After the motor stops moving, the rotating shaft I 10 and the rotating shaft II 13 are locked, and the load will not move freely, improving the anti-impact performance of the entire pan-tilt, and improving the load-bearing capacity and service life of the pan-tilt.

[0027] In an embodiment of the present utility model, the worm and worm gear drive mechanism I includes a motor I 3 mounted on a mounting seat I 2, a worm I 12 rotatably mounted on the mounting seat I 2, and a worm gear I 4 mounted on a rotating shaft I 10. The worm I 12 is in transmission connection with the output shaft of the motor I 3, and the worm I 12 meshes with the worm gear I 4. The motor I 3 rotates to drive the worm I 12 to rotate. Since the worm I 12 meshes with the worm gear I 4, the rotating shaft I 10 is driven to drive the connecting arm 5 to rotate, realizing the horizontal rotation of the load.

[0028] In an embodiment of the present utility model, the worm and worm gear drive mechanism II includes a motor II 24 mounted on a mounting seat II 6, a worm II 22 rotatably mounted on the mounting seat II 6 through a bearing IV 21, and a worm gear II 15 mounted on the outer end of a rotating shaft II 13. The worm II 22 is in transmission connection with the output shaft of the motor II 24 through a coupling 23, and the worm II 22 meshes with the worm gear II 15. The motor II 24 rotates to drive the worm II 22 to rotate through the coupling 23. Since the worm II 2 meshes with the worm gear II 15, the rotating shaft II 13 is driven to drive the corresponding connecting plate 8 to rotate, realizing the rotation in the pitch axis direction of the load.

[0029] In an embodiment of the present utility model, an encoder 16 is further included and mounted on the mounting seat II 6. The encoder 16 is coaxially in transmission connection with the rear end of the rotating shaft II 13. By installing the encoder 16, the angle when the load rotates in the pitch axis direction can be detected, making the drive more precise.

[0030] In an embodiment of the present utility model, a protective cover I 19 is further included and mounted on the outer end of the mounting seat II 6. The rotating shaft II 13 and the worm and worm gear drive mechanism II are located inside the protective cover I 19. A protective cover II 20 is further included and mounted on the outer end of a mounting seat III 7. The rotating shaft III 18 is located inside the protective cover II 20. By providing the protective cover I 19 and the protective cover II 20, the transmission system can be effectively protected, further improving the reliability of use.

[0031] In an embodiment of the present utility model, the worm gear I 4, the worm I 12, the worm gear II 15, and the worm II 22 are all made of POM material. The POM material has excellent wear resistance and self-lubrication properties, can maintain good performance under long-term high-load operation, has good mechanical strength and stiffness, and can withstand large loads and torques.

[0032] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements on some of the technical features. 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 pan-tilt for an unmanned aerial vehicle with worm and worm gear drive, characterized in that, Comprising: Mounting base I (2), inside which a rotating shaft I (10) is rotatably mounted through a bearing I (11), and the axis of the rotating shaft I (10) is arranged in the vertical direction; Bracket (1), mounted above the mounting base I (2), and the upper end of the bracket (1) is connected to the drone; Connecting arm (5), arranged in the horizontal direction, the connecting arm (5) is located at the lower end of the mounting base I (2), the connecting arm (5) is connected to the lower end of the rotating shaft I (10), an installation base II (6) is arranged in the vertical direction at the right side end of the connecting arm (5), and an installation base III (7) is arranged in the vertical direction at its left side end; Worm and worm gear drive mechanism I, mounted on the mounting base I (2), for driving the rotation of the rotating shaft I (10); Rotating shaft III (18), rotatably mounted on the mounting base III (7) through a bearing III (17), and the axis of the rotating shaft III (18) is arranged in the horizontal direction; Rotating shaft II (13), rotatably mounted on the mounting base II (6) through a bearing II (14), and the rotating shaft II (13) is coaxial with the rotating shaft III (18); Worm and worm gear drive mechanism II, mounted on the mounting base II (6), for driving the rotation of the rotating shaft II (13); L-shaped connecting plates (8) are mounted on the inner sides of both the rotating shaft II (13) and the rotating shaft III (18), mounting holes (9) are arranged on the connecting plates (8), and both ends of the load are respectively mounted in the mounting holes (9) of the corresponding connecting plates (8) on the same side through threaded fasteners.

2. The pan-tilt for an unmanned aerial vehicle with worm and worm gear drive according to claim 1, characterized in that: The worm and worm gear drive mechanism I includes a motor I (3) mounted on the mounting base I (2), a worm I (12) rotatably mounted on the mounting base I (2), and a worm gear I (4) mounted on the rotating shaft I (10), the worm I (12) is in transmission connection with the output shaft of the motor I (3), and the worm I (12) meshes with the worm gear I (4).

3. The pan-tilt for an unmanned aerial vehicle with worm and worm wheel drive according to claim 2, wherein: The worm and worm gear drive mechanism II includes a motor II (24) mounted on the mounting base II (6), a worm II (22) rotatably mounted on the mounting base II (6) through a bearing IV (21), and a worm gear II (15) mounted on the outer side end of the rotating shaft II (13), the worm II (22) is in transmission connection with the output shaft of the motor II (24) through a coupling (23), and the worm II (22) meshes with the worm gear II (15).

4. The pan-tilt for an unmanned aerial vehicle with worm and worm wheel drive according to claim 1, wherein: It further includes an encoder (16) mounted on the mounting base II (6), and the encoder (16) is in coaxial transmission connection with the rear end of the rotating shaft II (13).

5. The pan-tilt for an unmanned aerial vehicle with worm and worm wheel drive according to claim 1, wherein: It further includes a protective cover I (19) mounted on the outer side end of the mounting base II (6), and the rotating shaft II (13) and the worm and worm gear drive mechanism II are located inside the protective cover I (19).

6. The pan-tilt for an unmanned aerial vehicle with worm and worm gear drive according to claim 1, characterized in that: It further includes a protective cover II (20) mounted on the outer side end of the mounting base III (7), and the rotating shaft III (18) is located inside the protective cover II (20).

7. The pan-tilt for an unmanned aerial vehicle with worm and worm gear drive according to claim 1, characterized in that: The worm gear I (4), the worm I (12), the worm gear II (15), and the worm II (22) are all made of POM material.

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