Miniature airborne holder and electrical system

Abstract

The utility model discloses a miniature airborne cradle head, which relates to the technical field of cradle heads and comprises a rotatable cradle head, a cradle head and an antenna housing base, the cradle head and the antenna housing base are mutually sealed, an antenna housing is arranged above the antenna housing base, and the antenna housing is arranged above the antenna housing base to completely seal the cradle head. According to the scheme, steering can be remotely controlled through an ashore computer, angle positioning information can be fed back to the ashore computer, steering can also be controlled through a ship industrial personal computer, angle positioning information can be fed back to the industrial personal computer, and pan-tilt GPS signals are fed back and displayed on the ashore computer.

Description

Technical Field

[0001] This utility model relates to the field of gimbal technology, specifically a miniature airborne gimbal and its electrical system. Background Technology

[0002] The gimbal control industry is an emerging sector in my country, and in its early stages of development, it needs improvement in control precision, scale, and integration. Functionally, it primarily includes handheld gimbals—used in emerging content dissemination industries such as short videos, live streaming, and vlogs, with their core features being stabilization and improved handheld shooting effects; and drone gimbals—used in fixed or electrically adjustable aerial photography. With further exploration of the potential of three-axis motors and intelligent algorithms, the gimbal control industry is playing an increasingly important role in various sectors, while requirements for load-bearing capacity, controllable movement direction, and waterproof / dustproof capabilities are becoming increasingly important.

[0003] In the existing technology, gimbals are often used as support equipment for installing and fixing mission payloads such as cameras. When gimbals move at sea, in order to meet the needs of the marine application environment, there is a need to provide a miniature airborne gimbal that can be controlled and steered by an industrial control computer on board or a computer on shore and can provide feedback on angle positioning information. At the same time, it has a sealed structure to achieve a sealing effect. Utility Model Content

[0004] The purpose of this invention is to provide a miniature airborne gimbal to address the shortcomings of existing technologies.

[0005] A miniature airborne gimbal includes a rotatable gimbal and a mutually sealed gimbal and radome base. The radome is mounted on top of the radome base, and the radome is mounted on top of the radome base to completely enclose the gimbal. A gimbal chassis is mounted below the radome base to support the radome base.

[0006] An opening is formed at the center of the radome base, through which the gimbal is installed to the center of the gimbal chassis. A core control board, GPS module, signal processing board, data transmission antenna sky terminal, and secondary power supply module are arranged circumferentially around the gimbal above the radome base. A cable tray is provided on the radome base to facilitate the passage of radio frequency cables.

[0007] Furthermore, it also includes a chassis adapter, and the core control board and the data transmission antenna sky end are both fixed by fasteners, with both ends of the fasteners fixed to the top of the antenna radome base by screws.

[0008] Furthermore, the core control board and the signal processing board constitute a core control system to control the orientation of the gimbal to prevent deviation. The radio frequency cables connecting the core control board and the signal processing board all pass through cable trays.

[0009] Furthermore, the GPS module and the data transmission antenna sky end form a data link system, which displays the latitude and longitude location information of the gimbal in real time and communicates with the ground control system. The radio frequency cables connected to the core control board and the signal processing board all pass through the cable tray.

[0010] Furthermore, a camera for observing the winding of the radio frequency cables inside the antenna radome is installed above the antenna radome base at the location inside the antenna radome cavity, and the camera is located on one side of the gimbal.

[0011] Furthermore, the radome is composed of a hollow hemispherical shell and a hollow cylindrical shell, and is inverted in a bowl shape above the radome base. A rubber ring is installed between the radome and the radome base and sealant is applied to complete the sealed assembly.

[0012] Furthermore, the radome is a component of glass fiber transparent composite material.

[0013] Furthermore, a chassis adapter is installed below the gimbal chassis, and a connecting disc is installed below the chassis adapter. Several support members are distributed in a circular array on the outer side of the chassis adapter. The bending of the support members forms a U-shaped structure. The top of the support member contacts the bottom wall of the gimbal chassis to support the gimbal chassis. The upper end of the side wall is fixedly connected to the chassis adapter by bolts, and the lower end of the side wall is fixedly connected to the connecting disc by bolts.

[0014] Furthermore, the gimbal includes a motor mount, a motor, a yaw arm, a limiting component, a pitch arm, a roll arm, an antenna bracket, a bracket plate, and a microwave antenna. The motor mount passes through the opening at the center of the antenna radome base and is installed at the center of the gimbal chassis. The motor is fixed above the motor mount. One end of the yaw arm is fixedly connected to the output end of the motor, and the other end of the yaw arm is connected to one end of the pitch arm. A limiting component is installed on the yaw arm. The other end of the pitch arm is connected to the roll arm. The output end of the roll arm is connected to the antenna bracket. The antenna bracket and the microwave antenna are connected through the bracket plate. The microwave antenna has a rotation angle of ±120°.

[0015] An electrical system for controlling a miniature airborne gimbal as described in any of the preceding claims, comprising a power supply system, a core control system, the gimbal, a data link system, and ground equipment.

[0016] The advantages of this utility model compared with the prior art are as follows:

[0017] 1. In this solution, the azimuth rotation angle of the microwave antenna on the gimbal can reach ±120°. Under the action of the three-axis stabilization structure, the gimbal has stable adaptive capability.

[0018] 2. In this solution, the gimbal can be remotely controlled and steered via a shore computer, and can also be fed back to the shore computer with angle and positioning information. It can also be controlled and steered via an industrial control computer on board, and can also be fed back to the industrial control computer with angle and positioning information. The GPS signal of the gimbal is displayed on the shore computer.

[0019] 3. The gimbal in this solution is equipped with anti-salt spray and mold protection and waterproof capabilities, which can meet the needs of maritime navigation. Attached Figure Description

[0020] Figure 1 This is a topology diagram of a miniature airborne gimbal proposed in this scheme;

[0021] Figure 2 This is an external schematic diagram of the overall structure of a miniature airborne gimbal proposed in this solution;

[0022] Figure 3 This is a schematic diagram of the internal structure of a miniature airborne gimbal proposed in this solution;

[0023] Figure 4 This is a partial structural diagram of a miniature airborne gimbal proposed in this solution;

[0024] Figure 5 This is a schematic diagram of the structure of the data transmission antenna sky end fixed by the fixing component proposed in this scheme;

[0025] Figure 6 This is a schematic diagram of the structure on the radome base proposed in this scheme;

[0026] Figure 7 This is a schematic diagram of the gimbal structure proposed in this solution;

[0027] Figure 8 This is a schematic diagram of the structure below the radome base in a miniature airborne gimbal proposed in this solution;

[0028] Figure 9 This is a schematic diagram of the electrical design structure of a miniature airborne gimbal proposed in this scheme.

[0029] Reference numerals: 1. Gimbal; 2. Antenna base; 3. Antenna; 4. Gimbal chassis; 5. Core control board; 6. GPS module; 7. Signal processing board; 8. Data transmission antenna (sky end); 9. Camera; 10. Secondary power supply module; 11. Chassis adapter; 12. Connecting disc; 13. Support component; 14. Fixing component;

[0030] 101. Motor mount; 102. Motor; 103. Yaw arm; 104. Limiting component; 105. Pitch arm; 106. Roll arm; 107. Antenna bracket; 108. Bracket plate; 109. Microwave antenna. Detailed Implementation

[0031] Example 1

[0032] This embodiment provides a miniature airborne gimbal, primarily mounted on the top of the support mast of a vessel at sea. It can be remotely controlled via a shore-based computer for steering and can also provide angle and positioning information back to the shore-based computer. Simultaneously, it can be controlled via an industrial control computer on board, providing angle and positioning information back to the industrial control computer, as shown in the attached instruction manual. Figure 1-9 As shown, the system includes a rotatable gimbal 1, a sealed radome 3, and a radome base 2. The radome 3 is mounted above the radome base 2, completely enclosing the gimbal 1. This design adapts to the requirements of marine applications and provides protection against salt spray, mold, and water, achieving a three-proof effect for the overall structure. A gimbal base 4 is mounted below the radome base 2 to support it, thus supporting the overall structure.

[0033] Among them, the radome 3 is made of glass fiber transparent composite material, model TB-310, with an inner diameter of 300mm, a transmittance of more than 98%, a dielectric constant (ε) of less than 3.9, a dielectric loss tangent (tanδ) of less than 0.1 in the microwave range of 0.3 to 40GHz, and an applicable temperature range of [-45℃, +110℃] in the microwave range of 0.3 to 40GHz.

[0034] An opening is made through the center of the radome base 2. The gimbal 1 is installed through the opening and at the center of the gimbal chassis 4. The gimbal 1 is powered by 28V DC. The microwave antenna 109 on the gimbal 1 can rotate at an azimuth angle of ±120° and has stable self-adaptive capability. The power supply cable and communication cable are led into the interference chamber through the lifting tower. The core control board 5, GPS module 6, signal processing board 7, data transmission antenna sky end 8, camera 9 and secondary power supply module 10 are arranged around the gimbal 1 above the radome base 2. The core control board 5, GPS module 6, signal processing board 7 and data transmission antenna sky end 8 are all connected to radio frequency cables. The radome base 2 has a cable tray to facilitate the passage of radio frequency cables.

[0035] The camera 9 is installed above the antenna base 2, inside the antenna 3 cavity, and on one side of the antenna 3, so as to facilitate observation of the RF cable winding inside the antenna 3 and avoid the antenna 3 from winding during rotation.

[0036] Since the core control board 5 and the data transmission antenna sky terminal 8 do not have a fixed structure, a fastener 14 is used to fix them. At the same time, the fastener 14 is fixed to the antenna base 2 with screws to achieve the purpose of fixing the core control board 5 and the data transmission antenna sky terminal 8.

[0037] Meanwhile, the core control board 5 and the signal processing board 7 form the core control system, which controls the orientation of the microwave antenna 109 in the gimbal 1 so that it does not shift with the hull. The radio frequency cables connected to the core control board 5 and the signal processing board 7 all pass through the cable tray, realizing the stable adaptive capability of the integrated rotating gimbal and ensuring that the orientation of the gimbal load horn antenna does not shift with the hull.

[0038] The GPS module 6 and the data transmission antenna sky terminal 8 form a data link system, which displays the latitude and longitude position information of the gimbal 1 in real time and communicates with the ground control system. The radio frequency cables connected to the core control board 5 and the signal processing board 7 all pass through the cable tray, displaying the overall structure and the latitude and longitude position information of the microwave antenna 109 in real time, and enabling the ground control system to communicate with the core control system.

[0039] Please refer to the instruction manual attached. Figure 1-3 The sealing method of the radome base 2 and radome 3 in this embodiment will be specifically described. The radome 3 is composed of a hollow hemispherical shell and a hollow cylindrical shell, and is inverted in a bowl shape on top of the radome base 2. A rubber ring is installed between the radome 3 and the radome base 2 and sealant is applied to complete the sealing assembly.

[0040] Please refer to the attached instruction manual. Figure 8 The fixing method of the support member 13 in this embodiment will be specifically described. A chassis adapter 11 is installed below the gimbal chassis 4, and a connecting disc 12 is installed below the chassis adapter 11. Several support members 13 are distributed in a circular array on the outer side of the chassis adapter 11. Specifically, there are four in this embodiment. Because the contact area between the connecting disc 12 and the lifting rod is small, the support member 13 is bent to support the gimbal chassis 4. Each support member 13 is bent into a C-shaped structure. The upper end of the side wall is fixedly connected to the chassis adapter 11 by bolts, and the lower end of the side wall is fixedly connected to the connecting disc 12 by bolts. The upper and lower parts of the support member 13 are in contact with the gimbal chassis 4 and the top of the lifting rod, respectively, which increases the stress area and the reliability of the structure. In addition, the support member 13 is made of stainless steel, which has high strength and corrosion resistance.

[0041] Please refer to the instruction manual attached. Figure 7 The fixing method of the gimbal 1 in this embodiment will be specifically described. The gimbal 1 includes a motor mount 101, a motor 102, a yaw support arm 103, a limiting member 104, a pitch support arm 105, a roll support arm 106, an antenna bracket 107, and a bracket clamping plate 108. The motor mount 101 passes through the opening at the center of the antenna base 2 and is installed at the center of the gimbal chassis 4. The motor mount 101 and the gimbal chassis 4 are connected by screws. The motor 102 is fixed above the motor mount 101, and the motor mount 101 supports the motor 102.

[0042] One end of the directional arm 103 is fixedly connected to the output end of the motor 102 to control the rotation angle of the directional arm 103, which facilitates the rotation of the microwave antenna 109 in the horizontal direction. The other end of the directional arm 103 is connected to one end of the pitch arm 105, which facilitates the rotation of the microwave antenna 109 around the end of the limiting member 104 in the vertical direction. The limiting member 104 is installed on the directional arm 103. The other end of the pitch arm 105 is connected to the roll arm 106, which facilitates the rotation of the microwave antenna 109 around the end of the pitch arm 105. The motor 102, the pitch arm 105 and the roll arm 106 form a three-axis stabilization structure. The three-axis stabilization structure supports the microwave antenna 109, which ensures that the microwave antenna 109 does not shift inside the antenna radome base 2 when the overall structure moves with the ship. The angle of the microwave antenna 109 will only be adjusted under the control of the core control board 5 and the data transmission antenna sky terminal 8.

[0043] The output end of the roll arm 106 is connected to the antenna bracket 107. The antenna bracket 107 and the microwave antenna 109 are connected through the bracket clamp 108, thereby mounting the microwave antenna 109 onto the three-axis stabilizing structure. The three-axis stabilizing structure is used to adjust the angle of the horn antenna, so that the horn antenna can rotate within a specified angle range.

[0044] Example 2

[0045] This embodiment provides an electrical system for the miniature airborne gimbal in Embodiment 1. The electrical system consists of a power supply system, a core control system, a gimbal 1, a data link system, and ground equipment. The schematic diagram of the entire electrical system is shown in the attached specification. Figure 9 As shown, the gimbal 1 uses an external 28V DC power supply. A step-down voltage regulator module and a secondary power supply module 10 are used to power the gimbal 1, the core control system, and the data link system to ensure the normal operation of the gimbal. The core control system and the data link system ensure that the various functional indicators of the gimbal are normal.

[0046] To meet the requirements of marine application environments, all internal electrical equipment has been treated with tri-proof measures. The gimbal is designed with a sealed structure. For details, please refer to the description of the antenna base 2 and antenna 3 in Example 1. Cables connect all electrical equipment and power supply, and cable protection and routing are designed. The core control board 5, GPS module 6, signal processing board 7, data transmission antenna sky terminal 8, camera 9, secondary power supply module 10, and chassis adapter 11 are all included. The antenna base 2 has a cable tray to facilitate the passage of radio frequency cables.

[0047] in,

[0048] The power supply system includes a step-down voltage regulator module and a secondary power supply module 10, which provide power to the overall structure and maintain its normal operation. The step-down voltage regulator module is existing technology and will not be described in detail here.

[0049] The core control system includes a core control board 5 and a signal processing board 7, which enables the gimbal 1 to achieve stable self-adaptation and ensures that the orientation of the horn-shaped microwave antenna 109 on the gimbal 1 does not shift with the hull movement.

[0050] The three-axis stabilization structure in the gimbal 1 supports the microwave antenna 109, giving the overall structure a certain degree of stable operation capability.

[0051] The data link system includes a GPS module 6 and a data transmission antenna sky terminal 8, which displays information such as the overall structure and the latitude and longitude position of the microwave antenna 109 in real time, and enables the ground control system to communicate with the core control system.

[0052] Ground equipment includes the ground end of the data transmission antenna. This part of the structure is usually placed on shore to enable communication and control between the ground control system and the overall structure.

[0053] The core control board 5, GPS module 6, signal processing board 7, data transmission antenna sky terminal 8, and camera 9 involved in Examples 1-2 are all commonly used devices in the field, and their matching radio frequency cables can also be provided by the manufacturer, which need not be elaborated.

[0054] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0055] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0056] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0057] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A miniature airborne gimbal, characterized in that, It includes a rotatable gimbal (1), a sealed radome (3) and a radome base (2), the radome (3) being mounted above the radome base (2) to completely enclose the gimbal (1), and a gimbal chassis (4) being mounted below the radome base (2) to support the radome base (2). An opening is made through the center of the radome base (2), and the gimbal (1) is installed through the opening to the center of the gimbal chassis (4). A core control board (5), a GPS module (6), a signal processing board (7), a data transmission antenna sky terminal (8), and a secondary power supply module (10) are arranged around the gimbal (1) above the radome base (2). A cable groove is provided on the radome base (2) to facilitate the passage of radio frequency cables.

2. The miniature airborne gimbal according to claim 1, characterized in that: It also includes a chassis adapter (11), and the core control board (5) and the data transmission antenna sky end (8) are both fixed by a fastener (14), and both ends of the fastener (14) are fixed to the top of the antenna radome base (2) by screws.

3. A miniature airborne gimbal according to claim 1, characterized in that: The core control board (5) and the signal processing board (7) form a core control system, which controls the orientation of the gimbal (1) to prevent deviation. The radio frequency cables connected to the core control board (5) and the signal processing board (7) both pass through the cable tray.

4. A miniature airborne gimbal according to claim 1, characterized in that: The GPS module (6) and the data transmission antenna sky terminal (8) form a data link system, which displays the latitude and longitude location information of the gimbal (1) in real time and communicates with the ground control system. The radio frequency cables connected to the core control board (5) and the signal processing board (7) both pass through the cable tray.

5. A miniature airborne gimbal according to claim 1, characterized in that: A camera (9) for observing the winding of the radio frequency cable inside the antenna radome (3) is also installed above the antenna radome base (2) at the position inside the antenna radome (3). The camera (9) is located on one side of the gimbal (1).

6. A miniature airborne gimbal according to claim 1, characterized in that: The radome (3) is composed of a hollow hemispherical shell and a hollow cylindrical shell, and is inverted in a bowl shape above the radome base (2). A rubber ring is installed between the radome (3) and the radome base (2) and sealant is applied to complete the sealed assembly.

7. A miniature airborne gimbal according to claim 6, characterized in that: The radome (3) is a component of glass fiber transparent composite material.

8. A miniature airborne gimbal according to claim 1, characterized in that: A chassis adapter (11) is installed below the gimbal chassis (4), and a connecting disc (12) is installed below the chassis adapter (11). Several support members (13) are distributed in a circular array on the outer side of the chassis adapter (11). The support members (13) are bent to form a U-shaped structure. The top end contacts the bottom wall of the gimbal chassis (4) to support the gimbal chassis (4). The upper end of the side wall is fixedly connected to the chassis adapter (11) by bolts, and the lower end of the side wall is fixedly connected to the connecting disc (12) by bolts.

9. A miniature airborne gimbal according to claim 1, characterized in that: The gimbal (1) includes a motor mount (101), a motor (102), a yaw arm (103), a limiting member (104), a pitch arm (105), a roll arm (106), an antenna bracket (107), a bracket clamp (108), and a microwave antenna (109). The motor mount (101) passes through the opening at the center of the antenna radome base (2) and is installed at the center of the gimbal chassis (4). The motor (102) is fixed above the motor mount (101). One end of the yaw arm (103) is connected to the motor... The output end of the 102) is fixedly connected, the other end of the yaw arm (103) is connected to one end of the pitch arm (105), a limiting member (104) is installed on the yaw arm (103), the other end of the pitch arm (105) is connected to the roll arm (106), the output end of the roll arm (106) is connected to the antenna bracket (107), the antenna bracket (107) and the microwave antenna (109) are connected through the bracket clamp (108), and the microwave antenna (109) has a rotation angle of ±120°.

10. An electrical system for controlling a miniature airborne gimbal as described in any one of claims 1-9, characterized in that: It includes the power system, core control system, gimbal (1), data link system and ground equipment.

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