CN105539872A

CN105539872A - Pan-tilt of unmanned aerial vehicle and bearing support of pan-tilt

Info

Publication number: CN105539872A
Application number: CN201610065838.8A
Authority: CN
Inventors: 杨容涛; 伍沧浪; 蔡炜; 叶华林
Original assignee: Guangzhou Feimi Electronic Technology Co Ltd; Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Guangzhou Feimi Electronic Technology Co Ltd; Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-01-29
Filing date: 2016-01-29
Publication date: 2016-05-04
Also published as: WO2017129137A1

Abstract

The invention relates to a pan-tilt of an unmanned aerial vehicle and a bearing support of the pan-tilt, and relates to the field of unmanned aerial vehicles. The bearing support comprises a fixed base and a pressing plate. The fixed base comprises a base, a first rotating support and a second rotating support. The first rotating support and the second rotating support are oppositely arranged on the base. A connection structure connected with a rotating device of the pan-tilt of the unmanned aerial vehicle is further arranged on the base. One end of the pressing plate is connected to the first rotating support in a rotatable mode. A buckle structure used for pressing the other end of the pressing plate on the second rotating support is arranged on the second rotating support. When the pan-tilt is used, a camera shooting device can be fixed by only controlling the buckle structure to press the camera shooting device through the pressing plate, operation is convenient, and the fixing effect is good.

Description

Unmanned vehicle The Cloud Terrace and bearing support thereof

Technical field

The disclosure relates to unmanned plane field, particularly relates to a kind of unmanned vehicle The Cloud Terrace and bearing support thereof.

Background technology

Utilize unmanned vehicle to take photo by plane to be current modernization to take photo by plane one of means of taking photo by plane of paramount importance in system, unmanned vehicle as a kind of novel instrument of taking photo by plane, have higher can be handling.

When adopting unmanned vehicle to take photo by plane, on unmanned vehicle, usually arrange one for installing the The Cloud Terrace of camera head.The Cloud Terrace generally includes the connecting device, the wheel word of adjustment camera head shooting angle and the bearing support of fixing camera head that connect unmanned vehicle.

Bearing support fixes the mode of camera head, usually adopts screwed lock to fix on the market or directly adopts the quick fixed forms such as band to be fixed.Screwed lock fixed form, although reliability is higher, its installation process is comparatively complicated, needs to fix by screwdriver and screw, and Consumer's Experience is bad; Adopt the quick fixed forms such as band, stationarity extreme difference, easily produces shake in use procedure, affect photographic effect, even can cause camera head generation landing time serious.

Summary of the invention

For overcoming Problems existing in correlation technique, the disclosure provides a kind of unmanned vehicle The Cloud Terrace and bearing support thereof.

According to the first aspect of disclosure embodiment, provide a kind of bearing support of unmanned vehicle The Cloud Terrace, described bearing support comprises:

Permanent seat and pressing plate;

Described permanent seat comprises base, the first rotating stand and the second rotating stand, described first rotating stand and described second rotating stand are relatively arranged on described base, described base are also provided with the connection structure for being connected with the wheel word of unmanned vehicle The Cloud Terrace;

One end of described pressing plate is rotatably connected on described first rotating stand, and described second rotating stand is provided with the buckle structure for being pressed on by the other end of described pressing plate on described second rotating stand.

In the disclosure, by being oppositely arranged the first rotating stand and the second rotating stand in base plate both sides, then one end of pressing plate is rotatably connected on the first rotating stand, second rotating stand arranges the buckle structure be pressed on by the other end of pressing plate on the second rotating stand, during use, first camera head is placed between the first rotating stand and the second rotating stand, then by buckle structure, the other end of pressing plate is pressed on the second rotating stand, thus make pressing plate compress camera head.

In a kind of implementation of disclosure first aspect, described pressing plate is U-shaped, one end of described U-shaped is provided with the first axis hole, described U-shaped is installed in rotation on described first rotating stand by described first axis hole and turning cylinder, and the other end of described U-shaped is provided with the draw-in groove matched with described buckle structure.

In this implementation, adopt draw-in groove to match with buckle structure, realize the compression of pressing plate and unclamp, structure is simple.

In a kind of implementation of disclosure first aspect, described buckle structure comprises clasp and lower draw ring, one end of described clasp is rotatably connected on described second rotating stand, the middle part of described clasp and one end of described lower draw ring are rotatably connected, the other end of described clasp is control the handle of described clasp around described second rotating stand rotation, and the other end of described lower draw ring is used for the other end clamping with described pressing plate; When the other end of described lower draw ring and the other end clamping of described pressing plate, and when described handle is positioned at the position near described base plate, described pressing plate is pressed on described second rotating stand by described lower draw ring.

In this implementation, buckle structure is realized by clasp and lower draw ring, the simple structure of whole buckle structure, is easy to operation and good fixing effect.

In the another kind of implementation of disclosure first aspect, described second rotating stand comprises support body and extends the boss of described sole periphery from described support body, described boss is provided with the second axis hole, and one end of described clasp is by being arranged on described boss through the turning cylinder of described second axis hole.

In this implementation, by arranging the boss extended to sole periphery, then the second axis hole is arranged on boss, when the handle of clasp is drawn to bottom, under the effect of the power of lower draw ring, handle is held in support body, and not easily throw off, ensure that the fixed performance of bearing support.

In the another kind of implementation of disclosure first aspect, described clasp is U-shaped clasp, and one end of the opening of described U-shaped clasp is provided with Triaxial hole, and described U-shaped clasp is arranged on described boss by described Triaxial hole and turning cylinder.

In this implementation, be provided with Triaxial hole in one end of U-shaped clasp opening, realize being rotatably connected of clasp and the second rotating stand, simple structure and good fixing effect.

In the another kind of implementation of disclosure first aspect, the middle part correspondence of described U-shaped clasp is provided with the 4th axis hole, described lower draw ring comprises cross bar, is connected to two pipe links at described cross bar two ends, two dwangs be connected on described two pipe link bars, described dwang and described cross bar be arranged in parallel, and described two dwangs insert in the 4th axis hole of described U-shaped clasp.

In this implementation, when two cross bars of lower draw ring insert the 4th axis hole, need two pipe links to separate to both sides, after cross bar inserts the 4th axis hole, cross bar is not easily deviate from the 4th axis hole, ensure that the firm of total.

In the another kind of implementation of disclosure first aspect, described lower draw ring is metal piece.

In this implementation, adopt metal as drop-down ring material, both convenient generation was processed, and can ensure again the requirement of strength to lower draw ring.

In the another kind of implementation of disclosure first aspect, the top of described second rotating stand is provided with slot, described pressing plate is also provided with the Access Division of matching with described slot.

In this implementation, when pressing plate is pressed on the second rotating stand, match in slot and Access Division, add binding force therebetween, improve the fixed effect of bearing support.

In the another kind of implementation of disclosure first aspect, the side relative with described base of described pressing plate is provided with the first pad.

In this implementation, described bearing support also comprises the first pad, and described first pad is fixed on a side relative with described base plate of described pressing plate, when installing camera head, between camera head and pressing plate, play buffer action, reduce the wearing and tearing of camera head.

In the another kind of implementation of disclosure first aspect, described bearing support also comprises the second pad, described second pad is fixed on described second rotating stand, when described pressing plate is pressed on described second rotating stand, described second shim clip is located between described pressing plate and described second rotating stand.

In this implementation, by arranging the second pad, the pulling force that lower draw ring produces handle can be increased, thus make handle be held on rack body further.

In the another kind of implementation of disclosure first aspect, described first pad and described second pad are flexible glue pad.

In the another kind of implementation of disclosure first aspect, described first pad and described second pad adopt glue to fix.

In the another kind of implementation of disclosure first aspect, described base comprises base plate and is vertically connected on the polylith side plate on the side of described base plate, described polylith side plate joins end to end, described connection structure is arranged on the lateral wall of one block of side plate in described polylith side plate, and described first rotating stand and described second rotating stand are separately positioned on the adjacent biside plate of the side plate being provided with described connection structure.

In this implementation, base plate arranges side plate, restriction and fixation can be played the camera head be arranged in bearing support, add the safety performance of bearing support.

In the another kind of implementation of disclosure first aspect, described base is provided with the general-purpose serial bus USB joint for being connected with camera head.

In this implementation, by arranging USB interface on base plate, camera head is connected with the master control device of unmanned vehicle, and wireless signal can be adopted to communicate with ground station due to master control device, ground station can be controlled camera head.

In the another kind of implementation of disclosure first aspect, described base is provided with for detecting the current roll angle of described base, pitch angle, the angle of course angle and the sensor of cireular frequency.

This sensor can be gyroscope or accelerometer.This sensor is connected with the master control device of unmanned vehicle, when detecting that the attitude (angle) of base changes, master control device is according to the variable quantity of attitude, calculate angle and the speed of 3 motor shaft needs rotation in wheel word, and send command adapted thereto to circuit card corresponding to each motor, to make the controller on circuit card control electric machine rotation, the attitude revising base returns the attitude of setting.

In the another kind of implementation of disclosure first aspect, described connection structure is be vertically set on the cylindrical structure on described side plate lateral wall, and the sidewall of described cylindrical structure is provided with side opening.

In the another kind of implementation of disclosure first aspect, described permanent seat adopts 40% fibre reinforced polyphtalamide material to make.

In this implementation, 40% fibre reinforced polyphtalamide material can meet permanent seat height rigid requirements, and the structural weight made is little, can realize single injection-molded simultaneously, the demand that rapid, high volume is produced.

In the another kind of implementation of disclosure first aspect, described pressing plate and described clasp adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

In this implementation, adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make pressing plate and described clasp, can single injection-molded be realized, and weight is little, price is low.

According to the second aspect of disclosure embodiment, provide a kind of unmanned vehicle The Cloud Terrace, described unmanned vehicle The Cloud Terrace comprises:

For the dampening assembly, bearing support and the wheel word that described bearing support can be driven to rotate in three directions that are connected with unmanned vehicle fuselage, described rotation transposition is connected with described dampening assembly and described bearing support respectively, and described bearing support is the bearing support as described in any one of first aspect.

In a kind of implementation of disclosure second aspect, described dampening assembly comprise be connected with described unmanned vehicle fuselage fixed mount, be connected to the shock mount on described fixed mount and be arranged on the multiple damping parts on described shock mount, described damping part is located between described wheel word and described shock mount.

In this implementation, by arranging damping part, reducing camera head and being arranged on the vibration be subject in bearing support, ensure that the stability of shooting picture.

In the another kind of implementation of disclosure second aspect, described shock mount comprises the first connecting arm and is arranged on multiple first erecting frames on described first connecting arm, multiple described first erecting frame intervals are arranged in the surrounding of described first connecting arm, described first erecting frame is cylindrical structure, and the bottom of described cylindrical structure is formed with inward flange.

In the another kind of implementation of disclosure second aspect, described damping part is made up of elastomeric material.

In the another kind of implementation of disclosure second aspect, described damping part comprises shock-absorbing ball and is connected to the interface arrangment of described shock-absorbing ball two opposite sides, and described damping part is connected with described wheel word and described shock mount respectively by described interface arrangment.

In this implementation, adopt chondritic to realize shock-absorbing function, chondritic has good tensile property energy, can play the effect of fully filtering top vibration.

In the another kind of implementation of disclosure second aspect, described fixed mount and described shock mount adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

In this implementation, adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make fixed mount and described shock mount, can single injection-molded be realized, and weight is little, price is low.

In the another kind of implementation of disclosure second aspect, described wheel word comprises the first driver element, second driver element and the 3rd driver element, described first driver element comprises the first link span be connected with described dampening assembly, be arranged on the first runner assembly on described first link span, described second driver element comprises the second link span be connected with the output shaft of described first runner assembly, be arranged on the second turning discreteness on described second link span, described 3rd driver element comprises the 3rd link span be connected with the output shaft of described the second turning discreteness, be arranged on the 3rd runner assembly on described 3rd link span, the output shaft of described first runner assembly, the output shaft of the second turning discreteness is vertical between two with the axis direction of the output shaft of the 3rd runner assembly.

In this implementation, wheel word is made up of three driver elements, each driver element controls camera head respectively and rotates in one direction, camera head can be realized on the one hand to take with various angle, or realize camera head to change with the angle of setting, not by the impact of the angle of unmanned vehicle itself; On the other hand, when unmanned vehicle run-off the straight, control camera head by three driver elements and rotate, keep the shooting angle of camera head constant, strengthen shooting stability.

In the another kind of implementation of disclosure second aspect, described first link span comprises holder housing and is located at multiple second erecting frames on described holder housing, multiple described second erecting frame interval is arranged in described holder housing surrounding, described second erecting frame is cylindrical structure, and the bottom of described cylindrical structure is formed with inward flange.

In this implementation, the first link span comprises multiple erecting frame, for being connected with aforementioned damping part, realizes the shock-absorbing function of The Cloud Terrace.

In the another kind of implementation of disclosure second aspect, described first runner assembly comprises the first motor, first housing, first circuit board and the first end cap, described first motor is fixed on a side of described first housing, described holder housing and described first housing are fixedly connected to form accommodation space, described first circuit board is located in described accommodation space, the output shaft of described first motor is successively through described first housing, described first circuit board, described holder housing, described first end cap is arranged on described holder housing, the motor shaft of described first motor is connected with described second link span, and described second link span is between described holder housing and described first end cap.

In the another kind of implementation of disclosure second aspect, described holder housing offers slot, described first end cap comprises the first side wall of the first base plate and arc, one side of described the first side wall is fixedly connected with bottom first, another side of described the first side wall is provided with block tongue, and described block tongue coordinates fixing with described slot.

In this implementation, the first end cap is arranged on the first link span by block tongue, easy for installation, is easy to dismounting.

In the another kind of implementation of disclosure second aspect, described holder housing also offers opening, another side of described the first side wall is also provided with the adapter plate parallel with described first base plate, and described adapter plate is connected in described opening.

In this implementation, the first end cap further ensures the firmness of the first end cap installation by arranging adapter plate.

In the another kind of implementation of disclosure second aspect, described first runner assembly also comprises clamp, and described clamp is disposed adjacent in said opening with described adapter plate and is provided with breach between described clamp and described installation portion.

In this implementation, by arranging clamp, making after the first end cap installs, adopting clamp to compress the installation portion of the first end cap, thus ensure that the firm of the first end cap.

In the another kind of implementation of disclosure second aspect, a side of described clamp be provided with wiring board, form accommodation space between described wiring board and described the first side wall.

In this implementation, wiring board is provided with in a side of clamp, to make the control line of unmanned vehicle master control device while by the 3rd link span, the accommodation space formed by wiring board and the first side wall, avoid coming in contact with motor output shaft, ensure that the safety of control line.

In the another kind of implementation of disclosure second aspect, the first side wall of described first end cap is also provided with registration mast, described intermediate plate is provided with the knock hole mated with described registration mast, and described registration mast is through described knock hole.

In this implementation, in order to ensure the firmness of the first end cap further, also by arranging registration mast and knock hole positions.

In the another kind of implementation of disclosure second aspect, described first circuit board comprises the first potential device of the rotational angle of the motor shaft for detecting described first motor.

In this implementation, detect by arranging the rotational angle of potential device to the first motor, master control device can be controlled motor according to the angle recorded, to adjust shooting angle.

In the another kind of implementation of disclosure second aspect, described first runner assembly also comprises clutch shaft bearing, and described clutch shaft bearing is fastened between described first link span and described first end cap, and the motor shaft of described first motor is through described clutch shaft bearing.

In this implementation, by arranging clutch shaft bearing between the first end cap and the first link span, by the output shaft of the first motor through clutch shaft bearing, ensureing that the output shaft of motor can not offset, thus motor is played a protective role.

In the another kind of implementation of disclosure second aspect, described first housing, described first link span and described first end cap adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

In this implementation, adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make the first housing, described first link span and described first end cap, can single injection-molded be realized, and weight is little, price is low.

In the another kind of implementation of disclosure second aspect, described second link span comprises the first main body and secondth connecting arm connected vertically with described first main body side, described the second turning discreteness is arranged in described first main body, and described secondth connecting arm is fixed on the output shaft of described first runner assembly.

In the another kind of implementation of disclosure second aspect, described the second turning discreteness comprises the second motor, second housing, second circuit board and the second end cap, described second motor is fixed on a side of described second housing, described first main body and described second housing are fixedly connected to form accommodation space, described second circuit board is located in described accommodation space, the output shaft of described second motor is successively through described second housing, described second circuit board, described first main body, described second end cap is arranged in described first main body, the motor shaft of described second motor is connected with described 3rd link span, and described 3rd link span is between described first main body and described second end cap, described second end cap and described secondth connecting arm are positioned at the same side of described first main body.

In the another kind of implementation of disclosure second aspect, described first end cap comprises the second sidewall with arc bottom second, and a side of described second sidewall is fixedly connected with bottom second.

In the another kind of implementation of disclosure second aspect, described second circuit board comprises the second potential device of the rotational angle of the motor shaft for detecting described second motor.

In the another kind of implementation of disclosure second aspect, described the second turning discreteness also comprises the second bearing, and described second bearing is fastened between described second link span and described second end cap, and the motor shaft of described second motor is through described second bearing.

In the another kind of implementation of disclosure second aspect, described second housing and described second link span adopt 40% fibre reinforced polyphtalamide material to make.

In this implementation, 40% fibre reinforced polyphtalamide material can meet the second housing and described second link span height rigid requirements, and the structural weight made is little, can realize single injection-molded simultaneously, the demand that rapid, high volume is produced.

In the another kind of implementation of disclosure second aspect, described second end cap adopts polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

In this implementation, adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make the second end cap, can single injection-molded be realized, and weight is little, price is low.

In the another kind of implementation of disclosure second aspect, described 3rd link span comprises the second main body and three connecting arm connected vertically with described second main body side, described 3rd runner assembly is arranged in described second main body, and described 3rd connecting arm is fixed on the output shaft of described the second turning discreteness.

In the another kind of implementation of disclosure second aspect, described 3rd runner assembly comprises the 3rd motor, 3rd housing, tertiary circuit plate and the 3rd end cap, described 3rd motor is fixed on a side of described 3rd housing, described second main body and described 3rd housing are fixedly connected to form accommodation space, described tertiary circuit plate is located in described accommodation space, the output shaft of described 3rd motor is successively through described 3rd housing, described tertiary circuit plate, described second main body, described 3rd end cap is arranged in described second main body, the motor shaft of described 3rd motor is connected with described bearing support, and described 3rd end cap and described 3rd connecting arm are positioned at the same side of described second main body.

In the another kind of implementation of disclosure second aspect, described tertiary circuit plate comprises the 3rd potential device of the rotational angle of the motor shaft for detecting described 3rd motor.

In the another kind of implementation of disclosure second aspect, described 3rd runner assembly also comprises the 3rd bearing, and described 3rd bearing is fastened between described 3rd link span and described 3rd end cap, and the motor shaft of described 3rd motor is through described 3rd bearing.

In the another kind of implementation of disclosure second aspect, described 3rd housing and described 3rd link span adopt 40% fibre reinforced polyphtalamide material to make.

In this implementation, 40% fibre reinforced polyphtalamide material can meet the 3rd housing and described 3rd link span height rigid requirements, and the structural weight made is little, can realize single injection-molded simultaneously, the demand that rapid, high volume is produced.

In the another kind of implementation of disclosure second aspect, described 3rd end cap adopts polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

In this implementation, adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make the 3rd end cap, can single injection-molded be realized, and weight is little, price is low.

The technical scheme that embodiment of the present disclosure provides can comprise following beneficial effect:

The disclosure is by being oppositely arranged the first rotating stand and the second rotating stand in base plate both sides, then one end of pressing plate is rotatably connected on the first rotating stand, second rotating stand arranges the buckle structure be pressed on by the other end of pressing plate on the second rotating stand, during use, first camera head is placed between the first rotating stand and the second rotating stand, then by buckle structure, the other end of pressing plate is pressed on the second rotating stand, thus make pressing plate compress camera head, the mode of above-mentioned fixing camera head is without the need to complicated installation process, only need control card buckle structure, the other end of pressing plate can be pressed on the second rotating stand by buckle structure simultaneously, thus make pressing plate compress camera head, good fixing effect, the situations such as camera head loosens, landing not easily occur.

Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the disclosure.

Accompanying drawing explanation

Accompanying drawing to be herein merged in specification sheets and to form the part of this specification sheets, shows embodiment according to the invention, and is used from specification sheets one and explains principle of the present invention.

Fig. 1 is the structural representation of a kind of bearing support according to an exemplary embodiment;

Fig. 2 is the decomposing schematic representation of a kind of bearing support according to an exemplary embodiment;

Fig. 3 a is the structural representation of a kind of permanent seat according to an exemplary embodiment;

Fig. 3 b is the decomposing schematic representation of a kind of permanent seat according to an exemplary embodiment;

Fig. 4 is the structural representation of a kind of unmanned vehicle The Cloud Terrace according to an exemplary embodiment;

Fig. 5 is the structural representation of a kind of dampening assembly according to an exemplary embodiment;

Fig. 6 a is the decomposing schematic representation of a kind of dampening assembly according to an exemplary embodiment;

Fig. 6 b is the structural representation of a kind of adapter plate according to an exemplary embodiment;

Fig. 7 is the structural representation of a kind of first driver element according to an exemplary embodiment;

Fig. 8 is the decomposing schematic representation of a kind of first driver element according to an exemplary embodiment;

Fig. 9 is the partial schematic diagram of a kind of first link span according to an exemplary embodiment;

Figure 10 is the structural representation of a kind of second driver element according to an exemplary embodiment;

Figure 11 is the decomposing schematic representation of a kind of second driver element according to an exemplary embodiment;

Figure 12 is the structural representation of a kind of 3rd driver element according to an exemplary embodiment;

Figure 13 is the decomposing schematic representation of a kind of 3rd driver element according to an exemplary embodiment;

Figure 14 a ~ Figure 14 c is the unmanned vehicle The Cloud Terrace pitch angle adjustment schematic diagram according to an exemplary embodiment;

Figure 15 a ~ Figure 15 c is the unmanned vehicle The Cloud Terrace roll angle adjustment schematic diagram according to an exemplary embodiment.

Detailed description of the invention

Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the present invention.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present invention are consistent.

Fig. 1 is the structural representation of the bearing support of a kind of unmanned vehicle The Cloud Terrace according to an exemplary embodiment, and as shown in Figure 1, this bearing support 5 comprises: permanent seat 50 and pressing plate 51.

Composition graphs 2 and Fig. 3 a, permanent seat 50 comprises base 501, first rotating stand 502 and the second rotating stand 503, first rotating stand 502 and the second rotating stand 503 are relatively arranged on base 501, and the space between the first rotating stand 502 and the second rotating stand 503 is used for laying camera head.Preferably, the first rotating stand 502 and the second rotating stand 503 are positioned on the dual-side of base 501.Base 501 is also provided with the connection structure 54 for being connected with the wheel word of unmanned vehicle The Cloud Terrace.

One end of pressing plate 51 is rotatably connected on the first rotating stand 502, and the second rotating stand 503 is provided with the buckle structure 500 for being pressed on by the other end of pressing plate 51 on second rotating stand 503.

During use, first camera head is placed between the first rotating stand 502 and the second rotating stand 503, then by buckle structure 500, the other end of pressing plate 51 is pressed on the second rotating stand 503, thus make pressing plate 51 compress camera head, the mode of above-mentioned fixing camera head, without the need to complicated installation process, only needs control card buckle structure 500; The other end of pressing plate 51 can be pressed on the second rotating stand 503 by buckle structure 500 simultaneously, thus make pressing plate 51 compress camera head, good fixing effect, the situations such as camera head loosens, landing not easily occur.

In a kind of possible implementation, pressing plate 51 is U-shaped, one end of U-shaped is provided with the first axis hole 511, and U-shaped is installed in rotation on the first rotating stand 502 by the first axis hole 511 and turning cylinder 5A, and the other end of U-shaped is provided with the draw-in groove 512 matched with buckle structure 500.

In a kind of possible implementation, buckle structure 500 comprises clasp 52 and lower draw ring 53, clasp 52 one end is rotatably connected on the second rotating stand 503, be rotatably connected with one end of lower draw ring 53 in the middle part of clasp 52, the other end of clasp 52 is the handle 52A that control clasp rotates around the second rotating stand 503, and the other end of lower draw ring 53 is used for the other end clamping with pressing plate 51; Instantly the other end of draw ring 53 and the other end clamping of pressing plate 51, and when handle 52A is positioned at the position near base 501, pressing plate 51 is pressed on the second rotating stand 503 by lower draw ring 53.

In the implementation that other are possible, buckle structure 500 can also adopt miscellaneous part to realize, such as elastic latching device, and the present embodiment does not limit this.

When handle motion is to the position that distance base 501 is nearest, pressing plate 51 contacts with the second rotating stand 503.During use, first pull clasp 52 handle, clasp 52 is rotated towards pressing plate 51 around the second rotating stand 503, camera head is arranged on base 501, then pulls clasp 52 handle, make clasp 52 around the second rotating stand 503 dorsad pressing plate 51 rotate, when clasp 52 turns to the end, be in the position that distance base 501 is nearest, now pressing plate 51 contacts with the second rotating stand 503, completes fixing camera head.

In a kind of possible implementation, first rotating stand 502 comprises boss 5021 and is arranged on two ears be oppositely arranged 5022 on boss 5021, Liang Ge ear 5022 is provided with the consistent axis hole in direction 5023, the first axis hole 511 of pressing plate 51 is arranged on boss 5021 by the turning cylinder 5A through axis hole 5023.Second rotating stand 503 comprises support body 5030 and the boss 5031 from support body 5030 protuberate basic unit 501 periphery, boss 5031 is provided with the second axis hole 5032, and one end of clasp 52 is by being arranged on boss 5031 through the turning cylinder 5A of the second axis hole 5032.

Easily know, the structure of aforementioned first rotating stand 502 and the second rotating stand 503 can be exchanged.

In a kind of possible implementation, clasp 52 is U-shaped clasp, and one end of the opening of U-shaped clasp is arranged on boss 5031 by turning cylinder 5A.The opening both sides of U-shaped clasp 52 are respectively arranged with Triaxial hole 521 relatively, and turning cylinder 5A simultaneously through Triaxial hole 521 and the second axis hole 5032, thus realizes being rotatably connected of the second rotating stand 503 and clasp 52.The middle part of U-shaped clasp 52 also correspondence is provided with the 4th axis hole the 522, four axis hole 522 for being connected with lower draw ring 53.

In a kind of possible implementation, lower draw ring 53 comprises cross bar 531, is connected to two pipe links 532 at cross bar 531 two ends, two dwangs 533 be connected on two pipe link bars 532, dwang 533 and cross bar 531 be arranged in parallel, in the 4th axis hole 522 that the middle part that two dwangs 533 insert in U-shaped clasp 52 is arranged, thus realize being rotatably connected of lower draw ring 53 and clasp 52.

Alternatively, lower draw ring 53 is metal piece, and this metal piece can adopt one-shot forming to realize, can proof strength, can conveniently process again.

Alternatively, the second rotating stand 503 top is provided with slot 502A, and pressing plate 51 is provided with the Access Division 513 of matching with slot 502A, and Access Division 513 is for being connected in slot 502A.Access Division 513 and draw-in groove 512 are arranged on same one end of U-shaped pressing plate 51.

Alternatively, bearing support 5 also comprises the first pad 551, first pad 551 and is fixed on a side relative with base 501 of pressing plate 51, when pressing plate 51 compresses camera head, plays fastening and protective effect.As shown in Figure 2, pressing plate 51 can be the form that middle part is narrow, two ends are wide, and the first pad 551 quantity is 2, is separately positioned on the position that pressing plate 51 both sides are wider, and the shape of the first pad 551 and pressing plate 51 match.In the implementation that other are possible, quantity and the shape of the first pad 551 can be arranged as required, and quantity can be more than 1 or 2, and the shape of the first pad 551 is except can being the pentagon in Fig. 2, can also be other polygons, as quadrangle, hexagon etc.

Bearing support 5 also comprises the second pad 552, second pad 552 and is fixed on the second rotating stand 503, and when pressing plate 51 is pressed on the second rotating stand 503, the second pad 552 is located between pressing plate 51 and the second rotating stand 503.When clasp 52 is locked, the second pad 552 1 aspect can form the buffering between pressing plate 51 and the second rotating stand 503, and collision free weares and teares, on the other hand, add compacting degree therebetween, avoid producing contact when non-device camera head closely, cause the problem of wearing and tearing.The shape of the second pad 552 includes but not limited to it is rectangle.

Alternatively, the first pad 551 and the second pad 552 are flexible glue pad.First pad 551 and the second pad 552 can adopt glue to be fixed on assigned address.

As illustrated in figures 2 and 3, in a kind of possible implementation, the polylith side plate 504 that base 501 comprises base plate 5010 and is vertically connected on the side of base plate 5010, polylith side plate 504 joins end to end, connection structure 54 is arranged on the lateral wall of one block of side plate 504 in polylith side plate 504, and the first rotating stand 502 and the second rotating stand 503 are separately positioned on the adjacent biside plate 504 of the side plate 504 being provided with connection structure 54.

Base plate 5010 is rectangular plate, is respectively arranged with four blocks of side plates 504 in the surrounding of rectangular plate.Wherein the outside of one block of side plate is provided with connection structure 54, and the effect of connection structure 54 is connected with the wheel word of unmanned vehicle The Cloud Terrace, thus realize the rotation of bearing support 5, to adjust the shooting angle of camera head; Aforementioned first rotating stand 502 and the second rotating stand 503 are separately positioned on the adjacent biside plate of the side plate being provided with connection structure 54, can play a protective role better by arranging side plate to camera head.Easily know, the shape of base plate 5010 and the quantity of side plate 504 are not limit so, and the shape of base plate 5010 can also be other polygons, and as pentagon, correspondingly side plate can be set to 5 or other quantity.

As illustrated in figures 2 and 3, the side plate being provided with connection structure 54 can for semicircle, and in order to install this connection structure 54, other side plates can be rectangle.In the implementation that other are possible, the shape of each side plate can also have other to arrange, and be such as irregular figure, the present embodiment does not limit this.

Alternatively, base 501 is provided with the USB (UniversalSerialBus for being connected with camera head, USB) joint 55, USB joint 55 is for being connected with the USB of camera head, thus the control realized camera head, camera head includes but not limited to it is the honey ant camera with this USB.

Alternatively, USB joint 55 comprises data line 5051, and USB joint 55 is electrically connected with the master control device of unmanned vehicle by data line 5051, thus realizes the control to camera head.Data line 5051 includes but not limited to it is FPC (FlexiblePrintedCircuit, FPC) soft arranging wire.This FPC soft arranging wire is also connected with the motor in the wheel word of unmanned vehicle The Cloud Terrace.

See Fig. 3 b, base 501 is provided with for detecting the current roll angle of base 501, pitch angle, the angle of course angle and the sensor 56 of cireular frequency.

This sensor 56 can be gyroscope or accelerometer.This sensor 56 is connected with the master control device of unmanned vehicle, when detecting that the attitude (angle) of base changes, master control device is according to the variable quantity of attitude, calculate angle and the speed of 3 motor shaft needs rotation in wheel word, and send command adapted thereto to circuit card corresponding to each motor, to make the controller on circuit card control electric machine rotation, the attitude revising base returns the attitude of setting.

See Fig. 3 b; in a kind of possible implementation; base 501 also comprises and is arranged on camera head master control board 5011 on base plate 5010 and fender 5012, and fender 5012 is fixed on base plate 5010, and camera head master control board 5011 is arranged between fender 5012 and base plate 5010.

Fender 5012 is arranged on base plate 5010 by screw 501A and bolt 501B, correspondingly, base plate 5010 and camera head master control board 5011 is respectively equipped with stud 501C and screw 501D passes for bolt 501B.

Aforementioned USB joint 55 and sensor as aforementioned 56 are arranged on this camera head master control board 5011, and correspondingly, fender 5012 is provided with the hole 501E passed for USB joint 55.Data line 5051 is connected with camera head master control board 5011.

In a kind of possible implementation, described connection structure 54 is for being vertically set on the cylindrical structure on described side plate 504 lateral wall, and the sidewall of described cylindrical structure is provided with side opening.

Alternatively, the side plate 504 that connection structure 54 is set offers cable hole 504A, pass through for data line 5051, data line 5051 from cable hole 504A can winding connection structure 54, and then be connected to motor and unmanned vehicle master control device, data line can be avoided like this in the inner entanglement of bogey.

Alternatively, above-mentioned permanent seat 50 adopts 40% fibre reinforced polyphtalamide (PPA+40%CF) material to make.40% fibre reinforced polyphtalamide material can meet the high rigid requirements of permanent seat 50, and the structural weight made is little, realizes single injection-molded simultaneously, the demand that rapid, high volume is produced.

Alternatively, pressing plate 51 and clasp 52 adopt polycarbonate (PC) or 50% glass fiber reinforced polyester phthalamide (PPA+50%GF) material to make.Adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make pressing plate 51 and clasp 52, can single injection-molded be realized, and weight is little, price is low.

Fig. 4 is the structural representation of a kind of unmanned vehicle The Cloud Terrace according to an exemplary embodiment, and as shown in Figure 4, this unmanned vehicle The Cloud Terrace comprises:

For the dampening assembly 1, bearing support 5 and the wheel word 10 that bearing support 5 can be driven to rotate in three directions that are connected with unmanned vehicle fuselage, rotate transposition 10 respectively with dampening assembly 1 and, bearing support 5 can be bearing support as shown in Figure 1.

As shown in figs. 5 and 6, in a kind of possible implementation, dampening assembly 1 comprises the fixed mount 10 be connected with unmanned vehicle fuselage, the multiple damping parts 12 being connected to the shock mount 11 on fixed mount 10 and being arranged on shock mount 11, and damping part 12 is located between wheel word 10 and shock mount 11.

Fixed mount 10 comprises adapter plate 101 and the communication joint 102 of the fuselage connecting unmanned vehicle, and communication joint 102 is fixed on adapter plate 101.Alternatively, communication joint 102 is fixed on adapter plate 101 by screw 103.Further, communication joint 102 comprises seat board 1021, the plug 1022 be arranged on seat board 1021, and seat board 1021 is also provided with screw 102A, and screw 102A is fixed on adapter plate 101 by screw 103.Further, adapter plate 101 is provided with the perforate 1011 passed through for plug 1022, and the plug 1022 of communication joint 102 through perforate 1011, then adopts screw 103 to fix from adapter plate 101 inside.

Communication joint 102 one end is connected with the communication interface on the fuselage of unmanned vehicle, and the other end of communication joint 102 is connected with the motor of The Cloud Terrace, circuit card and camera head master control board 5011, realizes the control to motor and camera head.

See Fig. 6 b, adapter plate 101 is provided with figure muscle 1012 and lockhole 1013, and adapter plate 101 realizes the Fast Installation of The Cloud Terrace by part fits such as figure muscle 1012 and lockhole 1013 and the dead bolts on the fuselage of unmanned vehicle.

In a kind of possible implementation, multiple first erecting frames 112 that shock mount 11 comprises the first connecting arm 111 and is arranged on the first connecting arm 111, multiple first erecting frame 112 intervals are arranged in the surrounding of the first connecting arm 111, first erecting frame 112 is cylindrical structure 1122, and the bottom of cylindrical structure 1122 is formed with inward flange 1123.

The quantity of the first erecting frame 112 can be four.Corresponding with the structure of shock mount 11, the quantity of damping part 12 can be four.Damping part 12 is made up of elastomeric material, as rubber or silica gel.

Damping part 12 comprises shock-absorbing ball 121 and is connected to the interface arrangment 122 of shock-absorbing ball 121 two opposite sides, and damping part 12 is connected with wheel word 10 and shock mount 11 respectively by interface arrangment 122.

Alternatively, interface arrangment 122 is cyclic structure, and shock-absorbing ball 121 is connected with the inner ring of interface arrangment 122, and interface arrangment 122 is provided with the step 1221 matched with the inward flange 1123 of cylindrical structure 1122.During installation, the interface arrangment 122 of side and shock-absorbing ball 121 can be allowed to pass circular hole 1121 because damping part 12 has elasticity, another interface arrangment 122 is in cylindrical structure 1122, and be provided with the step 1221 matched with the inward flange 1123 of cylindrical structure 1122 due to interface arrangment 122, then interface arrangment 122 is just in time fastened in the inward flange 1123 of cylindrical structure 1122, now below damping part 12, wheel word 10 is installed and bearing support 5 can realize damping, landing can not occurs again.Easily know, in the present embodiment, the quantity of damping part 12 and the first erecting frame 112 can be arranged as required, such as, arrange 3,5 or more.The material of damping part 12 can also be that other have elastomeric high strength material.

In the implementation that other are possible, shock-absorbing ball 121 can also adopt column structure or other structures to replace.

In the implementation that other are possible, interface arrangment 122 can be other shapes, and as square, the shape of the first erecting frame 112 is corresponding with this interface arrangment 122.

In a kind of possible implementation, wheel word 10 rotates in orthogonal three directions for controlling camera head, comprises the first driver element 2, second driver element 3 and the 3rd driver element 4.

First driver element 2 comprises the first link span 23 be connected with dampening assembly 1, be arranged on the first runner assembly 200 on the first link span 23, second driver element 3 comprises the second link span 33 be connected with the output shaft of the first runner assembly 200, be arranged on the second turning discreteness 300 on the second link span 33, 3rd driver element 4 comprises the 3rd link span 43 be connected with the output shaft of the second turning discreteness 300, be arranged on the 3rd runner assembly 400 on the 3rd link span 43, the output shaft of the first runner assembly 200, the output shaft of the second turning discreteness 300 is vertical between two with the axis direction of the output shaft of the 3rd runner assembly 400.

As shown in figs. 7-9, in a kind of possible implementation, the structure of the first link span 23 and aforementioned shock mount 11 similar, comprise holder housing 231 and be located at multiple second erecting frames 232 on holder housing 231, multiple second erecting frame 232 interval is arranged in holder housing 231 surrounding, and the second erecting frame 232 is identical with the first erecting frame 112 structure.

First runner assembly 200 comprises the first motor 20, first housing 21, first circuit board 22 and the first end cap 24.The middle part of the first housing 21, first circuit board 22, first link span 23 is equipped with the first through hole 202 supplying the motor shaft 201 of the first motor 20 to pass.First motor 20 is fixed on a side of the first housing 21, holder housing 231 and the first housing 2 are fixedly connected to form accommodation space, first circuit board 22 is located in this accommodation space, the output shaft 201 of the first motor 20 is successively through the first housing 21, first circuit board 22, holder housing 231, first end cap 24 is arranged on holder housing 231, the motor shaft 201 of the first motor 20 is connected with the second link span 33, and the second link span 33 is between described holder housing 231 and the first end cap 24.

Alternatively, the first housing 21 is provided with screw 21A, and the first motor 20 is fixed together by bolt 20B and screw 21A and the first housing 21.First housing 21 is also provided with and adopts bolt 22B to be fixed on stud bolt hole (scheming not shown) on the first housing 21 for first circuit board 22, and adopts bolt 23B to be fixed on stud bolt hole (scheming not shown) on the first housing 21 for the first link span 23.In order to fix with the first housing 21, first circuit board 22 is provided with screw 22A, and the first link span 23 is provided with screw 23A.Further, the corner of first circuit board 22 is also provided with screw or breach 22C, and screw or breach 22C are both for passing, again for being fastened on by first circuit board 22 between first link span 23 and the first housing 21 for the bolt 23B fixing the first link span 23.

The holder housing 231 of the first link span 23 offers slot 2311, first end cap 24 comprises the first side wall 241 of the first base plate 240 and arc, one side of the first side wall 241 is fixedly connected with the first base plate 240, another part of first base plate 240 does not arrange sidewall, is connected with the second link span 33 for the motor shaft 201 for the first motor 20.Another side of the first side wall 241 is provided with block tongue 242, and block tongue 242 coordinates fixing with slot 2311.

Holder housing 231 is also provided with opening 2312, and another side of the first side wall 241 is also provided with the adapter plate 243 parallel with the first base plate 240, and adapter plate 243 is connected in opening 2312.Adapter plate 243 coordinates fixing with opening 2312.Opening 2312 surrounding is provided with the first draw-in groove 2312A, and adapter plate 243 is provided with the connecting portion 243A of coupling accordingly, and connecting portion 243A is fastened in the first draw-in groove 2312A.

Alternatively, the area of adapter plate 243 is less than opening 2312, and the first runner assembly 200 also comprises clamp 25, and clamp 25 is disposed adjacent in opening 2312 with adapter plate 243.In order to ensure that the two combines closely, adapter plate 243 is provided with step 24A near a side of clamp 25, and opening 2312 is provided with the second draw-in groove 2312B, and the connecting portion 25A of clamp 25 is fastened in step 24A and the second draw-in groove 2312B simultaneously.

Alternatively, a side of clamp 25 is provided with wiring board 251, forms accommodation space between wiring board 251 and the first side wall 241.

Form a breach between two connecting portion 25A of clamp 25 and adapter plate 243, be provided with wiring board 251 below breach, form accommodation space between wiring board 251 and the first side wall 241, this accommodation space is for passing through for the master control device control line on unmanned vehicle.

Alternatively, the first end cap 24 the first side wall 241 is also provided with registration mast 244, correspondingly, holder housing 231 is provided with the knock hole 2313 matched, and registration mast 244, through knock hole 2313, plays further fixation.

First circuit board 22 comprises the first potential device 221, first potential device 221 and rotates for the motor shaft 201 detecting the first motor 20, thus determines the rotational angle of the first motor 20.Alternatively, the cross section of the motor shaft output shaft of aforementioned first motor 20 is rectangle, or semicircle, thus facilitates the angle of the first potential device 221 to detect.First circuit board 22 is also provided with the first connecting interface 222, first connecting interface 222 for being connected with the control line that bus control device exports, the first corresponding with it housing 21 is provided with opening 211, for passing through for the first connecting interface 222.First potential device 221 and the first connecting interface 222 are all arranged on the first printed circuit board (PCB) 220 of first circuit board 22, and the first potential device 221 and the first connecting interface 222 are electrically connected with the first printed circuit board (PCB) 220.

Alternatively; first runner assembly 200 also comprises clutch shaft bearing 26; clutch shaft bearing 26 is fastened between the first link span 23 and the first end cap 24; the motor shaft 201 of the first motor 20 is through clutch shaft bearing 26; clutch shaft bearing 26 can the lateral excursion of limiting motor axle 201, thus plays a protective role to the first motor 20.

As shown in FIG. 10 and 11, in a kind of possible implementation, second link span 33 comprise the first main body 331 and with first main body 331 side the second connecting arm 332 connected vertically, the second turning discreteness 300 is arranged in the first main body 331, and the second connecting arm 332 is fixed on the output shaft of the first runner assembly 200.The second connecting arm 332 stretched out is overall parallel with the second turning discreteness 300, and stretch to the one end with the second end cap 34, what the second connecting arm 332 stretched out is provided with the first connecting bore 332A foremost, and the side of the first connecting bore 332A offers the side opening 332B of a UNICOM with it.First connecting bore 332A is rectangle or semicircle, the motor shaft 201 of the first motor 20 is inserted in this first connecting bore 332A, side opening 332B then passes for bolt to insert in the motor shaft 201 of the first motor 20, thus realize axial restraint, correspondingly, the motor shaft 201 of the first motor 20 is provided with and axially vertical hole 2011.

The second turning discreteness 300 comprises the second motor 30, second housing 31, second circuit board 32 and the second end cap 34.The middle part of the second housing 31, second circuit board 32, support 33 is equipped with the second through hole 302 supplying the motor shaft 301 of the second motor 30 to pass.Second motor 30 is fixed on a side of the second housing 31, first main body 331 and the second housing 31 are fixedly connected to form accommodation space, second circuit board 32 is located in described accommodation space, the output shaft 301 of the second motor 30 is successively through the second housing 31, second circuit board 32, first main body 331, second end cap 24 is arranged in the first main body 331, the motor shaft 301 of the second motor 30 is connected with the 3rd link span 43, and the 3rd link span 43 is between the first main body 331 and the second end cap 34, second end cap 34 and the second connecting arm 332 are positioned at the same side of the first main body 331.

Alternatively, the second housing 31 is provided with screw 31A, and the second motor 30 is provided with screw 30A, and the second motor 30 and the second housing 31 by screw 31A and screw 30A, are fixed together by bolt 30B successively.Second housing 31 is also provided with and adopts bolt 32B to be fixed on stud bolt hole 31B on the second housing 31 for second circuit board 32, and adopts bolt 33B to be fixed on stud bolt hole 31C on the second housing 31 for the second link span 33.In order to fix with the second housing 31, second circuit board 32 is provided with screw 32A, and the second link span 33 is provided with screw 33A.Further, the corner of second circuit board 32 is also provided with screw or breach 32C, screw or breach 32C are both for passing, again for being fastened on by second circuit board 32 between second link span 33 and the second housing 31 for the bolt 33B fixing the second link span 33.

Second end cap 34 to comprise bottom second 341 and the side of the second sidewall 342, second sidewall 342 of arc 341 to be fixedly connected with bottom second.Bottom second, another part of 341 does not arrange sidewall, is connected with the 3rd link span 43 for the motor shaft 301 for the second motor 30.

Second link span 33 is also provided with bolt column 33C, correspondingly, the second end cap 34 second bottom 341 be provided with screw 341A, adopt bolt 34B through screw 341A and bolt column 33C, realize fixing of the second end cap 34 and the second link span 33.

Alternatively, the second link span 33 is provided with breach 333, and breach 333 is for passing through for the master control device control line on unmanned vehicle.

Second circuit board 32 comprises the second potential device (scheming not shown), and the second potential device rotates for the motor shaft 301 detecting the second motor 30, thus determines the rotational angle of the second motor 30.Second circuit board 32 is also provided with the second connecting interface (scheming not shown), the second corresponding with it housing 31 is provided with opening, for being connected with the master control device on unmanned vehicle for the second connecting interface, the aforementioned master control device control line of concrete employing connects.Second potential device and the second connecting interface are all arranged on the second printed circuit board (PCB) 320 of second circuit board 32, and the second potential device and the second connecting interface are electrically connected with the second printed circuit board (PCB) 320.

Alternatively; the second turning discreteness 300 also comprises the second bearing 36; second bearing 36 is fastened between the second link span 33 and the second end cap 34; the motor shaft 301 of the second motor 30 is through the second bearing 36; second bearing 36 can the lateral excursion of limiting motor axle 301, thus plays a protective role to motor.

As shown in Figures 12 and 13, in a kind of possible implementation, 3rd link span 43 comprise the second main body 431 and with the second main body 431 side the 3rd connecting arm 432 connected vertically, described 3rd runner assembly 400 is arranged in described second main body 431, and described 3rd connecting arm 432 is fixed on the output shaft of described the second turning discreteness 400.The 3rd connecting arm 432 stretched out is overall parallel with the 3rd runner assembly 400, and stretch to the one end with the 3rd end cap 44, what the 3rd connecting arm 432 stretched out is provided with the first connecting bore 432A foremost, and the side of the first connecting bore 432A offers the side opening 432B of a UNICOM with it.First connecting bore 432A is rectangle or semicircle, the motor shaft 301 of the second motor 30 is inserted in this first connecting bore 432A, side opening 432B then passes for bolt to insert in the motor shaft 301 of the second motor 30, thus realize axial restraint, correspondingly, the motor shaft 301 of the second motor 30 is provided with and axially vertical hole 3011.

3rd runner assembly 400 comprises the 3rd motor 40, the 3rd housing 41, tertiary circuit plate 42 and the 3rd end cap 44.The middle part of the 3rd housing 41, tertiary circuit plate 42, support 43 is equipped with the third through-hole 402 supplying the motor shaft 401 of the 3rd motor 40 to pass.3rd motor 40 is fixed on a side of the 3rd housing 41, described second main body 431 and described 3rd housing 41 are fixedly connected to form accommodation space, described tertiary circuit plate 42 is located in described accommodation space, the output shaft 401 of described 3rd motor 40 is successively through described 3rd housing 41, described tertiary circuit plate 42, described second main body 431, described 3rd end cap 44 is arranged in described second main body 431, the motor shaft 401 of described 3rd motor 40 is connected with described bearing support 5, and described 3rd end cap 44 and described 3rd connecting arm 432 are positioned at the same side of described second main body 431.

Alternatively, the 3rd housing 41 is provided with screw 41A, and the 3rd motor 40 is provided with screw 40A, and the 3rd motor 40 and the 3rd housing 41 by screw 41A and screw 40A, are fixed together by bolt 40B successively.3rd housing 41 is also provided with and adopts bolt 42B to be fixed on stud bolt hole 41B on the 3rd housing 41 for tertiary circuit plate 42, and adopts bolt 43B to be fixed on stud bolt hole 41C on the 3rd housing 41 for the 3rd link span 43.In order to fix with the 3rd housing 41, tertiary circuit plate 42 is provided with screw 42A, and the 3rd link span 43 is provided with screw 43A.Further, the corner of tertiary circuit plate 42 is also provided with screw or breach 42C, screw or breach 42C are both for passing, again for being fastened between the 3rd link span 43 and the 3rd housing 41 by tertiary circuit plate 42 for the bolt 43B fixing the 3rd link span 43.

3rd end cap 44 comprises the 3rd side 441, and this end cap does not arrange bottom, and the motor shaft 401 of the 3rd motor 40 can be allowed to be connected in the connection structure 54 of bearing support 5.

3rd link span 43 is also provided with contiguous block 43C, correspondingly, in the 3rd end cap 44, is provided with buckle (scheming not shown), adopt buckle to be connected with contiguous block 43C, realize fixing of the 3rd end cap 44 and the 3rd link span 43.

Alternatively, the 3rd link span 43 is provided with breach 433, and breach 433 is for passing through for the master control device control line on unmanned vehicle.

Tertiary circuit plate 42 comprises potential device (scheming not shown), and potential device rotates for the motor shaft 301 detecting the 3rd motor 40, thus determines rotational angle.Tertiary circuit plate 42 is also provided with connecting interface (scheming not shown), the 3rd corresponding with it housing 41 is provided with opening, and for being connected with the master control device on unmanned vehicle for connecting interface, the aforementioned master control device control line of concrete employing connects.Potential device and connecting interface are all arranged on the printed circuit board (PCB) 420 of tertiary circuit plate 42, and potential device and connecting interface are electrically connected with printed circuit board (PCB) 420.

Alternatively; 3rd runner assembly 400 also comprises the 3rd bearing 46; 3rd bearing 46 is fastened between the 3rd link span 43 and the 3rd end cap 44; the motor shaft 301 of the 3rd motor 40 is through the 3rd bearing 46; 3rd bearing 46 can the lateral excursion of limiting motor axle 301, thus plays a protective role to motor.

In the present embodiment, connection structure 54 is cylindrical structure, and insert for the motor shaft 401 for the 3rd motor 40, motor shaft 401 offers side opening 4011, and cylindrical structure offers side opening equally, adopts bolt to carry out axial restraint.

In the present embodiment, the type of the first motor 20, second motor 30 and the 3rd motor 40 does not limit, and can be electromagnetic type, also can be non electromagnetic.The shape of the first motor 20, second motor 30 and the 3rd motor 40 does not limit, both can be diagram in cylindrical, also can be cuboid or other shapes.

Alternatively, above-mentioned second housing 31, second link span 33, second housing 31 and the second link span 33 adopt 40% fibre reinforced polyphtalamide material to make.40% fibre reinforced polyphtalamide material while meeting high rigid requirements, can realize single injection-molded, the demand that rapid, high volume is produced, and the structural weight made is little.

Alternatively, fixed mount 10, shock mount 11, first housing 21, first link span 23, first end cap 24, second end cap 34 and the 3rd end cap 44 adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide (glass) material to make, single injection-molded can be realized, and weight is little, price is low, reduces the cost of bearing support entirety.

What deserves to be explained is, in the present embodiment, the quantity of various screw and bolt all can be arranged according to demand, and namely can arrange more or less bolt or screw, the present embodiment does not limit this.

In an alternate embodiments, the connection between all parts by hinged, glue is bonding or other modes realize, and is not restricted to mode with bolts in above-mentioned exemplary embodiment.

In the disclosed embodiments, first motor 20 is connected with first circuit board 22, second motor 30 is connected with second circuit board 32,3rd motor 40 is connected with tertiary circuit plate 42, first circuit board 22, second circuit board 32 can be connected with same control line by connecting interface with tertiary circuit plate 42, this control line is for connecting the master control device of unmanned vehicle, and control line can be FPC soft arranging wire.

Alternatively, this control line comprises aforementioned data line 5051, and namely this control line is also connected with camera head control desk.This control line except can except transmission of data signals, also for from master control device to motor and camera head out-put supply signal.

When using this unmanned vehicle The Cloud Terrace, first camera head is arranged in bearing support 5, by camera head fastening.Camera head is connected with the master control device of unmanned vehicle by USB interface, and master control device is also connected with first circuit board 22, second circuit board 32 and tertiary circuit plate 42.The rotational angle of three motors is transferred to master control device by first circuit board 22, second circuit board 32 and tertiary circuit plate 42, and the rotational angle of three motors is sent to ground station by wireless signal by master control device.Ground station sends correspondingly instruction to master control device according to the rotational angle of three motors, command is given aforementioned three circuit cards by master control device, to make the controller on three circuit cards control three electric machine rotations respectively, realize adjusting the shooting angle of camera head.

Further, the angle of the current roll angle of base 50 that master control device can also be detected by sensor as aforementioned 56, pitch angle, course angle and cireular frequency, control automatically to three motors, to keep the stability of base.Particularly, when master control device detects that the attitude (angle) of base changes, master control device is according to the variable quantity of attitude, calculate angle and the speed of 3 motor shaft needs rotation in wheel word, and sending command adapted thereto to circuit card corresponding to each motor, the potential device on circuit card gathers the actual angle of motor, the actual angle of the instruction that the controller on circuit card issues according to master control device and motor, control electric machine rotation, the attitude revising base returns the attitude of setting.

Particularly, the rotation direction by controlling the first motor 20 controls the course angle of camera head shooting; The roll angle of camera head shooting is controlled, specifically as Figure 15 a-Figure 15 c is depicted as the cradle head structure schematic diagram of three kinds of different roll angles by the rotation direction controlling the second motor 30; The pitch angle of filming apparatus shooting is controlled, specifically as Figure 14 a-Figure 14 c is depicted as the cradle head structure schematic diagram of three kinds of different pitch angle by the rotation direction controlling the 3rd motor 40.In addition, ground station can control the carrying out of camera head by sending instruction, such as, control camera head and open or close, adjust screening-mode etc.

Those skilled in the art, at consideration specification sheets and after putting into practice invention disclosed herein, will easily expect other embodiment of the present invention.The application is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Specification sheets and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.

Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.Scope of the present invention is only limited by appended claim.

Claims

1. a bearing support for unmanned vehicle The Cloud Terrace, is characterized in that, described bearing support comprises:

Permanent seat and pressing plate;

2. bearing support according to claim 1, it is characterized in that, described pressing plate is U-shaped, one end of described U-shaped is provided with the first axis hole, described U-shaped is installed in rotation on described first rotating stand by described first axis hole and turning cylinder, and the other end of described U-shaped is provided with the draw-in groove matched with described buckle structure.

3. bearing support according to claim 1, it is characterized in that, described buckle structure comprises clasp and lower draw ring, one end of described clasp is rotatably connected on described second rotating stand, the middle part of described clasp and one end of described lower draw ring are rotatably connected, the other end of described clasp is control the handle of described clasp around described second rotating stand rotation, the other end of described lower draw ring is used for the other end clamping with described pressing plate, when the other end of described lower draw ring and the other end clamping of described pressing plate, and described handle is when being positioned at the position near described base plate, described pressing plate is pressed on described second rotating stand by described lower draw ring.

4. bearing support according to claim 3, it is characterized in that, described second rotating stand comprises support body and stretches out the boss of described base periphery from described support body, described boss is provided with the second axis hole, and one end of described clasp is by being arranged on described boss through the turning cylinder of described second axis hole.

5. bearing support according to claim 4, is characterized in that, described clasp is U-shaped clasp, and one end of the opening of described U-shaped clasp is provided with Triaxial hole, and described U-shaped clasp is arranged on described boss by described Triaxial hole and turning cylinder.

6. bearing support according to claim 3, it is characterized in that, the middle part of described clasp is provided with the 4th axis hole, described lower draw ring comprises cross bar, is connected to two pipe links at described cross bar two ends, two dwangs be connected on described two pipe link bars, described dwang and described cross bar be arranged in parallel, and described two dwangs insert in the 4th axis hole of described clasp.

7. bearing support according to claim 1, is characterized in that, the top of described second rotating stand is provided with slot, described pressing plate is also provided with the Access Division of matching with described slot.

8. bearing support according to claim 1, is characterized in that, the side relative with described base of described pressing plate is provided with the first pad.

9. bearing support according to claim 1, it is characterized in that, described bearing support also comprises the second pad, described second pad is fixed on described second rotating stand, when described pressing plate is pressed on described second rotating stand, described second shim clip is located between described pressing plate and described second rotating stand.

10. bearing support according to claim 1, it is characterized in that, described base comprises base plate and is vertically connected on the polylith side plate on the side of described base plate, described polylith side plate joins end to end, described connection structure is arranged on the lateral wall of one block of side plate in described polylith side plate, and described first rotating stand and described second rotating stand are separately positioned on the adjacent biside plate of the side plate being provided with described connection structure.

11. bearing supports according to claim 10, is characterized in that, described base is provided with the general-purpose serial bus USB joint for being connected with camera head.

12. bearing supports according to claim 10, is characterized in that, described base is provided with for detecting the current roll angle of described base, pitch angle, the angle of course angle and the sensor of cireular frequency.

13. bearing supports according to claim 1, is characterized in that, described connection structure is be vertically set on the cylindrical structure on described side plate lateral wall, and the sidewall of described cylindrical structure is provided with side opening.

14. bearing supports according to claim 1, is characterized in that, described permanent seat adopts 40% fibre reinforced polyphtalamide material to make.

15. bearing supports according to claim 1, is characterized in that, described pressing plate adopts polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

16. 1 kinds of unmanned vehicle The Cloud Terraces, is characterized in that, described unmanned vehicle The Cloud Terrace comprises:

For the dampening assembly, bearing support and the wheel word that described bearing support can be driven to rotate in three directions that are connected with unmanned vehicle fuselage, described rotation transposition is connected with described dampening assembly and described bearing support respectively, and described bearing support is the bearing support as described in any one of claim 1 to 15.

17. unmanned vehicle The Cloud Terraces according to claim 16, it is characterized in that, described dampening assembly comprise be connected with described unmanned vehicle fuselage fixed mount, be connected to the shock mount on described fixed mount and be arranged on the multiple damping parts on described shock mount, described damping part is located between described wheel word and described shock mount.

18. unmanned vehicle The Cloud Terraces according to claim 17, it is characterized in that, described shock mount comprises the first connecting arm and is arranged on multiple first erecting frames on described first connecting arm, multiple described first erecting frame intervals are arranged in the surrounding of described first connecting arm, described first erecting frame is cylindrical structure, and the bottom of described cylindrical structure is formed with inward flange.

19. unmanned vehicle The Cloud Terraces according to claim 18, it is characterized in that, described damping part is made up of elastomeric material.

20. unmanned vehicle The Cloud Terraces according to claim 19, it is characterized in that, described damping part comprises shock-absorbing ball and is connected to the interface arrangment of described shock-absorbing ball two opposite sides, and described damping part is connected with described wheel word and described shock mount respectively by described interface arrangment.

21. unmanned vehicle The Cloud Terraces according to claim 17, is characterized in that, described fixed mount and described shock mount adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

22. unmanned vehicle The Cloud Terraces according to claim 16, it is characterized in that, described wheel word comprises the first driver element, second driver element and the 3rd driver element, described first driver element comprises the first link span be connected with described dampening assembly, be arranged on the first runner assembly on described first link span, described second driver element comprises the second link span be connected with the output shaft of described first runner assembly, be arranged on the second turning discreteness on described second link span, described 3rd driver element comprises the 3rd link span be connected with the output shaft of described the second turning discreteness, be arranged on the 3rd runner assembly on described 3rd link span, the output shaft of described first runner assembly, the output shaft of the second turning discreteness is vertical between two with the axis direction of the output shaft of the 3rd runner assembly.

23. unmanned vehicle The Cloud Terraces according to claim 22, it is characterized in that, described first link span comprises holder housing and is located at multiple second erecting frames on described holder housing, multiple described second erecting frame interval is arranged in described holder housing surrounding, described second erecting frame is cylindrical structure, and the bottom of described cylindrical structure is formed with inward flange.

24. unmanned vehicle The Cloud Terraces according to claim 23, it is characterized in that, described first runner assembly comprises the first motor, first housing, first circuit board and the first end cap, described first motor is fixed on a side of described first housing, described holder housing and described first housing are fixedly connected to form accommodation space, described first circuit board is located in described accommodation space, the output shaft of described first motor is successively through described first housing, described first circuit board, described holder housing, described first end cap is arranged on described holder housing, the motor shaft of described first motor is connected with described second link span, and described second link span is between described holder housing and described first end cap.

25. unmanned vehicle The Cloud Terraces according to claim 23, it is characterized in that, described holder housing offers slot, described first end cap comprises the first side wall of the first base plate and arc, one side of described the first side wall is fixedly connected with bottom first, another side of described the first side wall is provided with block tongue, and described block tongue coordinates fixing with described slot.

26. unmanned vehicle The Cloud Terraces according to claim 25, is characterized in that, described holder housing also offers opening, and another side of described the first side wall is also provided with the adapter plate parallel with described first base plate, and described adapter plate is connected in described opening.

27. unmanned vehicle The Cloud Terraces according to claim 26, is characterized in that, described first runner assembly also comprises clamp, and described clamp is disposed adjacent in said opening with described adapter plate and is provided with breach between described clamp and described installation portion.

28. unmanned vehicle The Cloud Terraces according to claim 27, is characterized in that, a side of described clamp is provided with wiring board, forms accommodation space between described wiring board and described the first side wall.

29. unmanned vehicle The Cloud Terraces according to claim 24, is characterized in that, described first circuit board comprises the first potential device of the rotational angle of the motor shaft for detecting described first motor.

30. unmanned vehicle The Cloud Terraces according to claim 24, is characterized in that, described first housing, described first link span and described first end cap adopt polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

31. unmanned vehicle The Cloud Terraces according to claim 22, it is characterized in that, described second link span comprise the first main body and with described first main body side the second connecting arm connected vertically, described the second turning discreteness is arranged in described first main body, and described second connecting arm is fixed on the output shaft of described first runner assembly.

32. unmanned vehicle The Cloud Terraces according to claim 31, it is characterized in that, described the second turning discreteness comprises the second motor, second housing, second circuit board and the second end cap, described second motor is fixed on a side of described second housing, described first main body and described second housing are fixedly connected to form accommodation space, described second circuit board is located in described accommodation space, the output shaft of described second motor is successively through described second housing, described second circuit board, described first main body, described second end cap is arranged in described first main body, the motor shaft of described second motor is connected with described 3rd link span, and described 3rd link span is between described first main body and described second end cap, described second end cap and described second connecting arm are positioned at the same side of described first main body.

33. unmanned vehicle The Cloud Terraces according to claim 32, is characterized in that, described first end cap comprises the second sidewall with arc bottom second, and a side of described second sidewall is fixedly connected with bottom second.

34. unmanned vehicle The Cloud Terraces according to claim 32, is characterized in that, described second circuit board comprises the second potential device of the rotational angle of the motor shaft for detecting described second motor.

35. unmanned vehicle The Cloud Terraces according to claim 32, is characterized in that, described second housing and described second link span adopt 40% fibre reinforced polyphtalamide material to make.

36. unmanned vehicle The Cloud Terraces according to claim 32, is characterized in that, described second end cap adopts polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.

37. unmanned vehicle The Cloud Terraces according to claim 22, it is characterized in that, described 3rd link span comprises the second main body and three connecting arm connected vertically with described second main body side, described 3rd runner assembly is arranged in described second main body, and described 3rd connecting arm is fixed on the output shaft of described the second turning discreteness.

38. according to unmanned vehicle The Cloud Terrace according to claim 37, it is characterized in that, described 3rd runner assembly comprises the 3rd motor, 3rd housing, tertiary circuit plate and the 3rd end cap, described 3rd motor is fixed on a side of described 3rd housing, described second main body and described 3rd housing are fixedly connected to form accommodation space, described tertiary circuit plate is located in described accommodation space, the output shaft of described 3rd motor is successively through described 3rd housing, described tertiary circuit plate, described second main body, described 3rd end cap is arranged in described second main body, the motor shaft of described 3rd motor is connected with described bearing support, and described 3rd end cap and described 3rd connecting arm are positioned at the same side of described second main body.

39., according to unmanned vehicle The Cloud Terrace according to claim 38, is characterized in that, described tertiary circuit plate comprises the 3rd potential device of the rotational angle of the motor shaft for detecting described 3rd motor.

40., according to unmanned vehicle The Cloud Terrace according to claim 38, is characterized in that, described 3rd housing and described 3rd link span adopt 40% fibre reinforced polyphtalamide material to make.

41., according to unmanned vehicle The Cloud Terrace according to claim 38, is characterized in that, described 3rd end cap adopts polycarbonate or 50% glass fiber reinforced polyester phthalamide material to make.