CN106029503B - Limiting device and unmanned vehicle with the limiting device - Google Patents

Limiting device and unmanned vehicle with the limiting device Download PDF

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Publication number
CN106029503B
CN106029503B CN201580004253.9A CN201580004253A CN106029503B CN 106029503 B CN106029503 B CN 106029503B CN 201580004253 A CN201580004253 A CN 201580004253A CN 106029503 B CN106029503 B CN 106029503B
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CN
China
Prior art keywords
rotating
limiting
unmanned vehicle
holder
shaft
Prior art date
Application number
CN201580004253.9A
Other languages
Chinese (zh)
Other versions
CN106029503A (en
Inventor
赵岩崇
李卫东
Original Assignee
深圳市大疆灵眸科技有限公司
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Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2015/083156 priority Critical patent/WO2017000299A1/en
Publication of CN106029503A publication Critical patent/CN106029503A/en
Application granted granted Critical
Publication of CN106029503B publication Critical patent/CN106029503B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES OR APPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/127Unmanned aerial vehicles; Equipment therefor adapted for particular use for photography, or video recording, e.g. by using cameras

Abstract

The present invention provides a kind of limiting device, for connecting holder, comprising: fixation kit;Revolving part, the revolving part and the fixation kit, which relatively rotate, to be connected, the side of the revolving part is provided with for the rotating turret with the holder phase clamping, the rotating turret can relative to the holder swing with the holder clamping or be detached from clamping, when the rotating turret and the holder clamping, the holder can drive the revolving part to rotate by the rotating turret;And Quick-dismantle component, the Quick-dismantle component are set on the fixation kit, when the holder is detached from clamping, the holder is immobilizated on the fixation kit by what the Quick-dismantle component can be dismantled.The limiting device can be rotated relative to holder, and can realize fast assembling-disassembling with holder.The present invention also provides a kind of unmanned vehicles with the limiting device.

Description

Limiting device and unmanned vehicle with the limiting device

Technical field

The present invention relates to limit technology more particularly to a kind of limiting device and with the unmanned vehicle of the limiting device.

Background technique

In the shooting field of unmanned vehicle, in order to reach large range of shooting angle, single-revolution limit is generallyd use Position rotating mechanism, that is, rotate carry out within one week limit stop operating.However due to the position-limiting action of locating part, so that the structure is turning 360 degree can not be rotated when dynamic completely, to there is a situation where shooting angle deficiency.

Summary of the invention

In view of the foregoing, it is necessary to which a kind of limiting device with position-limiting action and rotational angle greater than 360 degree is provided.

In addition, there is a need to provide a kind of unmanned vehicle with the limiting device.

A kind of limiting device, for connecting holder, the limiting device includes:

Fixation kit;

Revolving part, the revolving part and the fixation kit, which relatively rotate, to be connected, and the side setting of the revolving part is useful In the rotating turret with the holder phase clamping, the rotating turret can be swung relative to the holder with the holder clamping or Person is detached from clamping, and when the rotating turret and the holder clamping, the holder can drive the rotation by the rotating turret Turn part rotation;And

Quick-dismantle component, the Quick-dismantle component are set on the fixation kit, when the holder is detached from clamping, the cloud Platform is immobilizated on the fixation kit by what the Quick-dismantle component can be dismantled.

Further, the fixation kit includes shaft, and the limiting device further includes the first rotating member, the second rotating member And locating part, first rotating member are fixedly attached to the revolving part, the revolving part is to drive first rotating member It is rotated around the shaft;Second rotating member is sheathed in the shaft, and first rotating member is to drive described second Rotating member rotates together with first rotating member around the shaft;The locating part is fixedly connected on the fixation kit, institute Locating part is stated to limit continuing to rotate for first rotating member and second rotating member.

Further, the revolving part drives first rotating member to rotate first angle around the shaft, and when described First rotating member moves to when contacting with second rotating member, first rotating member drive second rotating member with it is described First rotating member continues to rotate second angle together, until second rotating member is moved to and is contacted with the locating part, it is described First rotating member and the equal stop motion of the second rotating member.

Further, the first angle and second angle are all larger than 180 degree and less than 360 degree.

Further, the distance of first rotating member to the spindle central is less than the locating part into the shaft The distance of the heart, the distance of second rotating member to the spindle central be greater than the locating part to the spindle central away from From.

Further, the fixation kit includes pedestal, and the pedestal offers accommodating chamber, and the shaft is set to described In accommodating chamber, the revolving part includes ontology, offers through-hole on the ontology, and the shaft passes through the through-hole, and described the One rotating member is arranged around the edge of the through-hole.

Further, the revolving part further includes two installing arms and mounting post, and the installing arm is set to the ontology On outer wall, and the two relative spacing is arranged, which offers mounting hole, the rotation far from the end of the ontology respectively The side of frame offers matching hole, which sequentially passes through the matching hole and mounting hole, and then the rotating turret is connected to The side of the ontology, and rotated relative to the ontology or installing arm.

Further, the fixation kit further includes fixed plate, and the fixed plate is set on the center of the accommodating chamber, The shaft is set in the fixed plate, and the locating part is convexly equipped in the fixed plate.

Further, the limiting device further includes being arranged part, and the part that is arranged is sheathed in the shaft, to reduce Rotation friction between second rotating member and the shaft.

Further, the limiting device is arranged part including two, and part is arranged described in two and is sheathed in the shaft, And one of them end face for being arranged part is bonded with the end face of second rotating member.

Further, the limiting device further includes preload piece, and the preload piece is sheathed in the shaft, and is located at two It is arranged between part described in a.

Further, the limiting device further includes flexible connecting member, and the flexible connecting member is wound in the shaft, To realize being electrically connected for load and unmanned vehicle.

Further, the flexible connecting member is one of flexible circuit board, electric wire or winding displacement.

Further, the flexible connecting member is in clockwork spring shape.

A kind of unmanned vehicle, the holder including limiting device and with limiting device rotation connection, wherein the limit Position device include:

Fixation kit;

Revolving part, the revolving part and the fixation kit, which relatively rotate, to be connected, and the side setting of the revolving part is useful In the rotating turret with the holder phase clamping, the rotating turret can be swung relative to the holder with the holder clamping or Person is detached from clamping, and when the rotating turret and the holder clamping, the holder can drive the rotation by the rotating turret Turn part rotation;And

Quick-dismantle component, the Quick-dismantle component are set on the fixation kit, when the holder is detached from clamping, the cloud Platform is immobilizated on the fixation kit by what the Quick-dismantle component can be dismantled.

Further, the fixation kit includes shaft, and the limiting device further includes the first rotating member, the second rotating member And locating part, first rotating member are fixedly attached to the revolving part, the revolving part is to drive first rotating member It is rotated around the shaft;Second rotating member is sheathed in the shaft, and first rotating member is to drive described second Rotating member rotates together with first rotating member around the shaft;The locating part is fixedly connected on the fixation kit, institute Locating part is stated to limit continuing to rotate for first rotating member and second rotating member.

Further, the revolving part drives first rotating member to rotate first angle around the shaft, and when described First rotating member moves to when contacting with second rotating member, first rotating member drive second rotating member with it is described First rotating member continues to rotate second angle together, until second rotating member is moved to and is contacted with the locating part, it is described First rotating member and the equal stop motion of the second rotating member.

Further, the first angle and second angle are all larger than 180 degree and less than 360 degree.

Further, the distance of first rotating member to the spindle central is less than the locating part into the shaft The distance of the heart, the distance of second rotating member to the spindle central be greater than the locating part to the spindle central away from From.

Further, the fixation kit includes pedestal, and the pedestal offers accommodating chamber, and the shaft is set to described In accommodating chamber, the revolving part includes ontology, offers through-hole on the ontology, and the shaft passes through the through-hole, and described the One rotating member is arranged around the edge of the through-hole.

Further, the revolving part further includes two installing arms and mounting post, and the installing arm is set to the ontology On outer wall, and the two relative spacing is arranged, which offers mounting hole, the rotation far from the end of the ontology respectively The side of frame offers matching hole, which sequentially passes through the matching hole and mounting hole, and then the rotating turret is connected to The side of the ontology, and rotated relative to the ontology or installing arm.

Further, the fixation kit further includes fixed plate, and the fixed plate is set on the center of the accommodating chamber, The shaft is set in the fixed plate, and the locating part is convexly equipped in the fixed plate.

Further, the limiting device further includes being arranged part, and the part that is arranged is sheathed in the shaft, to reduce Rotation friction between second rotating member and the shaft.

Further, the limiting device is arranged part including two, and part is arranged described in two and is sheathed in the shaft, And one of them end face for being arranged part is bonded with the end face of second rotating member.

Further, the limiting device further includes preload piece, and the preload piece is sheathed in the shaft, and is located at two It is arranged between part described in a.

Further, the limiting device further includes flexible connecting member, and the flexible connecting member is wound in the shaft, To realize being electrically connected for load and unmanned vehicle.

Further, the flexible connecting member is one of flexible circuit board, electric wire or winding displacement.

Further, the flexible connecting member is in clockwork spring shape.

Further, the unmanned vehicle further includes connector, and the connector includes interconnecting piece and linking arm, described Interconnecting piece is connected to the revolving part, and the linking arm is set to the side of the interconnecting piece, for pacifying the limiting device It is filled to the unmanned vehicle.

Further, the interconnecting piece offers connecting hole, and axis corresponding with the connecting hole is offered in the shaft Hole by the way that a locking member is sequentially passed through the connecting hole and the axis hole of the shaft, and then the limiting device is connected to described Connector.

Further, the linking arm includes arm, auxiliary section and locking portion, and the arm is connected to the interconnecting piece Side, and its one end far from the interconnecting piece offers the first securing groove and the first locking hole, one end of the auxiliary section opens up There are the second securing groove corresponding with the first securing groove and the second locking hole, first securing groove and the second securing groove distinguish clamping In on the unmanned vehicle, the locking portion is arranged in second locking hole and the first locking hole.

Further, the unmanned vehicle includes body, and the of the first securing groove of the arm and the auxiliary section Two securing grooves are fastened in the body respectively, and the locking portion is arranged in second locking hole and the first locking hole.

Further, the holder includes pitching bracing strut, roll bracing strut, course bracing strut, is set to the roll The cross of bracing strut one end and the pitching motor being connect with the pitching bracing strut, connection the roll bracing strut and course bracing strut Rolling motor and the course motor for being set to course bracing strut one end, the rotating turret are fastened in the course bracing strut On.

Further, the course bracing strut further includes the first connecting rod and second connecting rod being arranged in a mutually vertical manner, described First connecting rod is connected to the course motor, and one end of the second connecting rod is connected to the roll motor, and the other end can live Dynamic is installed on the first connecting rod, and the rotating turret is fastened on the first connecting rod.

A kind of limiting device, comprising:

Pedestal;

Quick-dismantle component, the Quick-dismantle component are immobilizated on the pedestal to can dismantle a holder;And

Rotating turret, the rotating turret can relative to the holder swing with the holder clamping or be detached from clamping.

Further, the Quick-dismantle component includes the first Quick Release portion and the second Quick Release with the cooperation of first Quick Release portion Portion, first Quick Release portion are set on the pedestal, and second Quick Release portion is set on the holder.

Further, first Quick Release portion is that the first lug boss being oppositely arranged by one end of the pedestal and second are convex The guide groove that the portion of rising surrounds, second Quick Release portion are that the guide groove surrounded with first lug boss and the second lug boss cooperates Slide protrusion.

Further, first Quick Release portion and the second Quick Release portion are mutually matched dovetail groove;

Alternatively, first Quick Release portion and the second Quick Release portion are mutually matched T-slot.

Further, the side wall of the pedestal offers the accommodating groove of perforation, and the Quick-dismantle component further includes clamping element, institute Stating clamping element includes gripping block, clamping bar and nut, and the gripping block is housed in the accommodating groove;The one of the clamping bar End is housed in the side of the gripping block, and the nut is set on clamping bar, by operating the nut, to rotate the folder Tight bar, so that the gripping block enters lock state and disassembly status;When the gripping block in the locked state, it is described One end of gripping block supports the slide protrusion;When gripping block in the disassembled condition, one end of the gripping block and the sliding Protrusion is separated.

Further, the outside of the nut is equipped with lug, drives the nut to rotate by operating the lug, thus Facilitate operating nut.

A kind of unmanned vehicle, the holder including limiting device and with limiting device rotation connection, wherein the limit Position device include:

Pedestal;

Quick-dismantle component, the Quick-dismantle component are immobilizated on the pedestal to can dismantle a holder;And

Rotating turret, the rotating turret can relative to the holder swing with the holder clamping or be detached from clamping.

Further, the Quick-dismantle component includes the first Quick Release portion and the second Quick Release with the cooperation of first Quick Release portion Portion, first Quick Release portion are set on the pedestal, and second Quick Release portion is set on the holder.

Further, first Quick Release portion is that the first lug boss being oppositely arranged by one end of the pedestal and second are convex The guide groove that the portion of rising surrounds, second Quick Release portion are that the guide groove surrounded with first lug boss and the second lug boss cooperates Slide protrusion.

Further, first Quick Release portion and the second Quick Release portion are mutually matched dovetail groove;

Alternatively, first Quick Release portion and the second Quick Release portion are mutually matched T-slot.

Further, the side wall of the pedestal offers the accommodating groove of perforation, and the Quick-dismantle component further includes clamping element, institute Stating clamping element includes gripping block, clamping bar and nut, and the gripping block is housed in the accommodating groove;The one of the clamping bar End is housed in the side of the gripping block, and the nut is set on clamping bar, by operating the nut, to rotate the folder Tight bar, so that the gripping block enters lock state and disassembly status;When the gripping block in the locked state, it is described One end of gripping block supports the slide protrusion;When gripping block in the disassembled condition, one end of the gripping block and the sliding Protrusion is separated.

Further, the outside of the nut is equipped with lug, drives the nut to rotate by operating the lug, thus Facilitate operating nut.

Limiting device in the present invention drives the first rotating member to rotate first angle in advance by the ontology, then pushes described Second rotating member continues to rotate second angle together with the first rotating member, and locating part is arranged, so that the first rotating member and second Rotating member due to locating part position-limiting action and stop operating.First rotating member is folded due to first angle and second angle The rotational angle for adding, and making its total is greater than 360 degree and less than 720 degree.The structure of the limiting device is simple, and cost is relatively low, And have many advantages, such as that transmitting signal is not limited by the structure.

Detailed description of the invention

Fig. 1 is the schematic diagram of the unmanned vehicle of present pre-ferred embodiments.

Fig. 2 is the partial schematic diagram of unmanned vehicle shown in Fig. 1.

Fig. 3 is the partially exploded diagram of unmanned vehicle shown in Fig. 1.

Fig. 4 is the decomposition diagram of limiting device in unmanned vehicle shown in Fig. 3.

Fig. 5 is the part combination schematic diagram of limiting device in unmanned vehicle shown in Fig. 4.

Fig. 6 is the part assembling schematic diagram of limiting device in unmanned vehicle shown in Fig. 5.

Fig. 7 is the first rotating member in limiting device shown in Fig. 5, the first tracks of the second rotating member composition and the second fortune The schematic diagram in dynamic rail road.

When Fig. 8 is that the first rotating member is rotated in a first direction and supports second rotating member in limiting device shown in Fig. 7 Status diagram.

Fig. 9 is that the first rotating member pushes the second rotating member rotation, and second rotation in limiting device shown in Fig. 7 Part supports the status diagram of the locating part.

Main element symbol description

The present invention that the following detailed description will be further explained with reference to the above drawings.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It should be noted that it can be directly in another group when an element referred to as " is electrically connected " another element On part or there may also be elements placed in the middle.When an element is considered as " electrical connection " another element, it, which can be, is connect Touching connection, for example, it may be the mode of conducting wire connection, is also possible to contactless connection, for example, it may be contactless coupling Mode.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the listed item of pass.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.

Fig. 1 and Fig. 2 is please referred to, is a kind of unmanned vehicle 100 provided in an embodiment of the present invention.The unmanned vehicle 100 include body 70, the limiting device 10 that rotates of opposite body 70 and 20 can be loaded.The load 20 is rotatably coupled In on the limiting device 10.

Also referring to Fig. 3 and Fig. 4, the limiting device 10 includes fixation kit 11, revolving part 12, the first rotating member 13, the second rotating member 14 and locating part 15.The fixation kit 11 include pedestal 111, fixed plate 112, at least one stud 113 and Shaft 114.In the present embodiment, which is cylindrical structure, and bottom is provided at least one threaded hole 115.

The fixed plate 112 is set on the pedestal 111.Specifically, the pedestal 111 offers accommodating chamber 116, it is described Fixed plate 112 is set to the center position of the accommodating chamber 116.In the present embodiment, the fixed plate 112 is generally rectangular shaped, It is threadedly coupled with the pedestal 111.Specifically, offering at least one fixation hole 117 in the fixed plate 112.This implementation In example, the quantity of the fixation hole 117 is consistent with the quantity of the threaded hole 115.

In the present embodiment, the quantity of the stud 113 is consistent with the quantity of the threaded hole 115.Certainly, the stud 113 quantity might be less that the quantity of the threaded hole 115, i.e., the described stud 113 and the part threaded hole 115 and fix Hole 117 matches.The stud 113 sequentially passes through corresponding threaded hole 115 and fixation hole 117, so that the fixed plate 112 are threadedly coupled with the pedestal 111, in order to dismantle.It is appreciated that the fixed plate 112 can also be set by other means It is placed on the pedestal 111, such as passes through welded connecting.Certainly, for the ease of processing, the stud 113, threaded hole 115 and Fixation hole 117 can be omitted, and the fixed plate 112 is directly integrally formed with the pedestal 111.

The shaft 114 is set to the fixed plate 112 backwards to the surface of the pedestal 111.It is understood that at it His embodiment, the shaft 114 can be directly arranged on the pedestal 111, and omit the fixed plate 112.The shaft 114 On be additionally provided with boss 118.In the present embodiment, the boss 118 is cylindrical, is coaxially disposed with the shaft 114.Certainly, In other embodiments, the boss 118 or other shapes.

The revolving part 12 is rotationally sheathed in the shaft 114.The revolving part 12 includes ontology 121, two Installing arm 123, rotating turret 125 and mounting post 127.The ontology 121 is cylindrical comprising one is opposite with the pedestal 111 The second surface 12b that the first surface 12a of setting and one and the first surface 12a are disposed opposite to each other.It is opened up on the ontology 121 There is through-hole 1211, the through-hole 1211 penetrates through first surface 12a and second surface 12b.The shaft 114 passes through the through-hole 1211。

The installing arm 123 is set on the outer wall of the ontology 121, and the two relative spacing is arranged.The installing arm 123 is remote End from ontology 121 offers mounting hole 1231 respectively.The rotating turret 125 is in scalariform, and one side offers matching hole 1251.In the present embodiment, which sequentially passes through the matching hole 1251 and mounting hole 1231, and then by the rotating turret 125 are connected to the side of the ontology 121, and the rotating turret 125 can opposing body 121 or the rotation of installing arm 123.

Please refer to fig. 5, first rotating member 13 is set on the first surface 12a of the ontology 121.Specifically , first rotating member 13 is set to the edge of the through-hole 1211, so that the revolving part 12 is around the shaft 114 When rotation, the revolving part 12 drives first rotating member 13 along first direction A or along the second party opposite with first direction A The total angle for rotating to B, and first rotating member 13 being rotated is greater than 360 degree and less than 720 degree.In the present embodiment, First rotating member 13 is integrally formed with the ontology 121, so that first rotating member 13 and the ontology 121 are protected Hold synchronous rotation.Certainly, first rotating member 13 can also be fixedly arranged on described by welding or by other modes such as screws On body 121.

In the present embodiment, the first direction A is that counterclockwise, the second direction B is clockwise.Certainly, In other embodiments, the first direction A can also be for clockwise, the second direction B can also be for counterclockwise.

Second rotating member 14 is arranged in the accommodating chamber 116, and second rotating member 14 is sheathed on described turn On axis 114.Specifically, second rotating member 14 includes main part 141 and rotation section 143.The main part 141 is sheathed on institute It states in shaft 114.More specifically, the shape of the main part 141 matches with the boss 118.In the present embodiment, described Main part 141 is cyclic structure, and the main part 141 is sheathed on the boss 118, and the main part 141 with it is described convex The periphery wall clearance fit of platform 118, in order to which when the main part 141 rotation, the main part 141 not will drive described turn Axis 114 rotates simultaneously.The rotation section 143 is set on the main part 141.Specifically, the rotation section 143 is set on described Rod-like structure on 141 outer surface of main part, and for the ease of processing, the rotation section 143 and 141 one of main part at Type.

The locating part 15 is set on the fixation kit 11.Specifically, the locating part 15 is convexly equipped in the fixed plate On 112.It is appreciated that in other embodiments, the locating part 15 can be also directly arranged on the pedestal 111.

Referring to Figure 6 together and Fig. 7, when the ontology 121 of the revolving part 12 is along the first direction A or edge and first party When the second direction B opposite to A is rotated, axis rotation and formation first of first rotating member 13 around the shaft 114 Tracks N1.143 part of rotation section is fallen into the first tracks N1, and first rotating member 13 being capable of band The axis rotation that the rotation section 143 surrounds the shaft 114 is moved, and forms the second tracks N2.It is described in the present embodiment First tracks N1 is circular orbit.I.e. described first rotating member 13 is enclosed around the axis rotation one of the shaft 114.Certainly, In other embodiments, the first tracks N1 can also be circular arc.Specifically, when the ontology 121 drives described first When rotating member 13 turns to first rotating member 13 and contacts with the rotation section 143, first rotating member 13 drives described Second rotating member 14 is rotated around the shaft 114 together.

The locating part 15 is located at the periphery of the first tracks N1, and part falls into the second tracks N2 It is interior.Specifically, the ontology 121 drives first rotating member 13 to rotate together during the ontology 121 rotates.When First rotating member 13 turns to when contacting with the rotation section 143, and the rotation section 143 is with first rotating member 13 It rotates and rotates, until the rotation section 143 is contacted with the locating part 15.At this point, first rotating member 13 and rotation section 143 stop operating.

Also referring to Fig. 8 and Fig. 9, further, when the ontology 121 is rotated along first direction A, the ontology 121 drive first rotating members 13 to rotate along the direction far from the rotation section 143 wherein side.When first rotating member 13 when turning to the other side of the rotation section 143 and supporting the rotation section 143, and first rotating member 13 rotates first jiao It spends θ 1 (Fig. 7 please be join).Then first rotating member 13 drives the rotation section 143 to continue to rotate along first direction A, until institute Rotation section 143 is stated to contact with the locating part 15.At this point, second rotating member 14 and the first rotating member 13 are due to the limit The position-limiting action of position part 15 and stop operating, and first rotating member 13 drives described second jiao of 143 common rotation of rotation section It spends θ 2 (Fig. 8 please be join).Obviously, in the present embodiment, the first angle θ 1 and second angle θ 2 are all larger than 180 degree and are less than 360 degree.Therefore, first rotating member 13 due to rotational angle (first angle θ 1 and second angle θ 2) twice superposition, into And the total angle that it is rotated is greater than 360 degree and less than 720 degree.When second rotating member 14 and the first rotating member 13 are equal Due to the locating part 15 position-limiting action and when stopping operating, the ontology 121 starts to drive 13 edge of the first rotating member Second direction B rotation, until second rotating member 14 and the first rotating member 13 are again due to the limit of the locating part 15 is made With and stop operating, recycled with this.First rotating member 13 is along the second direction B principle rotated and along first direction A The principle of rotation is similar, and details are not described herein.

Further, the distance at first rotating member 13 to 114 center of shaft is less than the locating part 15 to institute The distance at 114 center of shaft is stated, so that it is guaranteed that first rotating member 13 can not be by when not in contact with second rotating member 14 The position-limiting action of the locating part 15 and continue to rotate.Further, second rotating member 14 is to 114 center of shaft Distance be greater than the locating part 15 to 114 center of shaft distance so that second rotating member 14 is moving When, by the position-limiting action of the locating part 15, so that the movement position of second rotating member 14 is limited.When It so, in other embodiments, can be by defining first rotating member 13, the locating part 15 and second rotating member 14 Height relationships, to reach the limit effect in the present embodiment.

The limiting device 10 further includes that at least one is arranged part 16, and the part 16 that is arranged is sheathed in the shaft 114, To reduce the rotation friction between second rotating member 14 and the shaft 114.In the present embodiment, the limiting device 10, which include two, is arranged part 16.It is copper sheathing that part 16 is arranged described in two.It is arranged part 16 described in two and is successively sheathed on described turn On axis 114, and one of them end face for being arranged part 16 is bonded with second rotating member 14 far from the end face of fixed plate 112 (Fig. 6 please be join).Therefore, described when first rotating member 13 drives second rotating member 14 to rotate around the shaft 114 Rotation friction between second rotating member 14 and the shaft 114 can be effectively reduced by being arranged part 16.Certainly, in other realities It applies in example, the part 16 that is arranged can also be bearing or guide sleeve.

The limiting device 10 further includes preload piece 17.In the present embodiment, the preload piece 17 includes washer 171 and gasket ring 173.The washer 171 and gasket ring 173 are contained in the through-hole 1211, and are sheathed in the shaft 114, and be set to Two are arranged between part 16.I.e. one of them be arranged part 16, the gasket ring 173, the washer 171 and another be arranged part 16 are successively sheathed in the shaft 114.The preload piece 17 for providing axial pre tightening force, with prevent the shaft 114 from It is slipped in the through-hole 1211.

It is understood that in other embodiments, in order to save material, the preload piece 17 also be can be omitted.

The limiting device 10 further includes a flexible connecting member 18.The flexible connecting member 18 can be flexible circuit board (flexible printed circuit, FPC), electric wire or winding displacement.The flexible connecting member 18 is set to the ontology 121 Second surface 12b.Specifically, offering accommodation groove 129 (ginseng Fig. 4) on the second surface 12b of the ontology 121.The flexibility Connector 18 is contained in the accommodation groove 129, and one end is wound in the shaft 114, and the other end, which is connected to, to be set to A controller or a processor (not shown) on the body 70 of the unmanned vehicle 100, to realize the load 20 are electrically connected with the controller or processor.In the present embodiment, the flexible connecting member 18 is substantially in clockwork spring shape, because This, when the revolving part 12 rotation, the flexible connecting member 18 can the regular winding in the shaft 114 or pine It relaxes, rambling track will not be formed because of the rotation of the revolving part 12, solve " the irregular phase of line in the related technology The problem of mutually winding ".Moreover, the flexible connecting member 18 is wrapped in the existing space of limiting device 10 (i.e. accommodation groove 129 It is interior), therefore not will increase the volume of the limiting device 10.

Referring to Fig. 3, the unmanned vehicle 100 further includes connector 30.The connector 30 includes interconnecting piece 31 and at least one linking arm 33.In the present embodiment, the rounded structure of the interconnecting piece 31.The connector 30 passes through the company Socket part 31 is connected to the revolving part 12, and is installed the limiting device 10 to the unmanned flight by the linking arm 33 The body 70 of device 100.Specifically, the middle part of the interconnecting piece 31 offers connecting hole 311.Offered in the shaft 114 with The corresponding axis hole 119 (ginseng Fig. 3) of the connecting hole 311.By the way that a locking member 50 is sequentially passed through the connecting hole 311 and the shaft 114 axis hole 119, and then the limiting device 10 is connected to the connector 30.It is appreciated that the locking member 50 is used for Axial pre tightening force is provided, so that the limiting device 10 is fixedly connected with the connector 30.

In the present embodiment, which includes two linking arms 33.The linking arm 33 is symmetrically disposed on the interconnecting piece 31 two sides, for installing the limiting device 10 to unmanned vehicle 100.Specifically, the linking arm 33 includes arm Portion 331, auxiliary section 333 and at least one locking portion 335.The arm 331 is connected to the side of the interconnecting piece 31, and it is remote One end from the interconnecting piece 31 offers generally " U "-shaped the first securing groove 336 and at least one first locking hole 337.Institute Shape and the structure for stating auxiliary section 333 are corresponding to the arm 331.Specifically, one end of the auxiliary section 333 offers and the Corresponding second securing groove 338 of one securing groove 336 and at least one second locking hole 339.First securing groove 336 with Second securing groove 338 matches, for unmanned vehicle 100 described in clamping, such as the machine of unmanned vehicle 100 described in clamping On body 70, and then the limiting device 10 and load 20 are assembled on the unmanned vehicle 100.

In the present embodiment, the quantity in the locking portion 335 is consistent with the quantity of first locking hole 337.By by institute Second securing groove 338 of the first securing groove 336 and auxiliary section 333 of stating arm 331 is fastened in the machine of unmanned vehicle 100 respectively On body 70, and the locking portion 335 is sequentially passed through in second locking hole 339 and the first locking hole 337, and then will be described Connector 30 is connected to the unmanned vehicle 100, to realize the limiting device 10 quickly tearing open with respect to the unmanned vehicle 100 Dress.It is appreciated that the quantity of the quantity fewer than first locking hole 337 in the locking portion 335, i.e., the described locking portion 335 are arranged in the first locking hole 337 of part.

Referring to Fig. 1 and Fig. 2, in the present embodiment, the load 20 is camera mould group.Certainly, in other embodiments In, the load 20 can also be other, such as microcomputer or projection device etc..The load 20 is rotationally connected with the limit On device 10.Specifically, the load 20 includes camera 21 and holder 23.The holder 23 is to realize consolidating for the camera 21 Posture fixed, that arbitrarily adjust the camera 21 (such as: changing height, inclination angle and/or the direction of the camera 21) and described in making Camera 21 is stably held in determining posture.In the present embodiment, the holder 23 includes for installing the camera 21 Pitching bracing strut 230, roll bracing strut 231, course bracing strut 233, be set to described 231 one end of roll bracing strut and with it is described Pitching (Pitch) motor 235, the connection roll bracing strut 231 and the course bracing strut 233 that pitching bracing strut 230 connects Roll (Roll) motor 237, course (Yaw) motor 238 and mounting blocks 239 for being set to described 233 one end of course bracing strut. In addition, the course bracing strut 233 further includes the first connecting rod 2331 and second connecting rod 2333 being arranged in a mutually vertical manner.Described One connecting rod 2331 is connected to the course motor 238.One end of the second connecting rod 2333 is connected to the roll motor 237, The other end is mobilizable to be installed in the first connecting rod 2331, and then adjusts the center of gravity of the holder 23.

The mounting blocks 239 are installed on the course bracing strut 233, the holder 23 is connected to the limit Device 10.In the present embodiment, which is fixed in the mounting blocks 239.The usual course motor 238 is For driving mounting blocks 239 connected to it to rotate, however, in the present embodiment, due to the mounting blocks 239 with it is described Unmanned vehicle 100 is fixedly connected, therefore the course motor 238 can not drive the mounting blocks 239 to rotate, but drives institute Course bracing strut 233 is stated to rotate in the horizontal direction.

It should be understood that in other embodiments, the load 20 can also only include camera 21 or only include holder 23.

Referring to Fig. 2 and Fig. 3, the limiting device 10 further includes Quick-dismantle component 40.The Quick-dismantle component 40 to The holder 23 is removably immobilizated on the limiting device 10.Certainly, in other embodiments, the Quick-dismantle component 40 It is not limited to the fixation and disassembly of holder 23 on unmanned vehicle 100, can be also used for any in other devices or mechanism It is held the fixation and disassembly of part.

The Quick-dismantle component 40 includes the second Quick Release portion 43 that the first Quick Release portion 41 and first Quick Release portion 41 are slidably matched And clamping element 45.In the present embodiment, one end of the pedestal 111 is arranged in first Quick Release portion 41.Specifically, described First Quick Release portion 41 can be the first lug boss 411 being oppositely arranged by one end of the pedestal 111 and the second lug boss 413 encloses At guide groove.The side of the pedestal 111 is also provided with the accommodating groove 415 for penetrating through first lug boss 411.

In the present embodiment, second Quick Release portion 43 is set to one end of the mounting blocks 239, and is and described first The mating groove that the guide groove that lug boss 411 and second lug boss 413 surround is slidably matched.Further, described second is fast Tearing portion 43 open can be the slide protrusion 431 of the guide groove cooperation surrounded with first lug boss 411 and the second lug boss 413.

In the present embodiment, first Quick Release portion 41 and the second Quick Release portion 43 are mutually matched dovetail groove.Certainly, exist In other embodiments, first Quick Release portion 41 and the second Quick Release portion 43 can also be mutually matched T-slot or other Quick Release knots Structure.

The clamping element 45 is set on the pedestal 111, and has lock state and disassembly status.When the clamping In the locked state, the clamping element 45 supports the slide protrusion 431 in second Quick Release portion 43 to part 45.When the clamping element 45 In the disassembled condition, the clamping element 45 and the slide protrusion 431 in second Quick Release portion 43 are separated.Specifically, in this reality It applies in example, the clamping element 45 includes gripping block 451, clamping bar 453 and nut 455.The gripping block 451 is housed in described In accommodating groove 415, and one end supports the slide protrusion 431.One end of the clamping bar 453 is housed in the gripping block 451 side.The nut 455 is set on clamping bar 453.By operating the nut 455, to rotate the clamping bar 453, so that the clamping element 45 enters lock state and disassembly status.Wherein, the clamping element 45 is in lock state Under, the gripping block 451 slides into the accommodating groove 415, and one end supports the slide protrusion 431 of the mounting blocks 239, in turn By the mounting blocks 239 locking on the pedestal 111.In the disassembled condition, the gripping block 451 skids off the clamping element 45 The accommodating groove 415, and one end and the slide protrusion 431 of the mounting blocks 239 are separated, to allow the mounting blocks 239 It is separated with 111 phase of pedestal.

Further, the outside of the nut 455 is equipped with lug 457.Nut 455 is driven by operating the lug 457 Rotation, to facilitate operating nut 455.

It is understood that the one end of the rotating turret 125 far from the installing arm 123 can be relative to the holder 23 Course bracing strut 233 swing certain angle with 23 clamping of holder or be detached from clamping.When the rotating turret 125 and institute When stating 2331 clamping of first connecting rod of course bracing strut 233, the rotating turret 125 can assist the holder 23 is removably solid It is held on the limiting device 10.In addition, when the course motor 238 drives the first connecting rod of the course bracing strut 233 When 2331 rotation, the first connecting rod 2331 of the holder 23 will drive the revolving part 12 to rotate by the rotating turret 125, from And first rotating member 13 and the second rotating member 14 is driven to rotate.

Obviously, by the above-mentioned Quick-dismantle component 40 of setting, it can be achieved that quick group of the holder 23 and the limiting device 10 Dress and disassembly.Specifically, when the holder 23 is assembled to the limiting device 10, so that being set on the holder 23 Two Quick Release portions 43 and the first Quick Release portion 41 on the pedestal 111 cooperate, and operate the lug 457, so that the nut 455 along a locking direction, such as moves clockwise, so that the clamping element 45 enters the lock state.In this way, One end of the gripping block 451 supports the slide protrusion 431, and the relatively firm limit that is assembled to of the holder 23 is filled Set 10.Then the rotating turret 125 is rotated, so that the rotating turret 125 is fastened in the first connecting rod 2331 of the holder 23 On, the holder 23 is assembled on the limiting device 10 with auxiliary, and realize that the course motor 238 of the holder 23 passes through The function that the first connecting rod 2331 and the rotating turret 125 drive the revolving part 12 to rotate.

When needing from the unmanned vehicle 100 quickly to remove the holder 23, it is only necessary to by 125 phase of rotating turret The first connecting rod 2331 is lifted, so that the rotating turret 125 is detached from the course bracing strut 233 of the holder 23.Simultaneously The lug 457 is operated, so that the nut 455 is moved along a unlocking direction, such as counterclockwise, so that described Clamping element 45 enters the disassembly status.431 phase of slide protrusion of one end of the i.e. described gripping block 451 and the mounting blocks 239 It is detached from, to allow the mounting blocks 239 to separate with 111 phase of pedestal.In this way, can facilitate the holder 23 from the unmanned flight It is quickly removed on device 100.

Further, when the unmanned vehicle 100 to be applied to take photo by plane in equipment, the course motor of the holder 23 The 238 driving course bracing struts 233 rotate in the horizontal direction, since the rotating turret 125 is fastened in the course bracing strut On 233 first connecting rod 2331.Therefore the course bracing strut 233 drives 12 turns of the revolving part by the rotating turret 125 It is dynamic, so that first rotating member 13 be driven to rotate along the first direction A.When first rotating member 13 turn to it is described When second rotating member 14 contacts, first rotating member 13 drives second rotating member 14 to rotate together, until described first Rotating member 13 and the second rotating member 14 turn to second rotating member 14 and contact with the locating part 15, first rotating member 13 and second rotating member 14 stop operating.The load 20 stops operating at this time, total when first rotating member 13 rotation Angle is greater than 360 degree and when less than 720 degree, the rotation total angle of the camera 21 also greater than 360 degree and less than 720 degree, So that the shooting angle of the camera 21 is wider.Further, since first rotating member 13 is in rotation along described first At least one circle of direction A rotation then avoids so that the shooting direction of the camera 21 is same direction and works as rotation after a week Opposite direction return causes shooting scene to repeat, so that the scene that camera 21 is shot is more comprehensively.

Limiting device 10 provided by the invention drives the first rotating member 13 rotation first angle θ in advance by the ontology 121 1, then drive second rotating member 14 and the first rotating member 13 to continue to rotate second angle θ 2 together, and locating part 15 is set, So that the first rotating member 13 and the second rotating member 14 due to locating part 15 position-limiting action and stop operating.First rotating member 13 due to first angle θ 1 and second angle θ 2 superposition, and the rotational angle for making its total is greater than 360 degree and less than 720 Degree.The structure of the limiting device 10 is simple, and cost is relatively low, and has many advantages, such as that transmitting signal is not limited by the structure.In addition, institute Limiting device 10 is stated also by the way that the Quick-dismantle component 40 is arranged, to realize the fast assembling-disassembling of the limiting device 10 and holder 23.

The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills Art field, is included within the scope of the present invention.

Claims (46)

1. a kind of limiting device, for connecting holder, the holder includes motor and the bracket with motor rotation connection, institute Stating limiting device includes: fixation kit and revolving part, wherein the revolving part is rotatably arranged on described fixation kit one end, institute The side for stating revolving part is provided with for the rotating turret with the holder phase clamping, it is characterised in that: the rotating turret being capable of phase For the bracket swing with the bracket clamping or be detached from clamping, when the rotating turret and when the bracket clamping, institute Stating the rotation of bracket described in motor driven can drive the revolving part to rotate by the rotating turret;
The limiting device further include:
Locating part, the locating part is arranged on the fixation kit, for limiting the relatively described fixation kit of the revolving part Rotation angle;And
Quick-dismantle component, the Quick-dismantle component are set on the fixation kit, and when the holder is detached from clamping, the motor is logical That crosses that the Quick-dismantle component can dismantle is immobilizated on the fixation kit.
2. limiting device as described in claim 1, it is characterised in that: the fixation kit includes shaft, the limiting device Further include the first rotating member, the second rotating member, first rotating member is fixedly attached to the revolving part, the revolving part to First rotating member is driven to rotate around the shaft;Second rotating member is sheathed in the shaft, first rotation Part is to drive second rotating member to rotate together with first rotating member around the shaft;The locating part is to limit First rotating member is continued to rotate with second rotating member.
3. limiting device as claimed in claim 2, it is characterised in that: the revolving part drives first rotating member around described Shaft rotates first angle, and when first rotating member is moved to and contacted with second rotating member, first rotation Part drives second rotating member to continue to rotate second angle together with first rotating member, until second rotating member is transported It moves to the locating part and contacts, first rotating member and the equal stop motion of the second rotating member.
4. limiting device as claimed in claim 3, it is characterised in that: the first angle and second angle are all larger than 180 degree And less than 360 degree.
5. limiting device as claimed in claim 2, it is characterised in that: the distance of first rotating member to the spindle central Less than the locating part to the distance of the spindle central, the distance of second rotating member to the spindle central is greater than described Locating part to the spindle central distance.
6. limiting device as claimed in claim 2, it is characterised in that: the fixation kit includes pedestal, and the pedestal opens up There is accommodating chamber, the shaft is set in the accommodating chamber, and the revolving part includes ontology, through-hole is offered on the ontology, The shaft passes through the through-hole, and first rotating member is arranged around the edge of the through-hole.
7. limiting device as claimed in claim 6, it is characterised in that: the revolving part further includes two installing arms and installation Column, the installing arm are set on the outer wall of the ontology, and the two relative spacing is arranged, end of the installing arm far from the ontology Portion offers mounting hole respectively, and the side of the rotating turret offers matching hole, which sequentially passes through the matching hole and peace Hole is filled, and then the rotating turret is connected to the side of the ontology, and is rotated relative to the ontology or installing arm.
8. limiting device as claimed in claim 6, it is characterised in that: the fixation kit further includes fixed plate, the fixation Plate is set on the center of the accommodating chamber, and the shaft is set in the fixed plate, and the locating part is convexly equipped in described solid On fixed board.
9. limiting device as claimed in claim 2, it is characterised in that: the limiting device further includes being arranged part, described to be arranged Part is sheathed in the shaft, to reduce the rotation friction between second rotating member and the shaft.
10. limiting device as claimed in claim 9, it is characterised in that: the limiting device includes two and is arranged part, two institutes It states and is arranged part and is sheathed in the shaft, and one of them end face for being arranged part is bonded with the end face of second rotating member.
11. limiting device as claimed in claim 10, it is characterised in that: the limiting device further includes preload piece, described pre- Tight part is sheathed in the shaft, and is arranged between part described in being located at two.
12. limiting device as claimed in claim 2, it is characterised in that: the limiting device further includes flexible connecting member, described Flexible connecting member is wound in the shaft, to realize being electrically connected for load and unmanned vehicle.
13. limiting device as claimed in claim 12, it is characterised in that: the flexible connecting member is flexible circuit board, electric wire Or one of winding displacement.
14. limiting device as claimed in claim 13, it is characterised in that: the flexible connecting member is in clockwork spring shape.
15. a kind of unmanned vehicle, it is characterised in that: the holder including limiting device and with limiting device rotation connection, The holder includes motor and the bracket with motor rotation connection, wherein the limiting device includes:
Fixation kit and revolving part, wherein the revolving part is rotatably arranged on described fixation kit one end, and the one of the revolving part Side is provided with for the rotating turret with the bracket phase clamping, it is characterised in that:
The rotating turret can relative to the bracket swing with the bracket clamping or be detached from clamping, when the rotating turret When with the bracket clamping, the rotation of bracket described in the motor driven can drive the revolving part to revolve by the rotating turret Turn;
The limiting device further include:
Locating part, the locating part is arranged on the fixation kit, for limiting the relatively described fixation kit of the revolving part Rotation angle;And
Quick-dismantle component, the Quick-dismantle component are set to the one end of the fixation kit far from the revolving part, when the bracket is de- When from clamping, the motor is immobilizated on the fixation kit by what the Quick-dismantle component can be dismantled.
16. unmanned vehicle as claimed in claim 15, it is characterised in that: the fixation kit includes shaft, the limit Device further includes the first rotating member, the second rotating member, and first rotating member is fixedly attached to the revolving part, the revolving part To drive first rotating member to rotate around the shaft;Second rotating member is sheathed in the shaft, and described first Rotating member is to drive second rotating member to rotate together with first rotating member around the shaft;The locating part to Limit continuing to rotate for first rotating member and second rotating member.
17. unmanned vehicle as claimed in claim 16, it is characterised in that: the revolving part drive first rotating member around The shaft rotates first angle, and when first rotating member is moved to and contacted with second rotating member, and described first Rotating member drives second rotating member to continue to rotate second angle together with first rotating member, until second rotation Part is moved to be contacted with the locating part, first rotating member and the equal stop motion of the second rotating member.
18. unmanned vehicle as claimed in claim 17, it is characterised in that: the first angle and second angle are all larger than 180 degree and less than 360 degree.
19. unmanned vehicle as claimed in claim 18, it is characterised in that: first rotating member to the spindle central Distance is less than the distance of the locating part to the spindle central, and the distance of the second rotating member to the spindle central is greater than The locating part to the spindle central distance.
20. unmanned vehicle as claimed in claim 16, it is characterised in that: the fixation kit includes pedestal, the pedestal Accommodating chamber is offered, the shaft is set in the accommodating chamber, and the revolving part includes ontology, is offered on the ontology logical Hole, the shaft pass through the through-hole, and first rotating member is arranged around the edge of the through-hole.
21. unmanned vehicle as claimed in claim 20, it is characterised in that: the revolving part further includes two installing arms and peace Column is filled, the installing arm is set on the outer wall of the ontology, and the two relative spacing is arranged, and the installing arm is far from the ontology End offers mounting hole respectively, and the side of the rotating turret offers matching hole, the mounting post sequentially pass through the matching hole and Mounting hole, and then the rotating turret is connected to the side of the ontology, and rotate relative to the ontology or installing arm.
22. unmanned vehicle as claimed in claim 20, it is characterised in that: the fixation kit further includes fixed plate, described Fixed plate is set on the center of the accommodating chamber, and the shaft is set in the fixed plate, and the locating part is convexly equipped in institute It states in fixed plate.
23. unmanned vehicle as claimed in claim 16, it is characterised in that: the limiting device further includes being arranged part, described It is arranged part to be sheathed in the shaft, to reduce the rotation friction between second rotating member and the shaft.
24. unmanned vehicle as claimed in claim 23, it is characterised in that: the limiting device includes two and is arranged part, and two It is arranged part described in a to be sheathed in the shaft, and one of them is arranged the end face of part and the end face of second rotating member and pastes It closes.
25. unmanned vehicle as claimed in claim 24, it is characterised in that: the limiting device further includes preload piece, described Preload piece is sheathed in the shaft, and be located at two described in be arranged between part.
26. unmanned vehicle as claimed in claim 16, it is characterised in that: the limiting device further includes flexible connecting member, The flexible connecting member is wound in the shaft, to realize being electrically connected for load and unmanned vehicle.
27. unmanned vehicle as claimed in claim 26, it is characterised in that: the flexible connecting member is flexible circuit board, electricity One of line or winding displacement.
28. unmanned vehicle as claimed in claim 26, it is characterised in that: the flexible connecting member is in clockwork spring shape.
29. unmanned vehicle as claimed in claim 16, it is characterised in that: the unmanned vehicle further includes connector, institute Stating connector includes interconnecting piece and linking arm, and the interconnecting piece is connected to the revolving part, and the linking arm is set to the company The side of socket part, for installing the limiting device to the unmanned vehicle.
30. unmanned vehicle as claimed in claim 29, it is characterised in that: the interconnecting piece offers connecting hole, and described turn Axis hole corresponding with the connecting hole is offered on axis, by the way that a locking member is sequentially passed through the connecting hole and the axis of the shaft Hole, and then the limiting device is connected to the connector.
31. the unmanned vehicle as described in claim 29 or 30, it is characterised in that: the linking arm includes arm, auxiliary section And locking portion, the arm is connected to the side of the interconnecting piece, and its one end far from the interconnecting piece offers the first clamping Slot and the first locking hole, one end of the auxiliary section offer the second securing groove corresponding with the first securing groove and the second locking Hole, first securing groove and the second securing groove are fastened in respectively on the unmanned vehicle, and the locking portion is arranged in described In second locking hole and the first locking hole.
32. unmanned vehicle as claimed in claim 31, it is characterised in that: the unmanned vehicle includes body, the arm First securing groove in portion and the second securing groove of the auxiliary section are fastened in the body respectively, and the locking portion is arranged in described In second locking hole and the first locking hole.
33. unmanned vehicle as claimed in claim 15, it is characterised in that: the bracket includes pitching bracing strut, roll axis Bracket, course bracing strut;The motor includes being set to roll bracing strut one end and connecting with the pitching bracing strut Pitching motor, the connection roll bracing strut and course bracing strut roll motor and be set to course bracing strut one end Course motor, the rotating turret is fastened on the course bracing strut, and the fixation kit is removable by the Quick-dismantle component It is fixed on the course motor with unloading.
34. unmanned vehicle as claimed in claim 33, it is characterised in that: the course bracing strut further includes being mutually perpendicular to set The first connecting rod and second connecting rod set, the first connecting rod are connected to the course motor, and one end of the second connecting rod connects It is connected to the roll motor, the other end movable can be installed on the first connecting rod, and the rotating turret is fastened in described On one connecting rod.
35. a kind of limiting device, it is characterised in that: the limiting device includes:
Pedestal;
Quick-dismantle component, the Quick-dismantle component are immobilizated on the pedestal to can dismantle a holder, and the holder includes The holder bracket of horizontal stage electric machine and the rotation connection horizontal stage electric machine;
It is characterized in that, the limiting device further include:
Rotating turret, the rotating turret can relative to the holder swing with the holder bracket clamping or be detached from clamping, When the rotating turret is fastened in the holder bracket, the horizontal stage electric machine drives the holder bracket rotation to be able to drive described turn Moving frame is rotated relative to the pedestal, so that the rotational angle of the relatively described pedestal of the rotating turret limits the holder bracket phase To the rotation angle of the horizontal stage electric machine.
36. limiting device as claimed in claim 35, it is characterised in that: the Quick-dismantle component include the first Quick Release portion and with institute The second Quick Release portion of the first Quick Release portion cooperation is stated, first Quick Release portion is set on the pedestal, and second Quick Release portion is set It is placed on the holder.
37. limiting device as claimed in claim 36, it is characterised in that: first Quick Release portion is one end by the pedestal The guide groove that the first lug boss and the second lug boss being oppositely arranged surround, second Quick Release portion are and first lug boss The slide protrusion of the guide groove cooperation surrounded with the second lug boss.
38. limiting device as claimed in claim 36, it is characterised in that: first Quick Release portion and the second Quick Release portion are mutual The dovetail groove of cooperation;
Alternatively, first Quick Release portion and the second Quick Release portion are mutually matched T-slot.
39. limiting device as claimed in claim 37, it is characterised in that: the side wall of the pedestal offers the storage of perforation Slot, the Quick-dismantle component further include clamping element, and the clamping element includes gripping block, clamping bar and nut, and the gripping block is received Hold in the accommodating groove;One end of the clamping bar is housed in the side of the gripping block, and the nut is set in clamping bar On, by operating the nut, to rotate the clamping bar, so that the gripping block enters lock state and disassembled configuration State;When the gripping block in the locked state, one end of the gripping block supports the slide protrusion;When gripping block is in disassembled configuration Under state, one end of the gripping block is separated with the slide protrusion.
40. limiting device as claimed in claim 39, it is characterised in that: the outside of the nut is equipped with lug, passes through operation The lug drives the nut rotation, to facilitate operating nut.
41. a kind of unmanned vehicle, it is characterised in that: the holder including limiting device and with limiting device rotation connection, Wherein, the limiting device includes:
Pedestal;
Quick-dismantle component, the Quick-dismantle component are immobilizated on the pedestal to can dismantle a holder, and the holder includes The holder bracket of horizontal stage electric machine and the rotation connection horizontal stage electric machine;
It is characterized in that, the limiting device further include:
Rotating turret, the rotating turret can relative to the holder swing with the holder clamping or be detached from clamping, it is described When rotating turret is fastened in the holder bracket, the horizontal stage electric machine drives the holder bracket rotation to be able to drive the rotating turret It is rotated relative to the pedestal, so that the rotational angle of the relatively described pedestal of the rotating turret limits the holder bracket with respect to institute State the rotation angle of horizontal stage electric machine.
42. unmanned vehicle as claimed in claim 41, it is characterised in that: the Quick-dismantle component include the first Quick Release portion and with Second Quick Release portion of first Quick Release portion cooperation, first Quick Release portion are set on the pedestal, second Quick Release portion It is set on the holder.
43. unmanned vehicle as claimed in claim 42, it is characterised in that: first Quick Release portion is by the one of the pedestal The guide groove for holding the first lug boss being oppositely arranged and the second lug boss to surround, second Quick Release portion are and first protrusion The slide protrusion for the guide groove cooperation that portion and the second lug boss surround.
44. unmanned vehicle as claimed in claim 42, it is characterised in that: first Quick Release portion and the second Quick Release portion are phase The dovetail groove mutually cooperated;
Alternatively, first Quick Release portion and the second Quick Release portion are mutually matched T-slot.
45. unmanned vehicle as claimed in claim 43, it is characterised in that: the side wall of the pedestal offers the storage of perforation Slot, the Quick-dismantle component further include clamping element, and the clamping element includes gripping block, clamping bar and nut, and the gripping block is received Hold in the accommodating groove;One end of the clamping bar is housed in the side of the gripping block, and the nut is set in clamping bar On, by operating the nut, to rotate the clamping bar, so that the gripping block enters lock state and disassembled configuration State;When the gripping block in the locked state, one end of the gripping block supports the slide protrusion;When gripping block is in disassembled configuration Under state, one end of the gripping block is separated with the slide protrusion.
46. unmanned vehicle as claimed in claim 45, it is characterised in that: the outside of the nut is equipped with lug, passes through behaviour Make the lug and drive the nut rotation, to facilitate operating nut.
CN201580004253.9A 2015-07-02 2015-07-02 Limiting device and unmanned vehicle with the limiting device CN106029503B (en)

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PCT/CN2015/083156 WO2017000299A1 (en) 2015-07-02 2015-07-02 Limit device and unmanned aerial vehicle having same

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CN106029503B true CN106029503B (en) 2018-12-14

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