CN106715269A - Holder, capturing system and aircraft - Google Patents
Holder, capturing system and aircraft Download PDFInfo
- Publication number
- CN106715269A CN106715269A CN201680002823.5A CN201680002823A CN106715269A CN 106715269 A CN106715269 A CN 106715269A CN 201680002823 A CN201680002823 A CN 201680002823A CN 106715269 A CN106715269 A CN 106715269A
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- CN
- China
- Prior art keywords
- motor
- head
- rotating shaft
- cable tray
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000008054 signal transmission Effects 0.000 claims abstract description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000005183 dynamical system Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000499 gel Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 239000002519 antifouling agent Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/566—Accessory clips, holders, shoes to attach accessories to camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
A holder, a capturing system and an aircraft are provided. The holder comprises at least one rotating shaft mechanism which includes a motor comprising a rotor and a stator. The rotor drives a load of the holder to move. The stator is hollow to for a wiring channel in the motor. The wiring channel is used for holding a power transmission line and / or a signal transmission line. The power transmission line is used for supplying power for the motor and / or supplying power for the load of the holder. The signal transmission line is used to transmit a communication signal of the motor and / or a communication signal of the load. The holder of embodiments of the invention can operate in harsh work environments.
Description
Technical field
The invention relates to a kind of head, camera system and aircraft.
Background technology
Load can be carried on head, for the fixation for loading, the attitude of random regulating load is (for example, change load
Highly, inclination angle and/or direction), or the attitude that determination is maintained at for load stabilization.For example, being capture apparatus in load
When, it is mounted on head can realize stabilization, smooth and multi-angled shooting.
In many cases, it is desirable to which head is operated under severe working environment (for example, sleety weather), therefore, how
It is a problem demanding prompt solution to provide a kind of head with safeguard function.
The content of the invention
The embodiment of the present application provides a kind of head, camera system and aircraft, can operate in severe working environment
Under.
On the one hand, there is provided a kind of head, the head includes at least one rotating shaft mechanism, and the rotating shaft mechanism includes motor,
The motor includes rotor and stator；The rotor drives the load campaign of the head；The stator is hollow, to form the motor
Interior cable tray；The cable tray is used to accommodate power transmission line and/or signal transmssion line；Wherein, the power transmission line is used
Powered in for the motor, and/or be the load supplying of the head；The signal transmssion line is used to transmit the signal of communication of the motor,
And/or transmit the signal of communication of the load.
On the other hand, there is provided a kind of camera system, the camera system includes head and capture apparatus, wherein, the head
Including at least one rotating shaft mechanism, the rotating shaft mechanism includes motor, and the motor includes rotor and stator；The rotor drives the shooting
Equipment is moved；The stator is hollow, to form the cable tray in the motor；The cable tray is used to accommodate power transmission
Line and/or signal transmssion line；Wherein, the power transmission line is used to be powered for the motor, and/or for the capture apparatus of the head are supplied
Electricity；The signal transmssion line is used to transmit the signal of communication of the motor, and/or the signal of communication for transmitting the capture apparatus.
On the other hand, there is provided a kind of aircraft, including head, wherein, the head include at least one rotating shaft mechanism, should
Rotating shaft mechanism includes motor, and the motor includes rotor and stator；The rotor drives the load campaign of the head；The stator is
It is hollow, to form the cable tray in the motor；The cable tray is used to accommodate power transmission line and/or signal transmssion line；Its
In, the power transmission line is used to be powered for the motor, and/or is the load supplying of the head；The signal transmssion line is used to transmit
The signal of communication of the motor, and/or transmit the signal of communication of the load.
In the head of the embodiment of the present application, the stator of the motor that rotating shaft mechanism includes is hollow, can be formed in motor
Cable tray, so that transmission line can enter walking line in stator, and plays protective action to transmission line, makes the head can be with
It is operated under severe working environment；And hollow by stator is set to cable tray, wiring is simple, and can keep away
Exempt from transmission line and reverse caused transmission thread breakage.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the embodiment of the present application, below will be in embodiment or description of the prior art
The required accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description are only some realities of the application
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is that the overall structure of the head according to the embodiment of the present application is schematically schemed.
Fig. 2 is the schematic figure of the cabling mode of the head according to the embodiment of the present application.
Fig. 3 be the head according to the embodiment of the present application part rotating shaft mechanism in cabling mode schematic figure.
Fig. 4 is the part isometric exploded view of the head according to the embodiment of the present application.
Fig. 5 is the part isometric exploded view of the head according to the embodiment of the present application.
Fig. 6 is the schematic figure of the labyrinth seal structure according to the embodiment of the present application.
Fig. 7 is the schematic figure of the silica gel ring sealing structure according to the embodiment of the present application.
Fig. 8 is the schematic figure of the silica gel ring sealing structure according to the embodiment of the present application.
Fig. 9 is the schematic block diagram of the flight system according to the embodiment of the present application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation is described, it is clear that described embodiment is some embodiments of the present application, rather than whole embodiments.Based on this Shen
Please in embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of the application protection.
It should be noted that when a component and another component " being fixedly connected " or " connection " in the embodiment of the present application, or,
When one component " is fixed on " another component, directly on another component, or can also there is component placed in the middle in it.
Unless otherwise indicated, the embodiment of the present application is used all technologies and the technical field of scientific terminology and the application
The implication that is generally understood that of technical staff it is identical.Term used in this application is intended merely to describe the mesh of specific embodiment
, it is not intended that limitation scope of the present application.Term "and/or" used in this application includes the listed of one or more correlations
The arbitrary and all of combination of item.
The embodiment of the present application provides a kind of head, and the head includes at least one rotating shaft mechanism, and the rotating shaft mechanism includes
Motor, the motor includes rotor and stator；The rotor drives the load campaign of the head.
Alternatively, the motor that rotating shaft mechanism includes can be brushless electric machine, it is also possible to brush motor.
Alternatively, the load can be capture apparatus, or other equipment, and the embodiment of the present application is not limited.
Alternatively, rotating shaft mechanism includes at least one of the following：Pitch axis (pitch) mechanism, roll axle (roll) machine
Structure and yaw axis (yaw) mechanism.
Alternatively, the rotating shaft mechanism that the embodiment of the present application is mentioned also includes the support being connected with the rotor, and the rotor passes through
The holder pivots are driven, the load campaign is driven.
Alternatively, the head includes multiple rotating shaft mechanisms, and multiple rotating shaft mechanisms are connected in series.Alternatively, multiple turning engines
It can be following connected mode that structure is connected in series：Since the head is by bearing, motor and the support of each rotating shaft mechanism connect
Connect, the support of a upper rotating shaft mechanism and the motor connection of next rotating shaft mechanism.
Alternatively, in the embodiment of the present application, the rotor in rotating shaft mechanism is fixedly connected with support, can be indirect fixation
Connection.
Alternatively, in the embodiment of the present application, the stator phase of the support of a upper rotating shaft mechanism and next rotating shaft mechanism
Even can be indirectly connected to.
For example, as shown in figure 1, the head includes driftage axis mechanism 110, roll axis mechanism 120 and pitching axis mechanism 130.
Wherein, the driftage axis mechanism 110, roll axis mechanism 120 and pitching axis mechanism 130 are sequentially connected in series.
Wherein, driftage axis mechanism 110 includes motor 112 and support 114；Roll axis mechanism 120 includes motor 122 and support
124；The pitching axis mechanism 130 includes motor 132.
Wherein, driftage axis mechanism 110 can be connected with aircraft, and the motor 112 of axis mechanism 110 of going off course can be with yaw axis
The support 114 of mechanism 110 is connected, and the support 114 of axis mechanism 110 of going off course can be connected with the motor 122 of roll axis mechanism 120,
The motor 122 of roll axis mechanism 120 can be connected with the support 124 of roll axis mechanism 120, the support 124 of roll axis mechanism 120
Can be connected with the motor 132 of pitching axis mechanism 130, the motor 132 of pitching axis mechanism 130 can be connected with load, roll axle
One end of the support 124 of mechanism 120 can be provided with limit shaft 126, and limit shaft 126 can together be rotated with load.
In the embodiment of the present application, sometimes for the convenience of description, the motor of axis mechanism of going off course can be referred to as yaw axis
Motor, the support of axis mechanism of going off course is referred to as bracing strut of going off course, and miscellaneous part or rotating shaft mechanism are similar, repeat no more.
It should be understood that in the embodiment of the present application, not all of rotating shaft mechanism has support, for example, as shown in figure 1, should
Pitching axis mechanism 130 includes that motor 132 can be directly connected to load without the motor 132 including support, the pitch axis 130,
Without by support.
It should also be understood that the rotating shaft mechanism shown in Fig. 1 is only schematically to scheme, in order to show the overall structure of head, should
Concrete structure to the head of the embodiment of the present application causes to limit.For example, the connection of not shown driftage axis mechanism 110 and aircraft
Structure, and not shown pitching axis mechanism 130 and the attachment structure for loading.
It will also be understood that, although Fig. 1 show driftage axis mechanism 110, roll axis mechanism 120 and pitching axis mechanism 130 successively
It is connected in series, but the embodiment of the present application is not limited to this kind of connected mode, for example, it may be roll axis mechanism, pitch axis machine
Structure and driftage axis mechanism are sequentially connected in series, or, can be that pitching axis mechanism, roll axis mechanism and pitching axis mechanism are gone here and there successively
Connection connection, can also be that other are connected in series mode certainly, numerous to list herein.
Alternatively, the concrete structure of the support of the embodiment of the present application can be designed according to different demands.For example, in Fig. 1
In shown embodiment, roll bracing strut 124 includes two bending walls, and wherein they can be joined directly together, or by other portions
Part is connected, U-shaped to scrabble up.
Alternatively, in the embodiment of the present application, the stator that motor includes can be hollow, for forming walking in the motor
Line passage.
Alternatively, in the embodiment of the present application, cable tray can also be provided with the support that rotating shaft mechanism includes, the branch
Cable tray in frame can extend along the bearing of trend of the support, and the cable tray in the support can be not leaking outside or complete
It is enclosed.
Alternatively, the cable tray in support can run through whole support, it is also possible to be provided only in a part for support.
For example, the cable tray of roll bracing strut 124 can be provided only on the electricity of roll spindle motor 122 and pitching axis mechanism
In support between machine 132.
Alternatively, in the embodiment of the present application, the side of support has cabling channel, it is possible to which bracket cover is removable with support
Connection is unloaded, to seal cabling channel, so as to form cable tray.
Alternatively, in the embodiment of the present application, it is also possible to eleven punch 11 directly is entered to support, to form cable tray.
Alternatively, in the embodiment of the present application, the stator of the cable tray in the support of rotating shaft mechanism and the rotating shaft mechanism
Interior cable tray is connected.
Alternatively, in the embodiment of the present application, the cable tray in multiple rotating shaft mechanisms is connected.
Specifically, the cabling in the cable tray in the support of a upper rotating shaft mechanism and the motor of next rotating shaft mechanism
Passage is connected.
For example, in the embodiment of the present application, the head includes first rotating shaft mechanism, the second rotating shaft mechanism and the 3rd turning engine
Structure, the first rotating shaft mechanism includes the first motor and first support, and second rotating shaft mechanism includes the second motor and second support,
3rd rotating shaft mechanism includes the 3rd motor；Wherein, the stator of first motor is fixedly connected with aircraft, first motor
Rotor is fixedly connected with the first support；The first support is fixedly connected with the stator of second motor, second motor turn
Son is fixedly connected with the second support；The second support is fixedly connected with the stator of the 3rd motor；The rotor of the 3rd motor
It is fixedly connected with the load.Wherein, the cable tray phase in the cable tray in the stator of first motor and the first support
Connection；Cable tray in the first support is connected with the cable tray in the stator of second motor；Second motor
Cable tray in stator is connected with the cable tray in the second support；Cable tray and the 3rd in the second support
Cable tray in the stator of motor is connected.
In order to make it easy to understand, below with reference to Fig. 2-5 descriptions are according to the concrete structure of the head of the embodiment of the present application and walk
Line mode.
Wherein, Fig. 2 is the overall trace-diagram of head, and Fig. 3 is the trace-diagram at roll axle and pitch axis.Fig. 3 is the A- of Fig. 2
The section in A directions.Thicker dotted line 170 in Fig. 2 and Fig. 3 is transmission line, and dotted line expression implication is used for the purpose of and perimeter line
Bar makes a distinction, and the embodiment of the present application should not be constituted and limited.Fig. 4 and Fig. 5 are the part isometric exploded views of head.
For example, as shown in Figure 2-5, the rotor 112a in the motor 112 of axis mechanism of going off course is set in stator 112b, stator
112b is hollow, and stator 112b can be fixedly connected with attachment means 113, and attachment means 113 can set wiring board and turn
Jointing holes, the wiring board is used to connect transmission line, and the transfer jack can be used for being connected with aircraft, and the attachment means 113 can
To be fixed on aircraft.The rotor 112a of motor 112 can be connected to housing 115, and drive the rotation of housing 115, housing
115 can be connected with driftage bracing strut 114, it is possible to drive the rotation of the support.The support 114 can with roll axis mechanism at
Housing 121 connect, the stator 122b in roll spindle motor can be connected with the housing 121, the rotor 122a of roll spindle motor
Can be set on stator 122b, and be placed in housing 121, bonnet 123 can be covered with housing 121.Roll spindle motor 122
In rotor 122a be connected with roll bracing strut 124, rotor 122a can drive the motion of roll bracing strut 124.Roll axle branch
Frame 124 is connected with the housing 131 in pitching spindle motor 132, and housing 131 can be connected with the stator 132b in pitching spindle motor,
Rotor 132a in pitching spindle motor 132 is set on stator 132b, and rotor 132a is connected with load 150.
Wherein, stator 112b, the stator 122b of the motor of roll axis mechanism in the motor of driftage axis mechanism and pitching
The stator 132b of the motor of axis mechanism be it is hollow, so as to form cable tray.
The rack body of the support yaw axis of each rotating shaft mechanism can offer groove, and bracket cover can be covered in rack body
On, so that forming cable tray in the support.
For example, the rack body 114a of yaw axis can offer groove, bracket cover 114b can be covered in rack body 114a
On, so that forming cable tray in the support.
Again for example, the rack body 124a of yaw axis can offer groove, bracket cover 124b can be covered in rack body
On 124a, so that forming cable tray in the support.
Wherein, when shell is connected with stator, there can be gap so that the cable tray of stator can be walked with support
Line passage is connected.
Wherein, driftage axis mechanism 110 in motor 112 stator 112b in cable tray can with yaw axis 110 in
Cable tray in support 114 is connected, and the cable tray in driftage bracing strut 114 can be with motor in roll axis mechanism 120
The cable tray in stator 122b in 122 is connected, the cable tray in stator 122b can with roll axis mechanism 120 in
Cable tray in support 124 is connected, cable tray and pitching axis mechanism 130 in support 124 in roll axis mechanism 120
In the cable tray of stator 132b of motor be connected.
Then correspondingly, transmission line can be from the cable tray in the stator 112b in motor 112 through walking in support 114
Line passage, and the cable tray of stator 122b in motor 122 is further passed through, the cable tray in support 124 is then passed through,
And further pass through the cable tray of stator 132b in motor 132.
Alternatively, the cable tray is used to accommodate power transmission line and/or signal transmssion line；Wherein, the power transmission line
For being powered for the motor, and/or it is the load supplying of the head；The signal transmssion line is used to transmit the communication letter of the motor
Number, and/or the signal of communication for transmitting the load.
Alternatively, the cable tray is used for through coaxial line, can be the winding displacement of coaxial line composition specifically.Certainly, should
Cable tray can pass through other kinds of transmission line, and the application is not specifically limited herein.
Alternatively, in the embodiment of the present application, transmission line can be contained in cable tray and be attached to cable tray
On wall, for example, can be attached on the inwall of stator, and it is attached in the inwall of support.Certainly, transmission line can not also be pasted
It is attached on inwall, only in receiving and cable tray.
Alternatively, in the embodiment of the present application, in order to avoid the caused transmission line in rotation process of rotating shaft mechanism
Fracture, transmission line in cable tray can be in cable tray into curly.Wherein, the length of curling can turn according to rotating shaft
Dynamic amplitude and radius set.
Alternatively, the head also includes wiring board, and the wiring board is used to connect the transmission line in head.
Alternatively, the head is additionally provided with first line plate, the first line plate be used for connect the first power transmission line and/
Or first signal transmssion line；Wherein, first power transmission line is used to be that first motor and second motor are powered；This first
Signal transmssion line is used to transmit first motor and the signal of communication of second motor.
Alternatively, the first line plate is arranged at the side away from the load of second motor.Alternatively, the First Line
Road plate is removably mounted on the side away from the load of second motor.The first line plate is optionally pcb board.
For example, having wiring board 140 between the stator 122b and rotor 122a, with bonnet 123 of roll spindle motor.Its
In, the wiring board 140 can be used for being powered for driftage spindle motor, and/or transmit the signal of communication of pitching spindle motor, and/or be
Roll spindle motor is powered, and/or transmits the signal of communication of roll spindle motor.
Alternatively, the head is additionally provided with the second wiring board, second wiring board be used for connect the second power transmission line and/
Or secondary signal transmission line；Wherein, second power transmission line is used to be the 3rd motor and the load supplying；The secondary signal
Transmission line is used to transmit the signal of communication of the 3rd motor and the signal of communication of the load.
Alternatively, second wiring board is arranged at the side relative with the 3rd motor of the load.
For example, the side relative with the pitching spindle motor of load 150 is provided with wiring board 160, wherein, the wiring board
160 can power for pitch axis motor, and/or transmit the signal of communication of pitching spindle motor, and/or for pitching spindle motor is powered,
And/or the signal of communication of transmission pitching spindle motor.Wherein, transmission line from the stator 132b in pitching spindle motor pass through when, can be with
From load 150 side around opposite side, to be connected to wiring board 160.
Being described above can set cable tray in the inside of head, such that it is able to be risen to the transmission line in head
To protective action, and head is set to be operated under severe working environment.
However, the embodiment of the present application is not limited to this, the embodiment of the present application can also have other means to play to head
Protective action, these means can be used in combination with the means being illustrated above, or be used alone.
Alternatively, in the embodiment of the present application, sealed by way of labyrinth seal at the rotation of head.
The enlarged drawing at the 6a at pitching axis mechanism shown in Fig. 3 can be as shown in Figure 6.From fig. 6 it can be seen that rotation
Place can use labyrinth seal structure, wherein, the width in the gap 180 in the labyrinth seal structure shown in Fig. 6 is 0.5mm,
But the embodiment of the present application is not limited to this, for example, the width in the gap in labyrinth seal structure can be 0.2-0.7mm.
Alternatively, in the embodiment of the present application, non-rotating contact can be sealed by the way of silica gel ring.
For example, as shown in Figure 7 and Figure 8, groove 153 can be opened up on the upper lid 152 of capture apparatus, and in the groove
Filling gel in 153, and cover in the main body of capture apparatus, it is of course also possible to groove is offered in capture apparatus main body, and
Filling gel, and covered upper in the main body of the capture apparatus.Wherein, Fig. 7 is the top view that silica gel ring is installed, and Fig. 8 is
The profile of silica gel ring.
Alternatively, in order to realize better seal effect, rotation water proof ring can be increased at the rotation of head, to realize
Sealing, wherein, the resistance of increase can be overcome by necessary electromotor torsion.
Alternatively, at least one wiring board for being set in the head is coated with underwater paint, such that it is able to further increase
Waterproof.
Therefore, in the head of the embodiment of the present application, the stator of the motor that rotating shaft mechanism includes is hollow, can form motor
Interior cable tray, so that transmission line can enter walking line in stator, and plays protective action to transmission line, makes head
Can be operated under severe working environment；And hollow by stator is set to cable tray, wiring is simple, Yi Jike
To avoid transmission line from reversing caused transmission thread breakage.
And cable tray further, is provided with rotating shaft mechanism support, protection further can be played to transmission line and made
With.Also, the cable tray in support is connected with the cable tray in stator, can further avoid due to rotating shaft mechanism
The brought transmission line of rotation is reversed, so as to avoid transmitting thread breakage.
And in the embodiment of the present application, can be by carrying out the side of labyrinth seal or rotation water proof ring at the rotation of head
Formula is sealed, or non-rotating contact is sealed by the way of silica gel ring, or coats protective paint in the circuit board,
Protective action is played with to head, head is operated under severe working environment.
Alternatively, the head can carry capture apparatus, in the embodiment of the present application, can will have capture apparatus and cloud
The system of platform is referred to as camera system.
Alternatively, the head is used to be connected to aircraft.The aircraft can be unmanned vehicle (Unmanned
Aerial Vehicle, UAV).
In order to clearly manage aircraft, describe aircraft below with reference to the flight system shown in Fig. 9 and flying
Effect played in journey, and the object for being interacted.The present embodiment is illustrated by taking rotor craft as an example.
Flight system can include UAV200, display device 300 and commanding apparatus 400.Wherein, UAV200 can include flying
Row control system 210, dynamical system 220, head 230, load 240 and frame 250.UAV 200 can with commanding apparatus 300 and
Display device 400 carries out radio communication.
Frame 250 can include fuselage and foot stool (also referred to as undercarriage).Fuselage can include centre frame and and center
One or more horns of frame connection, one or more horns radially extend from centre frame.Foot stool is connected with fuselage, uses
Played a supportive role in when UAV 200 lands.
Dynamical system 220 can include electron speed regulator (referred to as electricity adjust) 223, one or more propellers 221 and
One or more motors 222 corresponding with one or more propellers 221, wherein motor 222 is connected to electron speed regulator 223
Between propeller 221, motor 222 and propeller 221 are arranged on corresponding horn；Electron speed regulator 223 is used to receive winged
The drive signal that row control system 210 is produced, and driving current is provided to motor 222 according to drive signal, with controlled motor 222
Rotating speed.Motor 222 is used to drive propeller to rotate, so that for the flight of UAV 200 provides power, the power causes UAV
200 motions that can realize one or more frees degree.It should be understood that motor 222 can be direct current generator, it is also possible to alternating current
Machine.In addition, motor 222 can be brushless electric machine, it is also possible to brush motor.
Flight control system 210 can include flight controller 211 and sensor-based system 212.Sensor-based system 212 is used to measure
The attitude information of UAV.Sensor-based system 212 for example can include gyroscope, electronic compass, IMU (Inertial Measurement Unit,
Inertial Measurement Unit), vision sensor, GPS (global positioning system, Global Positioning
System at least one) and in the sensor such as barometer.Flight controller 211 is used to control the flight of UAV 200, for example,
The attitude information that can be measured according to sensor-based system 212 controls the flight of UAV 200.
Head 230 can be used to carry load 240.Wherein, load 240 can be capture apparatus (for example, according to machine, shooting
Machine etc.).
Display device 300 is located at the ground surface end of flight system, can be communicated with UAV 200 wirelessly, and
And it is displayed for the attitude information of UAV 200.In addition, when it is capture apparatus to load 240, can also be in display device
The image that capture apparatus shoot is shown on 300.It should be understood that display device 300 can be independent equipment, it is also possible to be arranged on behaviour
It is longitudinally set with standby 400.
Commanding apparatus 400 is located at the ground surface end of unmanned flight's system, can be led to UAV 200 wirelessly
Letter, for carrying out remote control to UAV 200.Commanding apparatus for example can be remote control or the APP for being provided with control UAV
The terminal device of (application program, Application), for example, smart mobile phone, panel computer etc..In embodiments herein, lead to
Cross commanding apparatus receive user input, can refer to by remote control pull out the input units such as wheel, button, button, rocking bar or
User interface (UI) on person's terminal device is manipulated to UAV.
The above, the protection domain of the only specific embodiment of the application, but the application is not limited thereto, any
Those familiar with the art can readily occur in change or replacement in the technical scope that the application is disclosed, and should all contain
Cover within the protection domain of the application.Therefore, the protection domain of the application described should be defined by scope of the claims.
Claims (20)
1. a kind of head, it is characterised in that the head includes at least one rotating shaft mechanism, the rotating shaft mechanism includes motor,
The motor includes rotor and stator；
The rotor drives the load campaign of the head；
The stator is hollow, to form the cable tray in the motor；
The cable tray is used to accommodate power transmission line and/or signal transmssion line；
Wherein, the power transmission line is used to be powered for the motor, and/or is the load supplying of the head；The signal
Transmission line is used to transmit the signal of communication of the motor, and/or the signal of communication for transmitting the load.
2. head according to claim 1, it is characterised in that the rotating shaft mechanism also includes the branch being connected with the rotor
Frame, the rotor drives the load to be moved by driving the holder pivots；
Wherein, cable tray is provided with the support, the cable tray in the support prolongs along the bearing of trend of the support
Stretch.
3. head according to claim 2, it is characterised in that walking in cable tray in the support and the stator
Line passage is connected.
4. head according to any one of claim 1 to 3, it is characterised in that rotating shaft mechanism includes described at least one
At least one of the following：
Pitching axis mechanism, roll axis mechanism and driftage axis mechanism.
5. head according to any one of claim 1 to 4, it is characterised in that the cable tray is used for through coaxial
Line.
6. head according to any one of claim 1 to 5, it is characterised in that the head includes multiple rotating shafts
Mechanism, multiple rotating shaft mechanisms are connected in series；
Wherein, the cable tray in multiple rotating shaft mechanisms is connected.
7. head according to claim 6, it is characterised in that since the head is by bearing, a upper turning engine
The motor connection of the support of structure and next rotating shaft mechanism；
Wherein, the cable tray phase in the cable tray in the support of a upper rotating shaft mechanism and the motor of next rotating shaft mechanism
Connection.
8. head according to claim 7, it is characterised in that the head includes first rotating shaft mechanism, the second turning engine
Structure and the 3rd rotating shaft mechanism, the first rotating shaft mechanism include the first motor and first support, and second rotating shaft mechanism includes
Second motor and second support, the 3rd rotating shaft mechanism include the 3rd motor；
Wherein, the stator of first motor is fixedly connected with aircraft, rotor and the first support of first motor
It is fixedly connected；The first support is fixedly connected with the stator of second motor, the rotor of second motor and described
Two supports are fixedly connected；The second support is fixedly connected with the stator of the 3rd motor；The rotor of the 3rd motor with
The load is fixedly connected；
Cable tray in the stator of first motor is connected with the cable tray in the first support；Described first
Cable tray in frame is connected with the cable tray in the stator of second motor；Walking in the stator of second motor
Line passage is connected with the cable tray in the second support；Cable tray and the 3rd motor in the second support
Stator in cable tray be connected.
9. head according to claim 8, it is characterised in that the head is additionally provided with first line plate, described first
Wiring board is used to connect the first power transmission line and/or the first signal transmssion line；
Wherein, first power transmission line is used to be that first motor and second motor are powered；
First signal transmssion line is used to transmit the signal of communication of first motor and second motor.
10. the head according to the claim 9, it is characterised in that the first line plate is arranged at second electricity
The side away from the load of machine.
11. head according to any one of claim 8 to 10, it is characterised in that the head is additionally provided with the second line
Road plate, second wiring board is used to connect the second power transmission line and/or secondary signal transmission line；Wherein,
Second power transmission line is used to be the 3rd motor and the load supplying；
The secondary signal transmission line is used to transmit the signal of communication of the 3rd motor and the signal of communication of the load.
12. heads according to claim 11, it is characterised in that second wiring board be arranged at the load with institute
State the relative side of the 3rd motor.
13. head according to any one of claim 8 to 12, it is characterised in that the first rotating shaft mechanism is driftage
Axis mechanism, second rotating shaft mechanism is roll axis mechanism, and the 3rd rotating shaft mechanism is pitching axis mechanism.
14. according to any one of claim 1 to 13 head, it is characterised in that at the rotation of the head pass through labyrinth
The mode of waterproof is sealed.
15. head according to any one of claim 1 to 14, it is characterised in that set in the seam crossing of the head
There is silica gel ring.
16. head according to any one of claim 1 to 15, it is characterised in that be provided with the rotation of the head
Water proof ring.
17. head according to any one of claim 1 to 16, it is characterised in that at least set in the head
Individual wiring board is coated with underwater paint.
18. head according to any one of claim 1 to 17, it is characterised in that the head is used to be connected to flight
Device.
19. a kind of camera systems, it is characterised in that including the head according to any one of claim 1 to 18, and clap
Take the photograph equipment.
20. a kind of aircraft, it is characterised in that including the head according to any one of claim 1 to 18.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/103063 WO2018076136A1 (en) | 2016-10-24 | 2016-10-24 | Cradle head, photographing system and aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106715269A true CN106715269A (en) | 2017-05-24 |
Family
ID=58903811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002823.5A Pending CN106715269A (en) | 2016-10-24 | 2016-10-24 | Holder, capturing system and aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106715269A (en) |
| WO (1) | WO2018076136A1 (en) |
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| CN107878773A (en) * | 2017-11-29 | 2018-04-06 | 深圳市道通智能航空技术有限公司 | Head, picture shooting assembly and unmanned vehicle |
| WO2018076136A1 (en) * | 2016-10-24 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Cradle head, photographing system and aerial vehicle |
| CN109073144A (en) * | 2017-12-29 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Driving device, holder, filming apparatus and unmanned vehicle |
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| WO2019100313A1 (en) * | 2017-11-24 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and avionics system therefor |
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| CN111361752B (en) * | 2017-12-29 | 2022-02-15 | 深圳市大疆创新科技有限公司 | Driving device, cloud platform, shooting device and unmanned vehicles |
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| CN110896649A (en) * | 2018-05-31 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Cloud platform |
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| WO2018076136A1 (en) | 2018-05-03 |
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