CN107209441A

CN107209441A - Drive device, head, capture apparatus and unmanned vehicle and movable equipment

Info

Publication number: CN107209441A
Application number: CN201680006836.XA
Authority: CN
Inventors: 潘大虎; 陈子寒
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-01-26
Filing date: 2016-01-26
Publication date: 2017-09-26
Anticipated expiration: 2036-01-26
Also published as: CN107209441B; WO2017128074A1

Abstract

A kind of drive device and head (100), capture apparatus (300), unmanned vehicle and the movable equipment using the drive device.The head includes connector (16) and the first driver (13), first driver (13) includes the tumbler (135) being fixedly linked with the connector (16), the tumbler (135) can drive the connector (16) to be rotated around an axis, the head (100) also includes Transmission Part (70), and end face of the Transmission Part (70) from the sidepiece of the tumbler (135) along the tumbler (135) is extended on the connector (16).

Description

Driving device, holder, capture apparatus and unmanned vehicle and movable equipment

Technical field

The present invention relates to a kind of driving device and use holder, capture apparatus and the unmanned vehicle and movable equipment of the driving device.

Background technique

It during setting up the shooting of the electronic devices such as video camera, camera using electric platform, often needs to be electrically connected in the electronic component and the electronic device that will be set on holder, to transmit data or transmit electric power.The holder is usually two axle The Cloud Terraces or three axis holders, and the electronic device assembling is driven to change shooting posture by the holder on the terminal shaft of the holder.In order to reserve enough rotational angles to the rotation of holder terminal shaft, when the electronic component and the electronic device to be electrically connected, need to be attached using longer connecting line.Since the connection line length is longer, the position dedicated for coiling need to be set on holder, to prevent the connecting line from winding in the rotation process of the holder.However, the position dedicated for coiling occupies biggish space, keeps holder volume larger, be unfavorable for the Miniaturization Design of holder.

Summary of the invention

In view of the above situation, it is necessary to the driving device that a kind of relatively small holder of volume and the holder use be provided, there is a need to provide a kind of capture apparatus using the holder and unmanned vehicle and movable equipment.

A kind of holder, including connector and the first driver, first driver include the rotating member being fixedly linked with the connector, and the rotating member is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member.

Further, the Transmission Part is data line, is used for transmission electric power or transmission data.

Further, the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.

Further, first driver further includes stator, and the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.

Further, the Transmission Part includes the first transport part and the second transport part being connected, and first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.

Further, the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.

Further, first transport part setting parallel with the stator periphery.

Further, the end face setting of the vertical rotating member in second transport part, and extends on the connector along the end face of the rotating member.

Further, the Transmission Part further includes third transport part, and the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.

Further, it is in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.

Further, the holder further includes the installing part being arranged on the stator, and one end of the Transmission Part is fixed on the installing part.

Further, it is provided with the first limiting section on the connector, first limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a first direction.

Further, it is additionally provided with the second limiting section on the connector, second limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a second direction, and the second direction is opposite to the first direction.

Further, the other end of the Transmission Part is fixedly connected with the connector, and first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.

Further, in a predetermined angle setting between first limiting section and second limiting section.

Further, the predetermined angle between first limiting section and second limiting section is less than or equal to 180 degree；

Alternatively, the predetermined angle between first limiting section and second limiting section is 90 degree ~ 135 degree.

Further, it is provided with positioning region on the installing part, the holding section matched with the positioning region is provided on the Transmission Part, the positioning region cooperates with the holding section phase clamping the Transmission Part to be positioned on the installing part.

Further, the installing part includes fixed part and guidance part, and the fixed part is fixedly installed on the stator, and the guidance part is connected on the fixed part, and the end face of the neighbouring rotating member is arranged, the Transmission Part extends on the connector along the fixed part and the guidance part.

Further, the fixed part extends to the neighbouring rotating member edge along the stator periphery.

Further, the guidance part is arranged perpendicular to the end face of the rotating member.

Further, the holder further includes reinforcer, and the reinforcer setting is on the connector and corresponding with the guidance part, and the other end of the Transmission Part is fixed on the reinforcer.

Further, the reinforcer is arranged perpendicular to the end face of the rotating member, in a predetermined angle setting between the guidance part and the reinforcer.

Further, the installing part further includes support portion, and the support portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.

Further, the connector driver is rotating electric machine, rotary cylinder or steering engine.

Further, the pivot center of the rotating member is the course axis of the holder.

Further, the holder further includes supporting element and the second driver, second driver is set on the connector, and the supporting element is connected on second driver, to allow second driver that the supporting element is driven to rotate relative to the connector.

Further, the supporting element includes switching part and the support arm that is set on the switching part, and the switching part is connected on second driver.

Further, the quantity of the support arm is two, and two support arms are respectively arranged at the two sides of the switching part.

Further, two support arms are symmetrically disposed in the opposite sides of the switching part.

Further, pivot center of the pivot center of the supporting element perpendicular to the rotating member.

Further, the connector includes the linking arm being connected on first driver and the interconnecting piece being set on the linking arm, and second driver is set in the interconnecting piece.

Further, the holder further includes the third driver being set on the supporting element, and the rotor of the third driver can be rotated relative to the supporting element.

Further, pivot center of the pivot center of the rotor of the third driver perpendicular to the supporting element.

Further, the holder is three axis holders, and the pivot center of the pivot center of the rotor of the third driver, the pivot center of the supporting element and the rotating member corresponds respectively to the pitch axis, roll axis and course axis of three axis holders.

Further, the holder further includes assembly parts, and first driver is arranged in the assembly parts.

Further, institute's holder further includes housing piece, and the housing piece is set to one end of the connector, and can rotate relative to the assembly parts, and the assembly parts are matched with the housing piece to accommodate first driver jointly.

Further, it is provided with perforating on the assembly parts, so that the Transmission Part is worn, the inner cavity of the assembly parts is connected by the perforating with the external world.

Further, electronic device is connected on the connector of the holder, the Transmission Part and the electronic device are electrically connected.

Further, the Transmission Part is connected between the power supply unit of the electronic device and the holder, and the Transmission Part is used for the power transmission of the power supply unit to the electronic device.

Further, one end of the Transmission Part is connected with the controller of the holder, and the other end of the Transmission Part is connect with the electronic device, and the Transmission Part is used to the control instruction of the controller being transmitted to the electronic device.

Further, the electronic device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus；The Transmission Part is also used to the image data that the electronic device obtains being sent to an image transmission.

A kind of capture apparatus, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, and first driver includes the rotating member being fixedly linked with the connector, and the rotating member is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member.

Further, first transport part setting parallel with the stator periphery.

Further, the holder further includes the third driver being set on the supporting element, and described image acquisition device is arranged on the third driver, and the third driver can drive described image acquisition device to rotate relative to the supporting element.

Further, institute's holder further includes housing piece, and the housing piece is set to one end of the connector, and is interlocked and can rotate relative to the assembly parts with the assembly parts, and the assembly parts and the housing piece accommodate first driver jointly.

Further, the electronic device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus.

Further, the capture apparatus further includes image transmission, and the Transmission Part is connected between described image transmitting device and the electronic device, and the Transmission Part is used to the image data that the electronic device obtains being sent to described image transmitting device.

A kind of unmanned vehicle, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, and first driver includes the rotating member being fixedly linked with the connector, and the rotating member is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member.

Further, first transport part setting parallel with the stator periphery.

Further, the unmanned vehicle further includes flight controller and the Inertial Measurement Unit with flight controller electric connection, and the Inertial Measurement Unit is used to detect the posture of the unmanned vehicle to allow flight controller unmanned vehicle according to the gesture stability to fly.

Further, the unmanned vehicle further includes the electron speed regulator being connected on first driver, and the electron speed regulator is used to control the velocity of rotation and rotation direction of first driver.

Further, described image acquisition device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus.

Further, the unmanned vehicle further includes the image transmission being connected on the holder, the Transmission Part is connected between described image transmitting device and described image acquisition device, and the Transmission Part is used to the image data that the electronic device obtains being sent to described image transmitting device.

A kind of driving device, including connector and the first driver, first driver include the rotating member being fixedly linked with the connector, and the rotating member is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member.

Further, first transport part setting parallel with the stator periphery.

A kind of movable equipment, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, and first driver includes the rotating member being fixedly linked with the connector, and the rotating member is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member.

Further, first transport part setting parallel with the stator periphery.

Further, the movable equipment further includes controller and the Inertial Measurement Unit with controller electric connection, and the Inertial Measurement Unit is used to detect the posture of the movable equipment to allow controller movable equipment according to the gesture stability to advance.

Further, the movable equipment further includes the electron speed regulator being connected on first driver, and the electron speed regulator is used to control the velocity of rotation and rotation direction of first driver.

Above-mentioned holder, its Transmission Part extends on the connector from the side of the rotating member along the end face of the rotating member, and the electronic component in the connector can be connected to, make the Transmission Part that there is certain length surplus, to adapt to the connector in rotation, electronic component and the relative position of first driver and/or the knots modification of relative distance in the connector, the space of the holder is rationally utilized, avoid Transmission Part winding it is agglomerating while, it is not necessary that the position for the Transmission Part winding is additionally arranged, keep the overall volume of the holder relatively small.

Detailed description of the invention

Fig. 1 is the assembling stereogram of capture apparatus provided in an embodiment of the present invention.

Fig. 2 is the perspective exploded view at the first visual angle of capture apparatus shown in FIG. 1.

Fig. 3 is the perspective exploded view at the second visual angle of capture apparatus shown in FIG. 1.

Fig. 4 is the perspective exploded view at the third visual angle of capture apparatus shown in FIG. 1.

Fig. 5 is the perspective exploded view at the 4th visual angle of capture apparatus shown in FIG. 1.

Fig. 6 is the assembling stereogram of unmanned vehicle provided in an embodiment of the present invention.

Main element symbol description

Capture apparatus 300

Holder 100

First support component 10

Assembly parts 12

Perforating 123

First driver 13

Stator 131

Shaft 133

Rotating member 135

Housing piece 14

Install part 15

Fixed part 152

Support portion 154

Positioning region 1541,1561

Guidance part 156

Connector 16

Installing department 161

First limiting section 1611

Second limiting section 1613

Linking arm 163

Interconnecting piece 165

Reinforcer 17

Second support component 30

Second driver 32

Supporting element 34

Switching part 341

Support arm 343

Mounting portion 345

Third driver 50

Transmission Part 70

First transport part 72

Second transport part 74

Third transport part 76

Image acquiring device 200

Unmanned vehicle 500

Fuselage 510

Power mechanism 530

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 scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component or there may also be components placed in the middle when component is referred to as " being fixed on " another component.When a component is considered as " connection " another component, it can be directly to another component or may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it, which can be, is set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Term as used herein in the specification of the present invention, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term as used herein " and/or " it include any and all combinations of one or more related listed items.

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

Also referring to Fig. 1-3, the capture apparatus 300 that one embodiment of the present invention provides, for the work such as taken pictures, recorded a video.The capture apparatus 300 includes holder 100 and the image acquiring device 200 being set on the holder 100.The capture apparatus 300 can be applied to a unmanned vehicle 500(and please refer to Fig. 6) on, to carry out work of taking photo by plane.The capture apparatus 300 also can be applied on one handle as hand-held capture apparatus, the work such as be taken pictures, recorded a video with allowing user that the capture apparatus 300 is manually operated.

In the present embodiment, the holder 100 is three axis holders comprising first support component 10 and second support component 30.The second support component 30 is rotationally installed on the first support component 10.

The first support component 10 includes assembly parts 12, the first driver 13 and connector 16.In the present embodiment, first driver 13 is set on the assembly parts 12, and the connector 16 is connected on first driver 13.First driver 13 is for driving the connector 16 to rotate around a first axle.

The assembly parts 12 are used to 100 entirety of holder being installed in an application platform, and the application platform can be unmanned vehicle or handle.In the present embodiment, the assembly parts 12 are substantially in the cylindrical tube shape with bottom wall.The assembly parts 12 offer perforating 123, and the perforating 123 penetrates through the assembly parts 12 and is connected to the inner cavity of the assembly parts 12.The perforating 123 for electronic components such as data line, power lines for wearing.In the present embodiment, the perforating 123 is also used to accommodate a connector, so that the holder 100 is electrically connected by the connector and the application platform.

First driver 13 is for driving the connector 16 to rotate relative to the assembly parts 12 around the first axle.First driver 13 is motor, can be the motor of any types such as brushless motor, brush motor.In the present embodiment, first driver 13 is brushless motor, and as the course actuator of the holder 100, to drive the connector 16 to rotate around the first axle, the first axle is the course axis of the holder 100.It is understood that, in other some embodiments, first driver 13 can be used as the roll actuator or pitching actuator of the holder 100, to drive the connector 16 to rotate around the first axle, accordingly, the first axle can be the roll axis or pitch axis of the holder 100.

Further, in order to adjust the velocity of rotation and rotation direction of first driver 13, controller, electron speed regulator or other electronic components are also provided in the assembly parts 12 and/or the application platform, the electronic component and first driver 13 are electrically connected.

Please refer to Fig. 2 to Fig. 4, in the present embodiment, first driver 13 is inner rotor motor comprising stator 131, shaft 133, rotor (not shown) and rotating member 135.

The stator 131 is fixedly installed on the assembly parts 12, and the shaft 133 is rotatably penetrated and arranged in the stator 131, and protrudes out the stator 131 away from the side of the perforating 123 of the assembly parts 12.The rotor is connected with the shaft 133, and is contained in the stator 131.The one end of the shaft 133 far from the perforating 123 is arranged in the rotating member 135, and the rotating member 135 is for installing the connector 16.The rotating member 135 can be rotated relative to the stator 131, to drive the connector 16 to rotate relative to the assembly parts 12.

Further, please refer to Fig. 5, in order to which electronic components, the first support components 10 such as the data line, the flexible circuit board that are fixed in the assembly parts 12 further include installing part 15.The installing part 15 is arranged in the assembly parts 12.

The installing part 15 includes fixed part 152, support portion 154 and guidance part 156.Specifically in the illustrated embodiment, substantially in the sheet of bending, the support portion 154 is connected between the fixed part 152 and the guidance part 156 the installing part 15.

The fixed part 152 is set to the periphery of the stator 131, one end of the fixed part 152 is connected to the one end of the stator 131 far from the rotating member 135, the other end of the fixed part 152 extends along the axis direction of the stator 131 to the rotating member 135, until the side of the neighbouring rotating member 135, and protrude out the side that the rotating member 135 deviates from the stator 131.

The fixed part 152 is arranged in adjacent to one end of the rotating member 135 in the support portion 154, and the support portion 154 is roughly parallel to the end face setting of the rotating member 135.The support portion 154 is from the edge of the rotating member 135 to the internal stretch of the rotating member 135.

The one end of the support portion 154 far from the fixed part 152 is arranged in the guidance part 156, and the guidance part 156 is approximately perpendicular to the support portion 154 and is arranged.Simultaneously, the diametrical direction of the guidance part 156 approximately along the rotating member 135 extends, that is, the pivot center of the guidance part 156 and the rotating member 135 is substantially coplanar with, a side of the guidance part 156 is made to be roughly parallel to the pivot center of the rotating member 135.

The connector 16 is set on the rotating member 135, and can be rotated under the driving of first driver 13 relative to the assembly parts 12.The connector 16 includes installing department 161, linking arm 163 and interconnecting piece 165, and the installing department 161 and the interconnecting piece 165 are respectively arranged at the both ends of the linking arm 163.

Referring to Fig. 2, the installing department 161 is fixedly connected with the rotating member 135.In the present embodiment, the installing department 161 is stacked in the side that the rotating member 135 deviates from the stator 131, and between the rotating member 135 and the support portion 154.A scalloped recess 1610 is offered on the installing department 161, the support portion 154 can rotate in the scalloped recess 1610.The installing department 161 can rotate under the drive of the rotating member 135 relative to the stator 131 and the installing part 15.

Referring to Fig. 4, the first limiting section 1611 and the second limiting section 1613 are provided on the installing department 161, first limiting section 1611 and second limiting section 1613 are used to limit the rotational angle of the relatively described stator 131 of the connector 16.In the present embodiment, first limiting section 1611 is arranged adjacent to the support portion 154, second limiting section 1613 is arranged adjacent to the guidance part 156, and first limiting section 1611 connects with second limiting section 1613, the scalloped recess 1610 is collectively formed in the two, and first limiting section 1611 and second limiting section 1613 are the two side walls for being respectively the scalloped recess 1610.When the rotating member 135 drives the connector 16 to turn to first extreme angles along a first direction in the scalloped recess 1610, first limiting section 1611 supports on the side of the support portion 154, to limit the connector 16 along the rotational angle of the relatively described stator 131 of the first direction.When the rotating member 135 drives the connector 16 to turn to extreme angles along a second direction opposite to the first direction, second limiting section 1613 supports on the guidance part 156, to limit the connector 16 along the rotational angle of the relatively described stator 131 of the second direction.

Specifically in the illustrated embodiment, first limiting section 1611 and second limiting section 1613 are arranged approximately along the radial direction of the rotating member 135, the scalloped recess 1610 is collectively formed, and formed angle is less than or equal to 180 degree between first limiting section 1611 and second limiting section 1613.Preferably, formed angle is 90 degree to 135 degree between first limiting section 1611 and second limiting section 1613.It is understood that formed angle can be arranged according to the angular range that the connector 16 need to rotate between first limiting section 1611 and second limiting section 1613.Further, in the present embodiment, when the holder 100 is under the original state of inoperative, first limiting section 1611 between the side of its support portion 154 being disposed adjacent formed angle be equal to formed angle between second limiting section 1613 and the guidance part 156, so that the connector 16 is in rotation, it is rotated along the first direction or symmetry equivalent along the rotational angle of the second direction, required driving torque is also symmetry equivalent.

One end of the linking arm 163 is set to the side of the installing department 161, and the other end is bent towards the direction away from rotating member 135 to be extended.

The interconnecting piece 165 is set to the one end of the linking arm 163 far from the installing department 161, is used to connect the second support component 30.

Further, the first support component 10 further includes housing piece 14, and the housing piece 14 is set on the connector 16.The housing piece 14 is matched with the assembly parts 12 to accommodate first driver 13 and the installing part 15 jointly.Specifically in the illustrated embodiment, the housing piece 14 is fixedly installed on the installing department 161, and can be rotated with the connector 16 relative to the assembly parts 12.

Further, please refer to Fig. 5, in order to which electronic components, the first support components 10 such as the data line, the flexible circuit board that are fixed on the first support component 10 further include reinforcer 17.The reinforcer 17 is arranged on the connector 16, and extends along the extending direction of the connector 16.

Specifically in the illustrated embodiment, the reinforcer 17 is arranged on the installing department 161 and the linking arm 163 of the connector 16, and is approximately perpendicular to the outer surface of the installing department 161 and the linking arm 163.The reinforcer 17 is used to support the part that the electronic components such as the data line, flexible circuit board extend along the connector 16, to reinforce the mounting structure of the electronic component.

One end of the reinforcer 17 and a side of the guidance part 156 are oppositely arranged, wherein, pivot center of the side of the guidance part 156 adjacent to the rotating member 135, one end of the reinforcer 17 substantially extends along the extension line of the diameter of the rotating member 135 simultaneously, so that one end of the reinforcer 17 and the guidance part 156 are arranged in a predetermined angular when the holder 100 is under the original state of inoperative.And after the reinforcer 17 extends along the extension line of the diameter of the rotating member 135, continue to be extended along the installing department 161 and the linking arm 163, the one end for making first limiting section 1611 and second limiting section 1613 be generally concerned with the reinforcer 17 is symmetrical arranged.

Referring to Fig. 2, the second support component 30 is rotatablely arranged on the connector 16 comprising the second driver 32 and supporting element 34.Second driver 32 is connected on the interconnecting piece 165, and the supporting element 34 is set to the driving end of second driver 32.

For second driver 32 for driving the supporting element 34 to rotate relative to the connector 16 around a second axis, the second axis is approximately perpendicular to the first axle.Second driver 32 is motor, can be the motor of any types such as brushless motor, brush motor.In the present embodiment, second driver 32 is brushless motor, and as the roll actuator of the holder 100, to drive the connector 16 to rotate around the second axis, the second axis is the roll axis of the holder 100.It is understood that, in other some embodiments, second driver 32 can be used as the course actuator or pitching actuator of the holder 100, to drive the supporting element 34 to rotate around the second axis, accordingly, the second axis can be the course axis or pitch axis of the holder 100.

Further, in order to adjust the velocity of rotation and rotation direction of second driver 32, controller, electron speed regulator or other electronic components are also provided in the interconnecting piece 165, the electronic component and second driver 32 are electrically connected.Or, second driver 32 can be electrically connected with the electronic component in the assembly parts 12 and/or the application platform, to allow the electronic component in the assembly parts 12 and/or the application platform to adjust the velocity of rotation and rotation direction of second driver 32.

The supporting element 34 is connected on second driver 32, and can be rotated under the driving of second driver 32 relative to the interconnecting piece 165.The supporting element 34 includes switching part 341, support arm 343 and mounting portion 345.Specifically in the illustrated embodiment, the support arm 343 is set to the switching part 341, and the mounting portion 345 is set to the support arm 343.In the present embodiment, the switching part 341, first support arm 343, be integrally formed between the mounting portion 345.It is appreciated that in other implementations, the switching part 341, first support arm 343 can be assembled in together between the mounting portion 345.The switching part 341 is connected to the driving end of second driver 32, and can rotate under the driving of second driver 32 relative to the interconnecting piece 165.It is understood that in other embodiments, the switching part 341 can also be integrally formed with the driving end of second driver 32.

In the present embodiment, the supporting element 34 is dual support, and the quantity of the support arm 343 and the mounting portion 345 is two.Two support arms 343 are arranged substantially symmetrically in the opposite sides of the switching part 341.Each support arm 343 is substantially in curved arm, and one end is connected on the switching part 341, and the other end extends towards the direction far from the interconnecting piece 165.Each mounting portion 345 is set to an one end of the support arm 343 far from the switching part 341, and the mounting portion 345 is for installing described image acquisition device 345.Specifically, two mounting portions 345 and two support arms 343 for supporting described image acquisition device 200 jointly, keep 100 overall stiffness of holder larger, and two mounting portions 345 and two support arms 343 are arranged substantially symmetrically, so that the center of gravity of holder 100 and described image acquisition device 200 is easier to adjust, and the rotational motion of the relatively described second support component 30 of described image acquisition device 200 is also easier to control, adjustment.

It is understood that the supporting element 34 can be single arm support part, at this point, the quantity of the support arm 343 and the mounting portion 345 is one in other some embodiments.

Further, referring to Fig. 3, the holder 100 further includes third driver 50.The third driver 50 is disposed therein on the mounting portion 345, and for driving described image acquisition device 200 to rotate relative to the holder 100, to adjust the shooting angle of described image acquisition device 200.

Specifically, for the third driver 50 for driving described image acquisition device 200 to rotate relative to the supporting element 34 around a third axis, the third axis is approximately perpendicular to the second axis.The third driver 50 is motor, can be the motor of any types such as brushless motor, brush motor.In the present embodiment, the third driver 50 is brushless motor, and as the pitching actuator of the holder 100, to drive described image acquisition device 200 to rotate around the third axis, the third axis is the pitch axis of the holder 100.It is understood that, in other some embodiments, the third driver 50 can be used as the course actuator or roll actuator of the holder 100, to drive the supporting element 34 to rotate around the third axis, accordingly, the third axis can be the course axis or roll axis of the holder 100.

Further, in order to adjust the velocity of rotation and rotation direction of the third driver 50, controller, electron speed regulator or other electronic components are also provided in the interconnecting piece 165, the electronic component and the third driver 50 are electrically connected.Or, the third driver 50 can be electrically connected with the electronic component in the assembly parts 12 and/or the application platform, to allow the electronic component in the assembly parts 12 and/or the application platform to adjust the velocity of rotation and rotation direction of the third driver 50.

Described image acquisition device 200 is connected to the driving end of the third driver 50, and described image acquisition device 200 is used for the work such as taken pictures, recorded a video.In the present embodiment, described image acquisition device 200 is infrared camera, is used for infrared imaging or thermal imaging.

Referring to Fig. 4 and Fig. 5, shooting work is carried out in order to control described image acquisition device 200, and the holder 100 further includes master controller (not shown go out), pilot controller (not shown go out) and Transmission Part 70.The master controller is adjusted for controlling the holder 100 to required operating attitude, and the pilot controller is electrically connected by the Transmission Part 70 with the master controller for controlling the work of described image acquisition device 200, the pilot controller.

Specifically, the master controller is for controlling first driver 13, second driver 32 and the third driver 50 rotation and cooperating, to drive described image acquisition device 200 to adjust to operating attitude needed for shooting.The master controller can be control chip or control circuit board.In the present embodiment, the master controller is set in the application platform of the capture apparatus 300.It is understood that the master controller can also be arranged in the assembly parts 12 and/or the housing piece 14, also can be set in the supporting element 34 or the connector 16.

The pilot controller executes shooting work for controlling described image acquisition device 200, and for storing and/or transmitting image captured by described image acquisition device 200 or picture.The pilot controller can be control chip or control circuit board.In the present embodiment, the pilot controller is control circuit board, is electrically connected with described image acquisition device 200.

In the present embodiment, the Transmission Part 70 is flexible circuit board, it is used to for image captured by the described image acquisition device 200 in the pilot controller or picture being sent in the master controller, or directly image captured by described image acquisition device 200 or picture are sent in the master controller, to allow the master controller that described image or picture are sent at user by an image transmission.It is understood that the Transmission Part 70 can also be power line or data line etc., it can be used for transmission electric power or transmit the data such as control instruction.

Further, the capture apparatus 300 may include image transmission.Described image transmitting device is connected with the holder 100, and is electrically connected by the Transmission Part 70 with described image acquisition device 200.Described image transmitting device is for reading and storing image captured by described image acquisition device 200.At this point, the Transmission Part 70 is used to image data acquired in described image acquisition device 200 being back to described image transmitting device.

Referring to Fig. 1 and Fig. 2, in the present embodiment, one end of the Transmission Part 70 is connected on the master controller in the application platform (not shown go out) (not shown go out), the other end extends after passing through the assembly parts 12 and the housing piece 14 along the connector 16, it is divided into two parts and each extends in the connector 16 and in the supporting element 34, is electrically connected respectively with the electronic component in the connector 16 and in the supporting element 34.

Please refer to Fig. 4 and Fig. 5, specifically in the illustrated embodiment, the Transmission Part 70 in the application platform of the holder 100 after extending out, enter inside the assembly parts 12 across the perforating 123, and it is stacked on the installing part 15, successively along the fixed part 152 of the installing part 15, after the support portion 154 and the guidance part 156 extend, it is pierced by the housing piece 14, after re-extending and being stacked on the reinforcer 17, continue to extend along the reinforcer 17 and be electrically connected with the electronic component in the connector 16 and in the supporting element 34.

When being in off working state due to the holder 100, it is arranged between one end and the guidance part 156 of the reinforcer 17 at a predetermined angular, under the guide function of the guidance part 156 and the reinforcer 17, the Transmission Part 70 bends a predetermined angular at the pivot center of the neighbouring rotating member 135.Remember that the Transmission Part 70 includes sequentially connected first transport part 72, the second transport part 74 and third transport part 76, first transport part 72 is arranged on the fixed part 152, second transport part 74 is arranged on the guidance part 156, and the setting of third transport part 76 (please refers to Fig. 2) on the reinforcer 17.Then: the Transmission Part 70 extends on the reinforcer 17 from the side of the rotating member 135 along the end face of the rotating member 135, under the installing part 15 guiding to connect with the connector 16.When the holder 100 is in off working state, relatively described second transport part 74 in the third transport part 76 bends the predetermined angular, that is, the third transport part 76 and second transport part 74 make the Transmission Part 70 generate the deformation of pre-bend in a predetermined angle setting.First limiting section 1611 and second limiting section 1613 are arranged substantially symmetrically about the third transport part 76.

When the connector 16 is rotated relative to the assembly parts 12, relative position between electronic component and/or relative distance in the master controller and the connector 16 can change, in order to guarantee to be able to maintain reliable electric connection between the master controller and the electronic component, it needs to make the Transmission Part 70 that there is certain length surplus, to adapt to the relative position between the master controller and the element and/or the knots modification of relative distance.

In the present embodiment, the Transmission Part 70 is arranged in the assembly parts 12 in pre-bend state, and continue to extend on the reinforcer 17 from the side of the rotating member 135 along the end face of the rotating member 135, the third transport part 76 can bend or rotate relative to second transport part 74, during so that the connector 16 is turned to greatest limit angle along the first direction or the second direction by an original state relative to the assembly parts 12, the flexibility of the rotation of the connector 16 and freedom degree will not be by the length limitations of the Transmission Part 70, the Transmission Part 70 will not be tightened due to the rotation of the connector 16 and is broken, it will not accumulate agglomerating in the assembly parts 12 or wind.The setting structure of above-mentioned Transmission Part 70, it is not necessary that the Transmission Part 70 is wound around on the other component of the holder 100, without the position for arranging the Transmission Part 70 for winding being arranged in the assembly parts 12 and/or the housing piece 14 additionally, keep the length of the Transmission Part 70 relatively short, also reduces the overall volume of the holder 100.

In the present embodiment, the maximum rotation angle that first driver 13 drives the connector 16 to rotate relative to the assembly parts 12 is no more than one week, preferably, the maximum rotation angle that first driver 13 drives the connector 16 to rotate relative to the assembly parts 12 is no more than 180 degree.Preferably, the maximum rotation angle that the first driver 13 drives the connector 16 to rotate relative to the assembly parts 12 is 90 degree to 135 degree.

Further, in order to which the Transmission Part 70 to be positioned and secured on the installing part 15, it is provided with positioning region on the installing part 15, the positioning region is corresponded on the Transmission Part 70 and is provided with holding section, the positioning region cooperates with the holding section phase clamping.Specifically in the illustrated embodiment, the edge of the support portion 154 of the installing part 15 is provided with positioning region 1541, the edge of the guidance part 156 is provided with positioning region 1561, the positioning region 1541 and positioning region 1561 are positioning protrusion, the positioning region 1541 is corresponded on the Transmission Part 70 and positioning region 1561 is respectively arranged with positioning groove, the positioning protrusion snaps into the corresponding positioning groove, and the Transmission Part 70 is positioned and secured on the installing part 15.

In the present embodiment, when the holder 100 is under the original state of inoperative, formed angle is equal to formed angle between second limiting section 1613 and the guidance part 156 between first limiting section 1611 and the side of the support portion 154 of setting adjacent thereto, first limiting section 1611 and second limiting section 1613 are symmetrical arranged about the third transport part 76, so that when the connector 16 drives the third transport part 76 to rotate relative to second transport part 74, the extreme angles of the third transport part 76 first direction described in original state lower edge rotation are equal to the extreme angles of the third transport part 76 second direction described in original state lower edge rotation, this allows for working as the holder 100 at work, the Transmission Part 70 bending and the substantially symmetrical state of rotation, avoid the asymmetric bending of the Transmission Part 70 or along the bending degree in some direction it is excessive caused by fatigue damage, be conducive to extend the service life of the Transmission Part 70.

Since the Transmission Part 70 extends on the reinforcer 17 from the side of the rotating member 135 along the end face of the rotating member 135, to be connected with the connector 16, keep the length of the Transmission Part 70 relatively short, the amount of elastic deformation that it is generated when bending is relatively small, when then the third transport part 76 second transport part 74 relatively resets, drive the screen resilience of the connector 16 relatively small.

In summary, holder of the invention, its Transmission Part extends on the reinforcer 17 from the side of the rotating member 135 along the end face of the rotating member 135, and it is connected to the electronic component in the connector 16, and the third transport part 76 can be rotated relative to second transport part 74, make the Transmission Part 70 that there is certain length surplus, to adapt to the connector 16 when relative to the assembly parts 12 rotation, the knots modification of the relative position and/or relative distance between electronic component and the assembly parts 12 in the connector 16, the inner space of the receiving portion is rationally utilized, avoid Transmission Part winding it is agglomerating while, reduce the overall volume of the holder 100, and reduce the overall length of the Transmission Part, reduce the resistance of the Transmission Part 70, to The whole power consumption of the holder 100 is reduced, the cruise duration of the holder 100 is extended.In addition, the holder 100 is at work, the bending of the Transmission Part 70 and the substantially symmetrical state of rotation, avoid the asymmetric bending of the Transmission Part 70 or along the bending degree in some direction it is excessive caused by fatigue damage, be conducive to extend the service life of the Transmission Part 70.Also, the amount of elastic deformation that the Transmission Part 70 is generated in bending is relatively small, and when making the third transport part 76 that the connector 16 be driven to reset, screen resilience is relatively small.

It is understood that the structure of the Transmission Part 70 is not limited to bending structure as described above, it may be arranged as other structures, to connect the electronic component and the connector 16 in the application platform.Such as, angle between second transport part 74 and the third transport part 76 of the Transmission Part 70 can be 180 degree, i.e., second transport part 74 is arranged with the third transport part 76 along the same diameter of the rotating member 135, and the Transmission Part 70 is set to extend to the side of the rotating member 135 from the stator 131, and continue to extend on the reinforcer 17 along the end face of the rotating member 135 by the side of the rotating member 135.At this point, the structure of the installing part 15 makes the accommodation being adapted with the Transmission Part 70, this specification does not repeat one by one.

Even, when the angle between second transport part 74 of the Transmission Part 70 and the third transport part 76 is 180 degree, second transport part 74 need not be arranged with the third transport part 76 along the diameter of the rotating member 135, and extend second transport part 74 along the end face of the rotating member 135 with the third transport part 76, and second transport part 74 is approximately perpendicular to the end face of the rotating member 135 with the third transport part 76, so that one end of the Transmission Part 70 is fixed on the stator 131, the other end extends on the connector 16 along the end face of the rotating member 135.

It is understood that the installing part 15 can be fixed on the assembly parts 12.

It is understood that the structure of the installing part 15 is not limited to structure as described above, it can also be other fixed structures, and for fixing the Transmission Part 70.For example, the installing part 15 is the clamp structure being arranged on the stator 131, the Transmission Part 70 is fastened on the clamp structure.

It is understood that the installing part 15 can be omitted, and the Transmission Part 70 is arranged on the first support component 10 by other means.For example, one end of the Transmission Part 70 is fixed on the stator 131 by way of bonding or welding, alternatively, being clenched one end of the Transmission Part 70 on the stator 131 by riveting needle.

It is understood that the reinforcer 17 also can be omitted, and the Transmission Part 70 is directly partly connected to the connector 16.

Please refer to Fig. 6, the present invention also provides a kind of unmanned vehicles 500, the unmanned vehicle 500 includes fuselage 510 and the power mechanism 530 and above-mentioned holder 100 that are set on the fuselage 510, and the holder 100 is installed on the fuselage 510 by the assembly parts 12.The unmanned vehicle 500 carries out operation of taking photo by plane for carrying described image acquisition device 200.

In embodiments of the present invention, the unmanned vehicle 500 is the unmanned vehicle of rotary wind type, and the power mechanism 530 includes motor and propeller, propeller rotational described in the motor driven, to provide the power of traveling for the unmanned vehicle 500.

The unmanned vehicle 500 further includes control mainboard, inertia measurement mould group (IMU, Inertial measurement unit), electron speed regulator and image transmission.

The control mainboard can be flight controller, be used to control the unmanned vehicle 500 whole flight operation, including flying speed, flight attitude etc., be also used to control the holder 100 and move, to adjust the shooting angle of described image acquisition device 200.The flight controller is set on the fuselage 510, and is connected on the holder 100 by the Transmission Part 70.

The inertia measurement mould group is set on the holder 100, and is electrically connected by the Transmission Part 70 with the control mainboard.The inertia measurement mould group includes multiple Inertial Measurement Units, multiple Inertial Measurement Units are connected on first driver 13, the second driver 32 and the third driver 50 of the holder 100, and be respectively used to detect the velocity of rotation and rotation direction of first driver 13, the second driver 32 and the third driver 50, to detect the posture of the holder 100.At this point, the Transmission Part 70 is used to the control instruction of the control mainboard being transmitted to the inertia measurement mould group, and by the inertia measurement mould group data back detected to the control mainboard.

The electron speed regulator is arranged on the fuselage, and is electrically connected with the control mainboard.The electron speed regulator can adjust the velocity of rotation and rotation direction of the motor under the control of the control mainboard, and can adjust the velocity of rotation and rotation direction of the holder 100.Specifically, the electron speed regulator can be multiple, one or more of multiple described electron speed regulators are connected on the holder 100 by the Transmission Part 70, and the one or more electron speed regulator point is connected with the motor of the power mechanism 530, and velocity of rotation and rotation direction for adjusting the motor, to adjust flying speed, the flight attitude of the unmanned vehicle 500.The one or more electron speed regulators of others in multiple electron speed regulators are not connected with first driver 13, second driver 32 and the third driver 50, and velocity of rotation and rotation direction for adjusting first driver 13, second driver 32 and the third driver 50.At this time, the Transmission Part 70 is used to the control instruction of the control mainboard being transmitted to the holder 100, specifically, the control instruction of the control mainboard and the electron speed regulator is transmitted to the velocity of rotation and rotation direction of first driver 13, second driver 32 and the third driver 50 by the Transmission Part 70.

In other implementations, for adjusting first driver 13, the electron speed regulator of second driver 32 and the third driver 50 can be disposed directly on first driver 13 respectively, on second driver 32 and the third driver 50, and above-mentioned electron speed regulator is connect by the Transmission Part 70 with the control mainboard, the control instruction of the control mainboard is transmitted to the electron speed regulator by the Transmission Part 70, to control first driver 13, the velocity of rotation and rotation direction of second driver 32 and the third driver 50.

Described image transmitting device is set on the fuselage, and is electrically connected by the Transmission Part 70 with described image acquisition device 200.Described image transmitting device under the control of the control mainboard for reading and storing image captured by described image acquisition device 200, it is also used to the ground surface end by the image transmitting to the unmanned vehicle 500, so that the user of the unmanned vehicle 500 can implement to obtain image captured by described image acquisition device 200.At this point, the Transmission Part 70 is used to the control instruction of the control mainboard being transmitted to described image acquisition device 200, and image data acquired in described image acquisition device 200 is back to described image transmitting device.

Further, the unmanned vehicle 500 further includes power supply unit, and the power supply unit is set in the fuselage 510, and for providing electric power for the holder 100 and described image acquisition device 200.One end of the Transmission Part 70 is connected in the power supply unit, and the other end is connected on the holder 100 and described image acquisition device 200, by the power transmission of the power supply unit to the holder 100 and described image acquisition device 200.In other examples, the power supply unit can provide energy source simultaneously for the power mechanism 530；Or, the power supply unit can be the electricity supply device special of the holder 100, and by the Transmission Part 70 be that the holder 100 provides energy source, alternatively, the electricity supply device special of the holder 100 can also be by the Transmission Part 70 by power transmission to described image acquisition device 200.

It it is appreciated that the master controller can individually control the electronic components such as chip, control circuit board for one, or even can also be an image transmission.The master controller can be set in the assembly parts 12 and/or the housing piece 14, also can be set in the application platform of the capture apparatus 300, which can be unmanned unmanned vehicle above-mentioned or handle etc..

It is understood that, the pilot controller can be omitted, and it is electrically connected the master controller with described image acquisition device 200 by the Transmission Part 70, to allow the main controller controls described image acquisition device 200 to execute shooting work, and the master controller is allowed to store and/or transmit image or picture captured by described image acquisition device 200.

It is appreciated that above-mentioned image acquiring device is electronic device, it can be camera, video camera, camera or portable communication apparatus etc..

It is appreciated that the winding structure of above-mentioned Transmission Part, it is not limited to apply on the turntable of holder as described above, can be applied in other driving devices being relatively rotatable to each other.For example, the winding structure of above-mentioned Transmission Part can be applied in the driving device of mechanical arm, the driving device is for driving the mechanical arm to operate.

Specifically, the driving device may include assembly parts, connector and the first driver, first driver is arranged on the assembly parts, and the connector is connected on first driver, and first driver can drive the connector to rotate relative to the assembly parts；First driver includes stator and the rotating member that is set on the stator, the first electronic component and the second electronic component are respectively arranged on the assembly parts and the connector, first electronic component is electrically connected by a Transmission Part and second electronic component.One end of the Transmission Part is connected on first electronic component, and it is fixed on the stator and extends to the neighbouring rotating member along the periphery of the stator, the other end of the Transmission Part is extended on the connector along the end face of the rotating member from the side of the rotating member and is electrically connected with second electronic component, so that during the connector turns to greatest limit angle along a first direction by an original state relative to the assembly parts, or during turning to greatest limit angle along direction opposite to the first direction, the flexibility of the rotation of the connector and freedom degree will not be by the length limitations of the Transmission Part, the Transmission Part will not be tightened due to the rotation of the connector and is broken, it will not accumulate agglomerating or wind in the receiving portion.The Transmission Part can be electric wire, data line, optical fiber or flexible circuit board etc.；The connector driver can be rotating electric machine, rotary cylinder or steering engine etc..

In embodiments of the present invention, the unmanned vehicle is rotor unmanned aircraft, is used to carry the filming apparatus such as camera, video camera and carries out operation of taking photo by plane.It is appreciated that the unmanned vehicle can be also used for the work such as ground mapping, Investigating and rescue, aerial monitoring, polling transmission line.It can also be appreciated that the unmanned vehicle can also be fixed-wing unmanned vehicle.

It is appreciated that the holder is not limited to apply in the unmanned vehicle, can also be applied in other movable equipments or remote-controlled movement device such as automatic driving vehicle, unmanned ship, this specification does not repeat one by one.

It is appreciated that the application platform of the holder is not limited to above-mentioned unmanned vehicle, can also it be installed on one handle, so that the capture apparatus is used as a hand-held capture apparatus.

Embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although being described the invention in detail referring to the above better embodiment, those skilled in the art should understand that can modify to technical solution of the present invention or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.Those skilled in the art can also do other variations etc. in spirit of that invention and be used in design of the invention, without departing from technical effect of the invention.These variations that spirit is done according to the present invention, all should be comprising within scope of the present invention.

Claims

A kind of holder, including connector and the first driver, first driver includes the rotating member being fixedly linked with the connector, the rotating member is able to drive the connector and rotates around an axis, it is characterized by: the holder further includes Transmission Part, the Transmission Part is extended on the connector from the side of the rotating member along the end face of the rotating member.
Holder as described in claim 1, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or transmission data.
Holder as described in claim 1, it is characterised in that: the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.
Holder as described in claim 1, it is characterized by: first driver further includes stator, the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.
Holder as claimed in claim 4, it is characterized by: the Transmission Part includes the first transport part and the second transport part being connected, first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.
Holder as claimed in claim 5, it is characterised in that: the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.
Holder as claimed in claim 6, it is characterised in that: first transport part setting parallel with the stator periphery.
Holder as claimed in claim 5, it is characterised in that: the end face setting of the vertical rotating member in second transport part and extends on the connector along the end face of the rotating member.
Holder as claimed in claim 8, it is characterized by: the Transmission Part further includes third transport part, the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.
Holder as claimed in claim 9, it is characterised in that: be in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.
Holder as claimed in claim 4, it is characterised in that: the holder further includes the installing part being arranged on the stator, and one end of the Transmission Part is fixed on the installing part.
Holder as claimed in claim 11, it is characterised in that: be provided with the first limiting section on the connector, first limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a first direction.
Holder as claimed in claim 12, it is characterized by: being additionally provided with the second limiting section on the connector, second limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a second direction, and the second direction is opposite to the first direction.
Holder as claimed in claim 13, it is characterised in that: the other end of the Transmission Part is fixedly connected with the connector, and first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.
Holder as claimed in claim 13, it is characterised in that: in a predetermined angle setting between first limiting section and second limiting section.
Holder as claimed in claim 15, it is characterised in that: the predetermined angle between first limiting section and second limiting section is less than or equal to 180 degree；

Alternatively, the predetermined angle between first limiting section and second limiting section is 90 degree ~ 135 degree.
Holder as claimed in claim 11, it is characterized by: being provided with positioning region on the installing part, the holding section matched with the positioning region is provided on the Transmission Part, the positioning region cooperates with the holding section phase clamping the Transmission Part to be positioned on the installing part.
Holder as claimed in claim 11, it is characterized by: the installing part includes fixed part and guidance part, the fixed part is fixedly installed on the stator, the guidance part is connected on the fixed part, and the end face of the neighbouring rotating member is arranged, the Transmission Part extends on the connector along the fixed part and the guidance part.
Holder as claimed in claim 18, it is characterised in that: the fixed part extends to the neighbouring rotating member edge along the stator periphery.
Holder as claimed in claim 18, it is characterised in that: the guidance part is arranged perpendicular to the end face of the rotating member.
Holder as claimed in claim 18, it is characterised in that: the holder further includes reinforcer, and the reinforcer setting is on the connector and corresponding with the guidance part, and the other end of the Transmission Part is fixed on the reinforcer.
Holder as claimed in claim 21, it is characterised in that: the reinforcer is arranged perpendicular to the end face of the rotating member, in a predetermined angle setting between the guidance part and the reinforcer.
Holder as claimed in claim 18, it is characterised in that: the installing part further includes support portion, and the support portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.
Holder as claimed in claim 4, it is characterised in that: the connector driver is rotating electric machine, rotary cylinder or steering engine.
Holder as described in claim 1, it is characterised in that: the pivot center of the rotating member is the course axis of the holder.
Holder as described in claim 1, it is characterized by: the holder further includes supporting element and the second driver, second driver is set on the connector, the supporting element is connected on second driver, to allow second driver that the supporting element is driven to rotate relative to the connector.
Holder as claimed in claim 26, it is characterised in that: the supporting element includes switching part and the support arm that is set on the switching part, and the switching part is connected on second driver.
Holder as claimed in claim 27, it is characterised in that: the quantity of the support arm is two, and two support arms are respectively arranged at the two sides of the switching part.
Holder as claimed in claim 28, it is characterised in that: two support arms are symmetrically disposed in the opposite sides of the switching part.
Holder as claimed in claim 26, it is characterised in that: pivot center of the pivot center of the supporting element perpendicular to the rotating member.
Holder as claimed in claim 26, it is characterised in that: the connector includes the linking arm being connected on first driver and the interconnecting piece being set on the linking arm, and second driver is set in the interconnecting piece.
Holder as claimed in claim 26, it is characterised in that: the holder further includes the third driver being set on the supporting element, and the rotor of the third driver can be rotated relative to the supporting element.
Holder as claimed in claim 32, it is characterised in that: pivot center of the pivot center of the rotor of the third driver perpendicular to the supporting element.
Holder as claimed in claim 32, it is characterized by: the holder is three axis holders, the pivot center of the pivot center of the rotor of the third driver, the pivot center of the supporting element and the rotating member corresponds respectively to the pitch axis, roll axis and course axis of three axis holders.
Holder as described in claim 1, it is characterised in that: the holder further includes assembly parts, and first driver is arranged in the assembly parts.
Holder as claimed in claim 35, it is characterized by: institute's holder further includes housing piece, the housing piece is set to one end of the connector, and can rotate relative to the assembly parts, and the assembly parts are matched with the housing piece to accommodate first driver jointly.
Holder as claimed in claim 35, it is characterised in that: be provided with perforating on the assembly parts, so that the Transmission Part is worn, the inner cavity of the assembly parts is connected by the perforating with the external world.
Holder as described in claim 1, it is characterised in that: electronic device is connected on the connector of the holder, the Transmission Part and the electronic device are electrically connected.
Holder as claimed in claim 38, it is characterised in that: the Transmission Part is connected between the power supply unit of the electronic device and the holder, and the Transmission Part is used for the power transmission of the power supply unit to the electronic device.
Holder as claimed in claim 38, it is characterized by: one end of the Transmission Part is connected with the controller of the holder, the other end of the Transmission Part is connect with the electronic device, and the Transmission Part is used to the control instruction of the controller being transmitted to the electronic device.
Holder as claimed in claim 40, it is characterised in that: the electronic device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus；The Transmission Part is also used to the image data that the electronic device obtains being sent to an image transmission.
A kind of capture apparatus, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, first driver includes the rotating member being fixedly linked with the connector, the rotating member is able to drive the connector and rotates around an axis, it is characterized by: the holder further includes Transmission Part, the Transmission Part is extended on the connector from the side of the rotating member along the end face of the rotating member.
Capture apparatus as claimed in claim 42, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or transmission data.
Capture apparatus as claimed in claim 42, it is characterised in that: the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.
Capture apparatus as claimed in claim 42, it is characterized by: first driver further includes stator, the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.
Capture apparatus as claimed in claim 45, it is characterized by: the Transmission Part includes the first transport part and the second transport part being connected, first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.
Capture apparatus as claimed in claim 46, it is characterised in that: the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.
Capture apparatus as claimed in claim 47, it is characterised in that: first transport part setting parallel with the stator periphery.
Capture apparatus as claimed in claim 46, it is characterised in that: the end face setting of the vertical rotating member in second transport part and extends on the connector along the end face of the rotating member.
Capture apparatus as claimed in claim 49, it is characterized by: the Transmission Part further includes third transport part, the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.
Capture apparatus as claimed in claim 50, it is characterised in that: be in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.
Capture apparatus as claimed in claim 45, it is characterised in that: the holder further includes the installing part being arranged on the stator, and one end of the Transmission Part is fixed on the installing part.
Capture apparatus as claimed in claim 52, it is characterised in that: be provided with the first limiting section on the connector, first limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a first direction.
Capture apparatus as claimed in claim 53, it is characterized by: being additionally provided with the second limiting section on the connector, second limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a second direction, and the second direction is opposite to the first direction.
Capture apparatus as claimed in claim 54, it is characterised in that: the other end of the Transmission Part is fixedly connected with the connector, and first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.
Capture apparatus as claimed in claim 54, it is characterised in that: in a predetermined angle setting between first limiting section and second limiting section.
Capture apparatus as claimed in claim 56, it is characterised in that: the predetermined angle between first limiting section and second limiting section is less than or equal to 180 degree；

Alternatively, the predetermined angle between first limiting section and second limiting section is 90 degree ~ 135 degree.
Capture apparatus as claimed in claim 52, it is characterized by: being provided with positioning region on the installing part, the holding section matched with the positioning region is provided on the Transmission Part, the positioning region cooperates with the holding section phase clamping the Transmission Part to be positioned on the installing part.
Capture apparatus as claimed in claim 52, it is characterized by: the installing part includes fixed part and guidance part, the fixed part is fixedly installed on the stator, the guidance part is connected on the fixed part, and the end face of the neighbouring rotating member is arranged, the Transmission Part extends on the connector along the fixed part and the guidance part.
Capture apparatus as claimed in claim 59, it is characterised in that: the fixed part extends to the neighbouring rotating member edge along the stator periphery.
Capture apparatus as claimed in claim 59, it is characterised in that: the guidance part is arranged perpendicular to the end face of the rotating member.
Capture apparatus as claimed in claim 59, it is characterised in that: the holder further includes reinforcer, and the reinforcer setting is on the connector and corresponding with the guidance part, and the other end of the Transmission Part is fixed on the reinforcer.
Capture apparatus as claimed in claim 62, it is characterised in that: the reinforcer is arranged perpendicular to the end face of the rotating member, in a predetermined angle setting between the guidance part and the reinforcer.
Capture apparatus as claimed in claim 59, it is characterised in that: the installing part further includes support portion, and the support portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.
Capture apparatus as claimed in claim 45, it is characterised in that: the connector driver is rotating electric machine, rotary cylinder or steering engine.
Capture apparatus as claimed in claim 42, it is characterised in that: the pivot center of the rotating member is the course axis of the holder.
Capture apparatus as claimed in claim 42, it is characterized by: the holder further includes supporting element and the second driver, second driver is set on the connector, the supporting element is connected on second driver, to allow second driver that the supporting element is driven to rotate relative to the connector.
Capture apparatus as described in claim 67, it is characterised in that: the supporting element includes switching part and the support arm that is set on the switching part, and the switching part is connected on second driver.
Capture apparatus as recited in claim 68, it is characterised in that: the quantity of the support arm is two, and two support arms are respectively arranged at the two sides of the switching part.
Capture apparatus as described in claim 69, it is characterised in that: two support arms are symmetrically disposed in the opposite sides of the switching part.
Capture apparatus as described in claim 67, it is characterised in that: pivot center of the pivot center of the supporting element perpendicular to the rotating member.
Capture apparatus as described in claim 67, it is characterised in that: the connector includes the linking arm being connected on first driver and the interconnecting piece being set on the linking arm, and second driver is set in the interconnecting piece.
Capture apparatus as described in claim 67, it is characterized by: the holder further includes the third driver being set on the supporting element, described image acquisition device is arranged on the third driver, and the third driver can drive described image acquisition device to rotate relative to the supporting element.
Capture apparatus as described in claim 73, it is characterised in that: pivot center of the pivot center of the rotor of the third driver perpendicular to the supporting element.
Capture apparatus as described in claim 73, it is characterized by: the holder is three axis holders, the pivot center of the pivot center of the rotor of the third driver, the pivot center of the supporting element and the rotating member corresponds respectively to the pitch axis, roll axis and course axis of three axis holders.
Capture apparatus as claimed in claim 42, it is characterised in that: the holder further includes assembly parts, and first driver is arranged in the assembly parts.
Capture apparatus as described in claim 76, it is characterized by: institute's holder further includes housing piece, the housing piece is set to one end of the connector, and be interlocked and can be rotated relative to the assembly parts with the assembly parts, the assembly parts and the housing piece accommodate first driver jointly.
Capture apparatus as described in claim 76, it is characterised in that: be provided with perforating on the assembly parts, so that the Transmission Part is worn, the inner cavity of the assembly parts is connected by the perforating with the external world.
Capture apparatus as claimed in claim 42, it is characterised in that: the electronic device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus.
Capture apparatus as described in claim 79, it is characterized by: the capture apparatus further includes image transmission, the Transmission Part is connected between described image transmitting device and the electronic device, and the Transmission Part is used to the image data that the electronic device obtains being sent to described image transmitting device.
Capture apparatus as described in claim 79, it is characterised in that: the Transmission Part is connected between the power supply unit of the electronic device and the holder, and the Transmission Part is used for the power transmission of the power supply unit to the electronic device.
A kind of unmanned vehicle, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, first driver includes the rotating member being fixedly linked with the connector, the rotating member is able to drive the connector and rotates around an axis, it is characterized by: the holder further includes Transmission Part, the Transmission Part is extended on the connector from the side of the rotating member along the end face of the rotating member.
Unmanned vehicle as described in claim 82, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or transmission data.
Unmanned vehicle as described in claim 82, it is characterised in that: the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.
Unmanned vehicle as described in claim 82, it is characterized by: first driver further includes stator, the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.
Unmanned vehicle as described in claim 85, it is characterized by: the Transmission Part includes the first transport part and the second transport part being connected, first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.
Unmanned vehicle as described in claim 86, it is characterised in that: the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.
Unmanned vehicle as described in claim 87, it is characterised in that: first transport part setting parallel with the stator periphery.
Unmanned vehicle as described in claim 86, it is characterised in that: the end face setting of the vertical rotating member in second transport part and extends on the connector along the end face of the rotating member.
Unmanned vehicle as described in claim 89, it is characterized by: the Transmission Part further includes third transport part, the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.
Unmanned vehicle as described in claim 90, it is characterised in that: be in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.
Unmanned vehicle as described in claim 91, it is characterized by: the unmanned vehicle further includes flight controller and the Inertial Measurement Unit with flight controller electric connection, the Inertial Measurement Unit is used to detect the posture of the unmanned vehicle to allow flight controller unmanned vehicle according to the gesture stability to fly.
Unmanned vehicle as described in claim 91, it is characterised in that: the unmanned vehicle further includes the electron speed regulator being connected on first driver, and the electron speed regulator is used to control the velocity of rotation and rotation direction of first driver.
Unmanned vehicle as described in claim 85, it is characterised in that: the holder further includes the installing part being arranged on the stator, and one end of the Transmission Part is fixed on the installing part.
Unmanned vehicle as described in claim 94, it is characterised in that: be provided with the first limiting section on the connector, first limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a first direction.
Unmanned vehicle as described in claim 95, it is characterized by: being additionally provided with the second limiting section on the connector, second limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a second direction, and the second direction is opposite to the first direction.
Unmanned vehicle as described in claim 96, it is characterised in that: the other end of the Transmission Part is fixedly connected with the connector, and first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.
Unmanned vehicle as described in claim 96, it is characterised in that: in a predetermined angle setting between first limiting section and second limiting section.
Unmanned vehicle as described in claim 98, it is characterised in that: the predetermined angle between first limiting section and second limiting section is less than or equal to 180 degree；

Alternatively, the predetermined angle between first limiting section and second limiting section is 90 degree ~ 135 degree.
Unmanned vehicle as described in claim 94, it is characterized by: being provided with positioning region on the installing part, the holding section matched with the positioning region is provided on the Transmission Part, the positioning region cooperates with the holding section phase clamping the Transmission Part to be positioned on the installing part.
Unmanned vehicle as described in claim 94, it is characterized by: the installing part includes fixed part and guidance part, the fixed part is fixedly installed on the stator, the guidance part is connected on the fixed part, and the end face of the neighbouring rotating member is arranged, the Transmission Part extends on the connector along the fixed part and the guidance part.
Unmanned vehicle as described in claim 101, it is characterised in that: the fixed part extends to the neighbouring rotating member edge along the stator periphery.
Unmanned vehicle as described in claim 101, it is characterised in that: the guidance part is arranged perpendicular to the end face of the rotating member.
Unmanned vehicle as described in claim 101, it is characterised in that: the holder further includes reinforcer, and the reinforcer setting is on the connector and corresponding with the guidance part, and the other end of the Transmission Part is fixed on the reinforcer.
Unmanned vehicle as described in claim 104, it is characterised in that: the reinforcer is arranged perpendicular to the end face of the rotating member, in a predetermined angle setting between the guidance part and the reinforcer.
Unmanned vehicle as described in claim 101, it is characterised in that: the installing part further includes support portion, and the support portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.
Unmanned vehicle as described in claim 85, it is characterised in that: the connector driver is rotating electric machine, rotary cylinder or steering engine.
Unmanned vehicle as described in claim 82, it is characterised in that: the pivot center of the rotating member is the course axis of the holder.
Unmanned vehicle as described in claim 82, it is characterized by: the holder further includes supporting element and the second driver, second driver is set on the connector, the supporting element is connected on second driver, to allow second driver that the supporting element is driven to rotate relative to the connector.
Unmanned vehicle as described in claim 109, it is characterised in that: the supporting element includes switching part and the support arm that is set on the switching part, and the switching part is connected on second driver.
Unmanned vehicle as described in claim 110, it is characterised in that: the quantity of the support arm is two, and two support arms are respectively arranged at the two sides of the switching part.
Unmanned vehicle as described in claim 111, it is characterised in that: two support arms are symmetrically disposed in the opposite sides of the switching part.
Unmanned vehicle as described in claim 109, it is characterised in that: pivot center of the pivot center of the supporting element perpendicular to the rotating member.
Unmanned vehicle as described in claim 109, it is characterised in that: the connector includes the linking arm being connected on first driver and the interconnecting piece being set on the linking arm, and second driver is set in the interconnecting piece.
Unmanned vehicle as described in claim 109, it is characterized by: the holder further includes the third driver being set on the supporting element, described image acquisition device is arranged on the third driver, and the third driver can drive described image acquisition device to rotate relative to the supporting element.
Unmanned vehicle as described in claim 115, it is characterised in that: pivot center of the pivot center of the rotor of the third driver perpendicular to the supporting element.
Unmanned vehicle as described in claim 115, it is characterized by: the holder is three axis holders, the pivot center of the pivot center of the rotor of the third driver, the pivot center of the supporting element and the rotating member corresponds respectively to the pitch axis, roll axis and course axis of three axis holders.
Unmanned vehicle as described in claim 82, it is characterised in that: the holder further includes assembly parts, and first driver is arranged in the assembly parts.
Unmanned vehicle as described in claim 118, it is characterized by: institute's holder further includes housing piece, the housing piece is set to one end of the connector, and be interlocked and can be rotated relative to the assembly parts with the assembly parts, the assembly parts and the housing piece accommodate first driver jointly.
Unmanned vehicle as described in claim 118, it is characterised in that: be provided with perforating on the assembly parts, so that the Transmission Part is worn, the inner cavity of the assembly parts is connected by the perforating with the external world.
Unmanned vehicle as described in claim 82, it is characterised in that: described image acquisition device is following one of several: video camera, camera, camera, infrared camera or portable communication apparatus.
Unmanned vehicle as described in claim 121, it is characterized by: the unmanned vehicle further includes the image transmission being connected on the holder, the Transmission Part is connected between described image transmitting device and described image acquisition device, and the Transmission Part is used to the image data that the electronic device obtains being sent to described image transmitting device.
Unmanned vehicle as described in claim 121, it is characterised in that: the Transmission Part is connected between the power supply unit of the electronic device and the holder, and the Transmission Part is used for the power transmission of the power supply unit to the electronic device.
Unmanned vehicle as described in claim 82, it is characterized by: the unmanned vehicle further includes flight controller and the Inertial Measurement Unit with flight controller electric connection, the Inertial Measurement Unit is used to detect the posture of the unmanned vehicle to allow flight controller unmanned vehicle according to the gesture stability to fly.
Unmanned vehicle as described in claim 124, it is characterised in that: the unmanned vehicle further includes the electron speed regulator being connected on first driver, and the electron speed regulator is used to control the velocity of rotation and rotation direction of first driver.
A kind of driving device, including connector and the first driver, first driver includes the rotating member being fixedly linked with the connector, the rotating member is able to drive the connector and rotates around an axis, it is characterized by: the holder further includes Transmission Part, the Transmission Part is extended on the connector from the side of the rotating member along the end face of the rotating member.
Driving device as described in claim 126, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or transmission data.
Driving device as described in claim 126, it is characterised in that: the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.
Driving device as described in claim 126, it is characterized by: first driver further includes stator, the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.
Driving device as described in claim 129, it is characterized by: the Transmission Part includes the first transport part and the second transport part being connected, first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.
Driving device as described in claim 130, it is characterised in that: the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.
Driving device as described in claim 131, it is characterised in that: first transport part setting parallel with the stator periphery.
Driving device as described in claim 130, it is characterised in that: the end face setting of the vertical rotating member in second transport part and extends on the connector along the end face of the rotating member.
Driving device as described in claim 133, it is characterized by: the Transmission Part further includes third transport part, the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.
Driving device as described in claim 134, it is characterised in that: be in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.
A kind of movable equipment, including holder and the image acquiring device being equipped on the holder, the holder includes connector and the first driver, first driver includes the rotating member being fixedly linked with the connector, the rotating member is able to drive the connector and rotates around an axis, it is characterized by: the holder further includes Transmission Part, the Transmission Part is extended on the connector from the side of the rotating member along the end face of the rotating member.
Movable equipment as described in claim 136, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or transmission data.
Movable equipment as described in claim 136, it is characterised in that: the Transmission Part is flexible circuit board, is used for transmission electric power or transmission data.
Movable equipment as described in claim 136, it is characterized by: first driver further includes stator, the rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end extends on the connector along the end face of the rotating member.
Movable equipment as described in claim 139, it is characterized by: the Transmission Part includes the first transport part and the second transport part being connected, first transport part is fixed on the stator, and second transport part is connected on first transport part and extends on the connector along the end face of the rotating member.
Movable equipment as described in claim 140, it is characterised in that: the rotating member is set to described stator one end, and one end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.
Movable equipment as described in claim 141, it is characterised in that: first transport part setting parallel with the stator periphery.
Movable equipment as described in claim 140, it is characterised in that: the end face setting of the vertical rotating member in second transport part and extends on the connector along the end face of the rotating member.
Movable equipment as described in claim 143, it is characterized by: the Transmission Part further includes third transport part, the third transport part is connected to the one end of second transport part far from first transport part, and second transport part is connected on the connector by the third transport part.
Movable equipment as described in claim 144, it is characterised in that: be in predetermined angle between second transport part and the third transport part, the Transmission Part is made to generate the deformation of pre-bend.
Movable equipment as described in claim 145, it is characterized by: the movable equipment further includes controller and the Inertial Measurement Unit with controller electric connection, the Inertial Measurement Unit is used to detect the posture of the movable equipment to allow controller movable equipment according to the gesture stability to advance.
Movable equipment as described in claim 146, it is characterised in that: the movable equipment further includes the electron speed regulator being connected on first driver, and the electron speed regulator is used to control the velocity of rotation and rotation direction of first driver.