CN107209441B

CN107209441B - Driving device, holder, capture apparatus and unmanned vehicle and movable equipment

Info

Publication number: CN107209441B
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: 2019-06-18
Anticipated expiration: 2036-01-26
Also published as: WO2017128074A1; CN107209441A

Abstract

A kind of driving device and holder (100), capture apparatus (300), unmanned vehicle and movable equipment using the driving device.The holder includes connector (16) and the first driver (13), first driver (13) includes the rotating member (135) being fixedly linked with the connector (16), the rotating member (135) is able to drive the connector (16) and rotates around an axis, the holder (100) further includes Transmission Part (70), and the Transmission Part (70) extends on the connector (16) from the side of the rotating member (135) along the end face of the rotating member (135).

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 using the driving device holder, capture apparatus and unmanned vehicle, with And movable equipment.

Background technique

During setting up the shooting of the electronic devices such as video camera, camera using electric platform, often need to be arranged It is electrically connected in the electronic component on holder with the electronic device, to transmit data or transmission electric power.The holder is usually Two axle The Cloud Terraces or three axis holders, the electronic device assembling drive on the terminal shaft of the holder, and by the holder to change Become shooting posture.In order to reserve enough rotational angles to the rotation of holder terminal shaft, when by the electronic component and the electricity When sub-device is electrically connected, need to be attached using longer connecting line.It, need to be in holder since the connection line length is longer The upper position being arranged dedicated for coiling, 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, is 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 is provided, It 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 fixing with the connector Connected rotating member, the rotating member are able to drive the connector and rotate around an axis.The holder further includes Transmission Part, institute It states Transmission Part and is extended 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 to the stator On, one end of the Transmission Part is fixed on the stator, and the other end extends to the connector along the end face of the rotating member On.

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

Further, the rotating member is set to described stator one end, and one end of first transport part is fixed on described On stator, the neighbouring rotating member is extended to 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 along the end face of the rotating member It extends on the connector.

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

Further, it is in predetermined angle between second transport part and the third transport part, produces the Transmission Part The deformation of raw pre-bend.

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

Further, the first limiting section is provided on the connector, first limiting section and the installing part match It closes to limit the connector along the rotational angle of the relatively described stator of a first direction.

Further, the second limiting section, second limiting section and the installing part phase are additionally provided on the connector Cooperation is to limit the connector along the rotational angle of the relatively described stator of a second direction, the second direction and described first It is contrary.

Further, the other end of the Transmission Part is fixedly connected with the connector, first limiting section and described Second limiting section is 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, is provided on the Transmission Part and matches with the positioning region The holding section of conjunction, the positioning region cooperate 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, The guidance part is connected on the fixed part, and the end face of the neighbouring rotating member is arranged, and the Transmission Part is along described solid Determine portion and the guidance part extends on the connector.

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 is arranged on the connector and leads with described Draw that portion is corresponding, 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, the guidance part and the reinforcer Between in a predetermined angle setting.

Further, the installing part further includes support portion, and the support portion is arranged in the fixed part and the guiding Between portion, and it 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, and second driver is set to the company On fitting, the supporting element is connected on second driver, to allow second driver to drive the supporting element phase The connector is rotated.

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

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

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 is set to the company The interconnecting piece on arm is connect, second driver is set in the interconnecting piece.

Further, the holder further includes the third driver being set on the supporting element, the third driver Rotor 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, pivot center, the supporting element of the rotor of the third driver Pivot center and the pivot center of the rotating member correspond 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 being capable of phase The assembly parts are rotated, 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 It is connected by the perforating with the external world.

Further, electronic device, the Transmission Part and electronic device electricity are connected on the connector of the holder Property connection.

Further, the Transmission Part is connected between the power supply unit of the electronic device and the holder, described 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, the other end of the Transmission Part It is connect with the electronic device, 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 transmitting Device.

A kind of capture apparatus, including holder and the image acquiring device being equipped on the holder, the holder includes connecting Fitting and the first driver, first driver include the rotating member being fixedly linked with the connector, the rotating member The connector is able to drive to rotate around an axis.The holder further includes Transmission Part, and the Transmission Part is from the rotating member Side extends on the connector 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 obtains dress It installs on the third driver, the third driver can drive the relatively described supporting element of described image acquisition device Rotation.

Further, institute's holder further includes housing piece, and the housing piece is set to one end of the connector, and with it is described Assembly parts are interlocked and can rotate relative to the assembly parts, and the assembly parts and the housing piece accommodate described first jointly and drive Dynamic device.

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 to described image transmission Between device and the electronic device, the Transmission Part is used to the image data that the electronic device obtains being sent to the figure As 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, first driver include the rotating member being fixedly linked with the connector, the rotation Part is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part is from the rotating member Side extended on the connector 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 is electrically connected with the flight controller Inertial Measurement Unit, the Inertial Measurement Unit are used to detect the posture of the unmanned vehicle to allow the flight controller root It flies according to unmanned vehicle described in the gesture stability.

Further, the unmanned vehicle further includes the electron speed regulator being connected on first driver, described 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 for obtaining the electronic device The image data taken is sent to described image transmitting device.

A kind of driving device, including connector and the first driver, first driver include and the connector The rotating member being fixedly linked, the rotating member are able to drive the connector and rotate around an axis.The holder further includes transmission Part, the Transmission Part extend 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, first driver include the rotating member being fixedly linked with the connector, the rotation Part is able to drive the connector and rotates around an axis.The holder further includes Transmission Part, and the Transmission Part is from the rotating member Side extended on the connector 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 inertia measurement with controller electric connection Unit, the Inertial Measurement Unit are used to detect the posture of the movable equipment to allow the controller according to the gesture stability The movable equipment is advanced.

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

Above-mentioned holder, Transmission Part extend to the connection along the end face of the rotating member from the side of the rotating member On part, and the electronic component that can be connected in the connector, make the Transmission Part that there is certain length surplus, to adapt to The connector is in rotation, the relative position of electronic component and first driver in the connector and/or opposite The space of the holder is rationally utilized in the knots modification of distance, avoid Transmission Part winding it is agglomerating while, without additional Position for the Transmission Part winding is set, keeps 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 solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

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

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

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

Also referring to the capture apparatus 300 that Fig. 1-3, one embodiment of the present invention are provided, for being taken pictures, being recorded a video Equal work.The capture apparatus 300 includes holder 100 and the image acquiring device 200 being set on the holder 100.It is described Capture apparatus 300 can be applied on a unmanned vehicle 500 (please referring to Fig. 6), 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, with allow user be manually operated the capture apparatus 300 into Row such as is taken pictures, records a video at the work.

In the present embodiment, the holder 100 is three axis holders comprising first support component 10 and second support group Part 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.Institute The first driver 13 is stated for driving the connector 16 to rotate around a first axle.

The assembly parts 12 are used to be installed in an application platform for the holder 100 is whole, and the application platform can be with For unmanned vehicle or handle.In the present embodiment, the assembly parts 12 are substantially in the cylindrical tube shape with bottom wall.The dress Accessory 12 offers perforating 123, and the perforating 123 penetrates through the assembly parts 12 and connects with the inner cavity of the assembly parts 12 It is logical.The perforating 123 for electronic components such as data line, power lines for wearing.In the present embodiment, the perforating 123 are 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 relative to the assembly parts 12 around the first axle Rotation.First driver 13 is motor, can be the motor of any types such as brushless motor, brush motor.? In present embodiment, first driver 13 is brushless motor, as the course actuator of the holder 100, to drive It moves the connector 16 to rotate around the first axle, the first axle is the course axis of the holder 100.It is appreciated that In other some embodiments, first driver 13 can be used as the roll actuator of the holder 100 or pitching is driven Moving part, to drive the connector 16 to rotate around the first axle, accordingly, the first axle can be the holder 100 roll axis or pitch axis.

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

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 the stator 131 is protruded out away from the side of the perforating 123 of the assembly parts 12.The rotor with described turn Axis 133 is connected, and is contained in the stator 131.The setting of rotating member 135 is worn in the shaft 133 far from described The one end in hole 123, the rotating member 135 is for installing the connector 16.The rotating member 135 being capable of the relatively described stator 131 rotations, to drive the connector 16 to rotate relative to the assembly parts 12.

Further, please refer to Fig. 5, for data line, the flexible circuit being fixed in the assembly parts 12 The electronic components such as plate, the first support component 10 further include installing part 15.The installing part 15 is arranged in the assembly parts 12 It is interior.

The installing part 15 includes fixed part 152, support portion 154 and guidance part 156.Specifically in the embodiment of diagram In, for the installing part 15 substantially in the sheet of bending, the support portion 154 is connected to the fixed part 152 and the guidance part Between 156.

The fixed part 152 is set to the periphery of the stator 131, and it is described fixed that one end of the fixed part 152 is connected to Sub 131 one end far from the rotating member 135, the other end of the fixed part 152 along the stator 131 axis direction to The rotating member 135 extends, until the side of the neighbouring rotating member 135, and the rotating member 135 is protruded out away from described fixed The side of son 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 are 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 described The internal stretch of rotating member 135.

The one end of the support portion 154 far from the fixed part 152, and the guidance part is arranged in the guidance part 156 156, which are approximately perpendicular to the support portion 154, is arranged.Meanwhile the guidance part 156 is approximately along the diameter of the rotating member 135 Direction extends, that is, the pivot center of the guidance part 156 and the rotating member 135 is substantially coplanar with, and makes the guidance part 156 side is roughly parallel to the pivot center of the rotating member 135.

The connector 16 is set on the rotating member 135, and can under the driving of first driver 13 phase The assembly parts 12 are rotated.The connector 16 includes installing department 161, linking arm 163 and interconnecting piece 165, the installing Portion 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, institute State installing department 161 be stacked in the rotating member 135 deviate from the stator 131 side, and be located at the rotating member 135 with it is described Between support portion 154.A scalloped recess 1610 is offered on the installing department 161, the support portion 154 can be in the sector Rotation in groove 1610.The installing department 161 can under the drive of the rotating member 135 the relatively described stator 131 and described Part 15 is installed to rotate.

Referring to Fig. 4, the first limiting section 1611 and the second limiting section 1613, institute are provided on the installing department 161 The first limiting section 1611 and second limiting section 1613 are stated for limiting the connector 16 relative to the rotation of the stator 131 Angle.In the present embodiment, first limiting section 1611 is arranged adjacent to the support portion 154, second limiting section 1613 are arranged adjacent to the guidance part 156, and first limiting section 1611 connects with second limiting section 1613, and the two is total With the scalloped recess 1610 is formed, first limiting section 1611 and second limiting section 1613 are respectively the sector The two side walls of groove 1610.When the rotating member 135 drives the connector 16 in the scalloped recess 1610 along one When one direction turns to first extreme angles, first limiting section 1611 is supported on the side of the support portion 154, from And the connector 16 is limited along the rotational angle of the relatively described stator 131 of the first direction.When the rotating member 135 drives When the connector 16 turns to extreme angles along a second direction opposite to the first direction, second limiting section 1613 support on the guidance part 156, to limit the connector 16 along the relatively described stator 131 of the second direction Rotational angle.

Specifically in the illustrated embodiment, first limiting section 1611 and second limiting section 1613 approximately along The radial direction of the rotating member 135 is arranged, to be collectively formed the scalloped recess 1610, and first limiting section 1611 with Formed angle is less than or equal to 180 degree between second limiting section 1613.Preferably, first limiting section 1611 and institute Stating formed angle between the second limiting section 1613 is 90 degree to 135 degree.It is understood that first limiting section 1611 with Formed angle can be arranged according to the angular range that the connector 16 need to rotate between second limiting section 1613.Into One step, in the present embodiment, when the holder 100 is under the original state of inoperative, first limiting section 1611 with Formed angle is equal to second limiting section 1613 and leads with described between the side of its support portion 154 being disposed adjacent Draw formed angle between portion 156, so that the connector 16 in rotation, rotates or along described second along the first direction The rotational angle in direction is symmetry equivalent, and 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 towards away from rotating member 135 Direction bending extends.

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 institute State second support component 30.

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

Further, please refer to Fig. 5, for the data line, soft being fixed on the first support component 10 Electronic components, the first support components 10 such as property circuit board further include reinforcer 17.The reinforcer 17 is arranged in the company On fitting 16, and extend along the extending direction of the connector 16.

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

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

Referring to Fig. 2, the second support component 30 is rotatablely arranged on the connector 16 comprising the Two drivers 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.

Second driver 32 is for driving the supporting element 34 to turn relative to the connector 16 around a second axis Dynamic, the second axis is approximately perpendicular to the first axle.Second driver 32 is motor, can be brushless electricity The motor of any types such as machine, brush motor.In the present embodiment, second driver 32 is brushless motor, As the roll actuator of the holder 100, to drive the connector 16 to rotate around the second axis, second axis Line is the roll axis of the holder 100.It is appreciated that second driver 32 can be made in other some embodiments For 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, in the interconnecting piece 165 It is also provided with controller, electron speed regulator or other electronic components, 32 electricity of the electronic component and second driver Property connection.Alternatively, second driver 32 can be with the electronics member in the assembly parts 12 and/or the application platform Part is electrically connected, and is driven with allowing the electronic component in the assembly parts 12 and/or the application platform to adjust described second The velocity of rotation and rotation direction of dynamic device 32.

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

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

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

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

Specifically, the third driver 50 is for driving described image acquisition device 200 relative to the supporting element 34 It is rotated around a third axis, the third axis is approximately perpendicular to the second axis.The third driver 50 is motor, It can be the motor of any types such as brushless motor, brush motor.In the present embodiment, the third driver 50 is Brushless motor, as the pitching actuator of the holder 100, to drive described image acquisition device 200 around the third Axis rotation, the third axis are the pitch axis of the holder 100.It is appreciated that in other some embodiments, it is described Third driver 50 can be used as the course actuator or roll actuator of the holder 100, to drive the supporting element 34 It is rotated 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, in the interconnecting piece 165 It is also provided with controller, electron speed regulator or other electronic components, 50 electricity of the electronic component and the third driver Property connection.Alternatively, the third driver 50 can be with the electronics member in the assembly parts 12 and/or the application platform Part is electrically connected, and is driven with allowing the electronic component in the assembly parts 12 and/or the application platform to adjust the third The velocity of rotation and rotation direction of dynamic device 50.

Described image acquisition device 200 is connected to the driving end of the third driver 50, described image acquisition device 200 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 red Outer imaging or thermal imaging.

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

Specifically, the master controller is for controlling first driver 13, second driver 32 and described Third driver 50 is rotated and is cooperated, 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 to institute It states in the application platform of capture apparatus 300.It is understood that the assembly parts can also be arranged in the master controller 12 and/or the housing piece 14 in, also can be set in the supporting element 34 or the connector 16.

The pilot controller for control described image acquisition device 200 execute shooting work, and for store and/or Transmit image or picture captured by described image acquisition device 200.The pilot controller can be control chip or control Circuit board processed.In the present embodiment, the pilot controller is control circuit board, with 200 electricity of described image acquisition device Property connection.

In the present embodiment, the Transmission Part 70 is flexible circuit board, is used for the institute in the pilot controller It states image captured by image acquiring device 200 or picture is sent in the master controller, or directly obtain described image Image captured by device 200 or picture is taken to be sent in the master controller, to allow the master controller to pass through an image Described image or picture are sent at user by transmitting device.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 and the cloud Platform 100 is connected, and is electrically connected by the Transmission Part 70 with described image acquisition device 200.Described image transmitting device is used In reading and store image captured by described image acquisition device 200.At this point, the Transmission Part 70 is for obtaining described image Image data acquired in device 200 is taken to be back to described image transmitting device.

Referring to Fig. 1 and Fig. 2, in the present embodiment, it is flat that one end of the Transmission Part 70 is connected to the application On the master controller (not shown go out) in platform (not shown go out), the other end passes through the assembly parts 12 and the housing piece 14 Extend afterwards along the connector 16, be divided into two parts and each extend in the connector 16 and in the supporting element 34, To be 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, institute of the Transmission Part 70 from the holder 100 It states after extending out in application platform, passes through the perforating 123 and enter inside the assembly parts 12, and be stacked in the installing On part 15, successively extend along the fixed part 152, the support portion 154 and the guidance part 156 of the installing part 15 Afterwards, it is pierced by the housing piece 14, after re-extending and being stacked on the reinforcer 17, continues to extend simultaneously along the reinforcer 17 It is 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, between one end and the guidance part 156 of the reinforcer 17 It is arranged at a predetermined angular, under the guide function of the guidance part 156 and the reinforcer 17, the Transmission Part 70 is neighbouring A predetermined angular is bent at the pivot center of the rotating member 135.Remember that the Transmission Part 70 includes sequentially connected first transmission Portion 72, the second transport part 74 and third transport part 76, first transport part 72 is arranged on the fixed part 152, described Second transport part 74 is arranged on the guidance part 156, and the setting of third transport part 76 (please refers on the reinforcer 17 Fig. 2).Then: the Transmission Part 70 is under the installing part 15 guiding, from the side of the rotating member 135 along the rotating member 135 End face extend on the reinforcer 17, to be 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 institute The second transport part 74 is stated in a predetermined angle setting, the Transmission Part 70 is made to generate the deformation of pre-bend.First limiting section 1611 and second limiting section 1613 be arranged substantially symmetrically about the third transport part 76.

Electricity when the connector 16 is rotated relative to the assembly parts 12, in the master controller and the connector 16 Relative position and/or relative distance between subcomponent can change, in order to guarantee the master controller and electronics member It is able to maintain reliable electric connection between part, needs to make the Transmission Part 70 that there is certain length surplus, it is described to adapt to The knots modification of relative position and/or relative distance between master controller and the element.

In the present embodiment, the Transmission Part 70 is arranged in the assembly parts 12 in pre-bend state, and from described The side of rotating member 135 continues to extend on the reinforcer 17 along the end face of the rotating member 135, the third transport part 76 It can bend or rotate relative to second transport part 74, make the connector 16 relative to the assembly parts 12 by an original state During greatest limit angle is turned to along the first direction or the second direction, the spirit of the rotation of the connector 16 Activity and freedom degree will not will not be due to the connectors 16 by the length limitation of the Transmission Part 70, the Transmission Part 70 Rotation is tightened and is broken, and will not be accumulated agglomerating in the assembly parts 12 or be wound.The setting of above-mentioned Transmission Part 70 Structure, it is not necessary that the Transmission Part 70 is wound around on the other component of the holder 100, without the assembly parts 12 or/ And the additional position that the Transmission Part 70 is arranged for winding of setting in the housing piece 14, make the length of the Transmission Part 70 It is relatively short, also reduce the overall volume of the holder 100.

In the present embodiment, first driver 13 drives the connector 16 to rotate relative to the assembly parts 12 Maximum rotation angle is no more than one week, it is preferable that first driver 13 drives the relatively described assembly parts of the connector 16 The maximum rotation angle of 12 rotations is no more than 180 degree.Preferably, the first driver 13 drives the relatively described dress of the connector 16 The maximum rotation angle that accessory 12 rotates 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, on the installing part 15 It is provided with positioning region, the positioning region is corresponded on the Transmission Part 70 and is provided with holding section, the positioning region and the holding section The cooperation of 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, and the positioning region 1541 and positioning region 1561 are convex It rises, the positioning region 1541 and positioning region 1561 is corresponded on the Transmission Part 70 and is respectively arranged with positioning groove, the convex It rises and snaps into the corresponding positioning groove, 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, 1611 He of the first limiting section Formed angle is equal to second limiting section 1613 and leads with described between the side of the support portion 154 of setting adjacent thereto Draw formed angle between portion 156, first limiting section 1611 and second limiting section 1613 to transmit about the third Portion 76 is symmetrical arranged, so that when the connector 16 drives the third transport part 76 to rotate relative to second transport part 74 When, the extreme angles of the third transport part 76 first direction described in original state lower edge rotation are passed equal to the third The extreme angles of defeated portion 76 second direction described in original state lower edge rotation, this is allowed for when the holder 100 is in work When making, 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.

Due to the Transmission Part 70 extended to along the end face of the rotating member 135 from the side of the rotating member 135 it is described On reinforcer 17, to be connected with the connector 16, keep the length of the Transmission Part 70 relatively short, is generated when bending Amount of elastic deformation is relatively small, then when the third transport part 76 second transport part 74 relatively resets, drives the company The screen resilience of fitting 16 is relatively small.

In conclusion holder of the invention, Transmission Part is from the side of the rotating member 135 along the rotating member 135 End face extends on the reinforcer 17, and the electronic component being connected in the connector 16, and the third transport part 76 It 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 opposite position between electronic component and the assembly parts 12 in the connector 16 It sets and/or the knots modification of relative distance, the inner space of the receiving portion is rationally utilized, avoids the Transmission Part and is wound in While group, the overall volume of the holder 100 is reduced, and reduce the overall length of the Transmission Part, make the transmission The resistance of part 70 reduces, to reduce the whole power consumption of the holder 100, extends the cruise duration of the holder 100.Separately Outside, at work, the bending and the substantially symmetrical state of rotation of the Transmission Part 70 avoid the transmission to the holder 100 The asymmetric bending of part 70 or along the bending degree in some direction it is excessive caused by fatigue damage, be conducive to extend the transmission The service life of part 70.Also, the amount of elastic deformation that the Transmission Part 70 is generated in bending is relatively small, passes the third When defeated portion 76 drives the connector 16 to reset, screen resilience is relatively small.

It, can be with it is understood that the structure of the Transmission Part 70 is not limited to bending structure as described above Other structures are set as, to connect the electronic component and the connector 16 in the application platform.For example, the biography Angle between second transport part 74 and the third transport part 76 of defeated part 70 can be 180 degree, that is, described second passes Defeated portion 74 is arranged with the third transport part 76 along the same diameter of the rotating member 135, and makes the Transmission Part 70 certainly The side of the rotating member 135 is extended on the stator 131, and by the side of the rotating member 135 along the rotating member 135 End face continue to extend on the reinforcer 17.At this point, the structure of the installing part 15 is made and the Transmission Part 70 Adaptable accommodation, this specification do 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 When 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 transmission Portion 74 and the third transport part 76 are approximately perpendicular to the end face of the rotating member 135, so that one end of the Transmission Part 70 is solid Due 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 it His fixed structure, and for fixing the Transmission Part 70.For example, the installing part 15 is to be arranged on the stator 131 Clamp structure, the Transmission Part 70 are fastened on the clamp structure.

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

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

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

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

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

The inertia measurement mould group is set on the holder 100, and passes through the Transmission Part 70 and the control mainboard It is electrically connected.The inertia measurement mould group includes multiple Inertial Measurement Units, and multiple Inertial Measurement Units are connected to On first driver 13 of the holder 100, the second driver 32 and the third driver 50, and it is 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 State the posture of holder 100.It is surveyed at this point, the Transmission Part 70 is used to for the control instruction of the control mainboard to be transmitted to the inertia Mould group is measured, 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 electronic speed regulation Device can adjust the velocity of rotation and rotation direction of the motor under the control of the control mainboard, and can adjust described The velocity of rotation and rotation direction of holder 100.Specifically, the electron speed regulator can be multiple, multiple electronics tune One or more of fast device is connected on the holder 100 by the Transmission Part 70, and the one or more electronics Governor 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.Others in multiple electron speed regulators one or Multiple electron speed regulators are not connected with first driver 13, second driver 32 and the third driver 50 It connects, and the velocity of rotation for adjusting first driver 13, second driver 32 and the third driver 50 And rotation direction.At this point, the Transmission Part 70 is used to the control instruction of the control mainboard being transmitted to the holder 100, It is driven specifically, the control instruction of the control mainboard and the electron speed regulator is transmitted to described first by the Transmission Part 70 The velocity of rotation and rotation direction of dynamic device 13, second driver 32 and the third driver 50.

In other implementations, for adjusting first driver 13, second driver 32 and described The electron speed regulator of third driver 50 can be disposed directly on first driver 13, second driver 32 respectively And on the third driver 50, and above-mentioned electron speed regulator is connected by the Transmission Part 70 with the control mainboard It connects, the control instruction of the control mainboard is transmitted to the electron speed regulator by the Transmission Part 70, is driven with controlling described first The velocity of rotation and rotation direction of dynamic device 13, second driver 32 and the third driver 50.

Described image transmitting device is set on the fuselage, and passes through the Transmission Part 70 and described image acquisition device 200 are electrically connected.Described image transmitting device under the control of the control mainboard for reading and storing described image acquisition Image captured by device 200 is also used to the ground surface end by the image transmitting to the unmanned vehicle 500, so that this nobody The user of aircraft 500 can implement to obtain image captured by described image acquisition device 200.At this point, the Transmission Part 70 For the control instruction of the control mainboard to be transmitted to described image acquisition device 200, and by described image acquisition device Image data acquired in 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 to the fuselage In 510, and for providing electric power for the holder 100 and described image acquisition device 200.One end of the Transmission Part 70 connects In in the power supply unit, the other end is connected on the holder 100 and described image acquisition device 200, will be described The power transmission of power supply unit is to the holder 100 and described image acquisition device 200.In other examples, the confession Electric installation can provide energy source simultaneously for the power mechanism 530；Alternatively, the power supply unit can be the holder 100 electricity supply device special, and be that the holder 100 provides energy source by the Transmission Part 70, alternatively, the holder 100 electricity supply device special can also be by the Transmission Part 70 by power transmission to described image acquisition device 200.

It is appreciated that the master controller can individually control the electronic components such as chip, control circuit board for one, very It extremely can also be an image transmission.The master controller can be set in the assembly parts 12 and/or the housing piece It in 14, also can be set in the application platform of the capture apparatus 300, the application platform can nobody nobody fly to be above-mentioned Row device or handle etc..

It is appreciated that the pilot controller can be omitted, and the master controller is directly made to pass through the Transmission Part 70 It is electrically connected with described image acquisition device 200, to allow the main controller controls described image acquisition device 200 to execute bat Work is taken the photograph, 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, can for camera, video camera, camera or Person's portable communication apparatus etc..

It is appreciated that the winding structure of above-mentioned Transmission Part, it is not limited to apply in holder as described above can In rotational structure, it can be applied in other driving devices being relatively rotatable to each other.For example, above-mentioned Transmission Part around If structure 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 driving Device is arranged on the assembly parts, and the connector is connected on first driver, and first driver can drive The connector is rotated relative to the assembly parts；First driver includes stator and the rotation that is set on the stator The first electronic component and the second electronic component, first electronics are respectively arranged on part, the assembly parts and the connector Element is electrically connected by a Transmission Part and second electronic component.One end of the Transmission Part is connected to first electronics On element, and it is fixed on the stator and extends to the neighbouring rotating member, the Transmission Part along the periphery of the stator The other end extended on the connector from the side of the rotating member along the end face of the rotating member and with described second Electronic component is electrically connected, so that the connector is turned to by an original state along a first direction relative to the assembly parts During greatest limit angle, 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, and the Transmission Part will not be by It tightens and is broken in the rotation of the connector, will not be accumulated in the receiving portion agglomerating or wind.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 pneumatic Cylinder or steering engine etc..

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

It is appreciated that the holder is not limited to apply in the unmanned vehicle, others can also be applied to In movable equipment 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 be installed on the other hand On 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 referring to the above preferable embodiment party Formula describes the invention in detail, those skilled in the art should understand that, it can be to technical solution of the present invention It modifies 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 be at this Other variations etc. are done in spirit and are used in design of the invention, without departing from technical effect of the invention.These The variation that spirit is done according to the present invention, all should be comprising within scope of the present invention.

Claims

1. a kind of holder, including connector and the first driver, first driver include and the connector stationary phase Rotating member even, the rotating member is able to drive the connector and rotates around an axis, it is characterised in that: the holder further includes Transmission Part, the Transmission Part extend on the connector from the side of the rotating member along the end face of the rotating member.

2. holder as described in claim 1, it is characterised in that: the Transmission Part is data line, is used for transmission electric power or biography Transmission of data.

3. 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.

4. holder as described in claim 1, it is characterised in that: first driver further includes stator, the rotating member energy It is enough rotationally connected on the stator, one end of the Transmission Part is fixed on the stator, and the other end is along the rotating member End face extend on the connector.

5. holder as claimed in claim 4, it is characterised in that: the Transmission Part includes the first transport part and second being connected Transport part, first transport part are fixed on the stator, and second transport part is connected on first transport part simultaneously It is extended on the connector along the end face of the rotating member.

6. holder as claimed in claim 5, it is characterised in that: the rotating member is set to described stator one end, and described first One end of transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.

7. holder as claimed in claim 6, it is characterised in that: first transport part is parallel with the stator periphery to be set It sets.

8. holder as claimed in claim 5, it is characterised in that: the end face of the vertical rotating member in second transport part is set It sets, and is extended on the connector along the end face of the rotating member.

9. holder as claimed in claim 8, it is characterised in that: the Transmission Part further includes third transport part, and the third passes Defeated portion is connected to the one end of second transport part far from first transport part, and second transport part is passed by the third Defeated portion is connected on the connector.

10. holder as claimed in claim 9, it is characterised in that: be between second transport part and the third transport part Predetermined angle makes the Transmission Part generate the deformation of pre-bend.

11. holder as claimed in claim 4, it is characterised in that: the holder further includes the installing being arranged on the stator Part, one end of the Transmission Part are fixed on the installing part.

12. holder as claimed in claim 11, it is characterised in that: it is provided with the first limiting section on the connector, described One limiting section is matched with the installing part to limit the connector along the rotational angle of the opposite stator of a first direction.

13. holder as claimed in claim 12, it is characterised in that: the second limiting section is additionally provided on the connector, it is described Second limiting section is matched with the installing part to limit the connector along the angle of rotation of the opposite stator of a second direction Degree, the second direction are opposite to the first direction.

14. holder as claimed in claim 13, it is characterised in that: the other end of the Transmission Part and the fixed company of the connector It connects, first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.

15. holder as claimed in claim 13, it is characterised in that: be between first limiting section and second limiting section One predetermined angle setting.

16. holder as claimed in claim 15, it is characterised in that: between first limiting section and second limiting section The predetermined angle is less than or equal to 180 degree.

17. holder as claimed in claim 16, it is characterised in that: between first limiting section and second limiting section The predetermined angle is 90 degree~135 degree.

18. holder as claimed in claim 11, it is characterised in that: be provided with positioning region, the Transmission Part on the installing part On be provided with the holding section matched with the positioning region, the positioning region and the holding section phase clamping cooperate with by the biography Defeated part is positioned on the installing part.

19. holder as claimed in claim 11, it is characterised in that: the installing part includes fixed part and guidance part, described solid Determine portion to be fixedly installed on the stator, the guidance part is connected on the fixed part, and the end face of the neighbouring rotating member Setting, the Transmission Part extend on the connector along the fixed part and the guidance part.

20. holder as claimed in claim 19, it is characterised in that: the fixed part extends to neighbouring institute along the stator periphery State rotating member edge.

21. holder as claimed in claim 19, it is characterised in that: the guidance part is set perpendicular to the end face of the rotating member It sets.

22. holder as claimed in claim 19, it is characterised in that: the holder further includes reinforcer, the reinforcer setting On the connector and corresponding with the guidance part, the other end of the Transmission Part is fixed on the reinforcer.

23. holder as claimed in claim 22, it is characterised in that: the reinforcer is set perpendicular to the end face of the rotating member It sets, in a predetermined angle setting between the guidance part and the reinforcer.

24. holder as claimed in claim 19, it is characterised in that: the installing part further includes support portion, and the support portion is set It sets between the fixed part and the guidance part, and is parallel to the end face of the rotating member.

25. holder as claimed in claim 4, it is characterised in that: first driver is rotating electric machine, rotary cylinder or rudder Machine.

26. holder as described in claim 1, it is characterised in that: the pivot center of the rotating member is the course of the holder Axis.

27. holder as described in claim 1, it is characterised in that: the holder further includes supporting element and the second driver, described Second driver is set on the connector, and the supporting element is connected on second driver, to allow described second Driver drives the supporting element to rotate relative to the connector.

28. holder as claimed in claim 27, it is characterised in that: the supporting element includes switching part and is set to described turn Support arm in socket part, the switching part are connected on second driver.

29. holder as claimed in claim 28, it is characterised in that: the quantity of the support arm is two, two supports Arm is respectively arranged at the two sides of the switching part.

30. holder as claimed in claim 29, it is characterised in that: two support arms are symmetrically disposed in the switching part Opposite sides.

31. holder as claimed in claim 27, it is characterised in that: the pivot center of the supporting element is perpendicular to the rotating member Pivot center.

32. holder as claimed in claim 27, it is characterised in that: the connector includes being connected on first driver Linking arm and the interconnecting piece that is set on the linking arm, second driver be set in the interconnecting piece.

33. holder as claimed in claim 27, it is characterised in that: the holder further includes be set on the supporting element The rotor of three drivers, the third driver can be rotated relative to the supporting element.

34. holder as claimed in claim 33, it is characterised in that: the pivot center of the rotor of the third driver perpendicular to The pivot center of the supporting element.

35. holder as claimed in claim 33, it is characterised in that: the holder is three axis holders, the third driver The pivot center of the pivot center of rotor, the pivot center of the supporting element and the rotating member corresponds respectively to three axis holders Pitch axis, roll axis and course axis.

36. holder as described in claim 1, it is characterised in that: the holder further includes assembly parts, and first driver is set It sets in the assembly parts.

37. holder as claimed in claim 36, it is characterised in that: institute's holder further includes housing piece, and the housing piece is set to One end of the connector, and can be rotated relative to the assembly parts, the assembly parts are matched with the housing piece with common Accommodate first driver.

38. holder as claimed in claim 36, it is characterised in that: perforating is provided on the assembly parts, for the biography Defeated part is worn, and the inner cavity of the assembly parts is connected by the perforating with the external world.

39. holder as described in claim 1, it is characterised in that: electronic device is connected on the connector of the holder, it is described Transmission Part and the electronic device are electrically connected.

40. holder as claimed in claim 39, it is characterised in that: the Transmission Part is connected to the electronic device and described Between the power supply unit of holder, the Transmission Part is used for the power transmission of the power supply unit to the electronic device.

41. holder as claimed in claim 39, it is characterised in that: the controller phase of one end of the Transmission Part and the holder Connection, the other end of the Transmission Part are connect with the electronic device, and the Transmission Part is for referring to the control of the controller Order is transmitted to the electronic device.

42. holder as claimed in claim 41, it is characterised in that: the electronic device is following one of several: photography Machine, camera, camera, infrared camera or portable communication apparatus；The Transmission Part is also used to obtain the electronic device Image data be sent to an image transmission.

43. a kind of capture apparatus, including holder and the image acquiring device being equipped on the holder, the holder includes connection Part and the first driver, first driver include the rotating member being fixedly linked with the connector, the rotating member energy The connector is enough driven to rotate around an axis, it is characterised in that: the holder further includes Transmission Part, and the Transmission Part is described in The side of rotating member extends on the connector along the end face of the rotating member.

44. capture apparatus as claimed in claim 43, it is characterised in that: the Transmission Part is data line, is used for transmission electricity Power or transmission data.

45. capture apparatus as claimed in claim 43, it is characterised in that: the Transmission Part is flexible circuit board, is used to pass Power of transmitting electricity or transmission data.

46. capture apparatus as claimed in claim 43, it is characterised in that: first driver further includes stator, and described turn Moving part is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end is described in The end face of rotating member extends on the connector.

47. capture apparatus as claimed in claim 46, it is characterised in that: the Transmission Part includes the first transport part being connected And second transport part, first transport part are fixed on the stator, second transport part is connected to first transmission It is extended on the connector in portion and along the end face of the rotating member.

48. capture apparatus as claimed in claim 47, it is characterised in that: the rotating member is set to described stator one end, institute The one end for stating the first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.

49. capture apparatus as claimed in claim 48, it is characterised in that: first transport part is equal with the stator periphery Row setting.

50. capture apparatus as claimed in claim 47, it is characterised in that: the end of the vertical rotating member in second transport part Face setting, and extended on the connector along the end face of the rotating member.

51. capture apparatus as claimed in claim 50, it is characterised in that: the Transmission Part further includes third transport part, described Third transport part is connected to the one end of second transport part far from first transport part, and second transport part passes through described Third transport part is connected on the connector.

52. capture apparatus as claimed in claim 51, it is characterised in that: second transport part and the third transport part it Between be in predetermined angle, so that the Transmission Part is generated the deformation of pre-bend.

53. capture apparatus as claimed in claim 46, it is characterised in that: the holder further includes being arranged on the stator Part is installed, one end of the Transmission Part is fixed on the installing part.

54. capture apparatus as claimed in claim 53, it is characterised in that: be provided with the first limiting section, institute on the connector The first limiting section is stated to match with the installing part to limit the connector along a first direction relative to the rotation of the stator Angle.

55. capture apparatus as claimed in claim 54, it is characterised in that: the second limiting section is additionally provided on the connector, Second limiting section is matched with the installing part to limit the connector along the opposite stator of a second direction and turn Dynamic angle, the second direction are opposite to the first direction.

56. capture apparatus as claimed in claim 55, it is characterised in that: the other end of the Transmission Part and the connector are solid Fixed connection, first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.

57. capture apparatus as claimed in claim 55, it is characterised in that: first limiting section and second limiting section it Between in a predetermined angle setting.

58. capture apparatus as claimed in claim 57, it is characterised in that: first limiting section and second limiting section it Between the predetermined angle be less than or equal to 180 degree.

59. capture apparatus as claimed in claim 58, it is characterised in that: first limiting section and second limiting section it Between the predetermined angle be 90 degree~135 degree.

60. capture apparatus as claimed in claim 53, it is characterised in that: be provided with positioning region, the biography on the installing part It is provided with the holding section matched with the positioning region on defeated part, the positioning region and the holding section phase clamping cooperate with by institute Transmission Part is stated to be positioned on the installing part.

61. capture apparatus as claimed in claim 53, it is characterised in that: the installing part includes fixed part and guidance part, institute Fixed part to be stated to be fixedly installed on the stator, the guidance part is connected on the fixed part, and the neighbouring rotating member End face setting, the Transmission Part extend on the connector along the fixed part and the guidance part.

62. capture apparatus as claimed in claim 61, it is characterised in that: the fixed part extends to neighbour along the stator periphery The nearly rotating member edge.

63. capture apparatus as claimed in claim 61, it is characterised in that: end face of the guidance part perpendicular to the rotating member Setting.

64. capture apparatus as claimed in claim 61, it is characterised in that: the holder further includes reinforcer, 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.

65. the capture apparatus as described in claim 64, it is characterised in that: end face of the reinforcer perpendicular to the rotating member Setting, in a predetermined angle setting between the guidance part and the reinforcer.

66. capture apparatus as claimed in claim 61, it is characterised in that: the installing part further includes support portion, the support Portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.

67. capture apparatus as claimed in claim 46, it is characterised in that: first driver is rotating electric machine, rotary pneumatic Cylinder or steering engine.

68. capture apparatus as claimed in claim 43, it is characterised in that: the pivot center of the rotating member is the holder Course axis.

69. capture apparatus as claimed in claim 43, it is characterised in that: the holder further includes supporting element and the second driving Device, second driver are set on the connector, and the supporting element is connected on second driver, to allow Stating the second driver drives the supporting element to rotate relative to the connector.

70. the capture apparatus as described in claim 69, it is characterised in that: the supporting element includes switching part and is set to institute The support arm on switching part is stated, the switching part is connected on second driver.

71. the capture apparatus as described in claim 70, it is characterised in that: the quantity of the support arm is two, described in two Support arm is respectively arranged at the two sides of the switching part.

72. the capture apparatus as described in claim 71, it is characterised in that: two support arms are symmetrically disposed in described turn The opposite sides of socket part.

73. the capture apparatus as described in claim 69, it is characterised in that: the pivot center of the supporting element is perpendicular to described turn The pivot center of moving part.

74. the capture apparatus as described in claim 69, it is characterised in that: the connector includes being connected to first driving Linking arm on device and the interconnecting piece being set on the linking arm, second driver are set in the interconnecting piece.

75. the capture apparatus as described in claim 69, it is characterised in that: the holder further includes being set on the supporting element Third driver, described image acquisition device be arranged on the third driver, the third driver can drive institute Image acquiring device is stated to rotate relative to the supporting element.

76. the capture apparatus as described in claim 75, it is characterised in that: the pivot center of the rotor of the third driver hangs down Directly in the pivot center of the supporting element.

77. the capture apparatus as described in claim 75, it is characterised in that: the holder is three axis holders, the third driving The pivot center of the pivot center of the rotor of device, the pivot center of the supporting element and the rotating member corresponds respectively to three axis clouds Pitch axis, roll axis and the course axis of platform.

78. capture apparatus as claimed in claim 43, it is characterised in that: the holder further includes assembly parts, and described first drives Dynamic device is arranged in the assembly parts.

79. the capture apparatus as described in claim 78, it is characterised in that: institute's holder further includes housing piece, and the housing piece is set It is placed in one end of the connector, and is interlocked and can be rotated relative to the assembly parts, the assembly parts with the assembly parts First driver is accommodated jointly with the housing piece.

80. the capture apparatus as described in claim 78, it is characterised in that: perforating is provided on the assembly parts, for institute It states Transmission Part to wear, the inner cavity of the assembly parts is connected by the perforating with the external world.

81. capture apparatus as claimed in claim 43, it is characterised in that: described image acquisition device be it is following it is several in one Kind: video camera, camera, camera, infrared camera or portable communication apparatus.

82. the capture apparatus as described in claim 81, it is characterised in that: the capture apparatus further includes image transmission, The Transmission Part is connected between described image transmitting device and described image acquisition device, and the Transmission Part is used for the figure As the image data that acquisition device obtains is sent to described image transmitting device.

83. the capture apparatus as described in claim 81, it is characterised in that: the Transmission Part is connected to described image acquisition device And between the power supply unit of the holder, the Transmission Part is for obtaining the power transmission of the power supply unit to described image It takes on device.

84. a kind of unmanned vehicle, including holder and the image acquiring device being equipped on the holder, the holder includes connecting Fitting and the first driver, first driver include the rotating member being fixedly linked with the connector, the rotating member It is able to drive the connector to rotate around an axis, it is characterised in that: the holder further includes Transmission Part, and the Transmission Part is from institute The side for stating rotating member extends on the connector along the end face of the rotating member.

85. the unmanned vehicle as described in claim 84, it is characterised in that: the Transmission Part is data line, is used for transmission Electric power or transmission data.

86. the unmanned vehicle as described in claim 84, it is characterised in that: the Transmission Part is flexible circuit board, is used for Transmit electric power or transmission data.

87. the unmanned vehicle as described in claim 84, it is characterised in that: first driver further includes stator, described Rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end is along institute The end face for stating rotating member extends on the connector.

88. the unmanned vehicle as described in claim 87, it is characterised in that: the Transmission Part includes the first transmission being connected Portion and the second transport part, first transport part are fixed on the stator, and second transport part is connected to described first and passes It is extended on the connector in defeated portion and along the end face of the rotating member.

89. the unmanned vehicle as described in claim 88, it is characterised in that: the rotating member is set to described stator one end, One end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.

90. the unmanned vehicle as described in claim 89, it is characterised in that: first transport part and the outer phase of the stator It is arranged in parallel.

91. the unmanned vehicle as described in claim 88, it is characterised in that: the vertical rotating member in second transport part End face setting, and extended on the connector along the end face of the rotating member.

92. the unmanned vehicle as described in claim 91, it is characterised in that: the Transmission Part further includes third transport part, institute It states third transport part and is connected to the one end of second transport part far from first transport part, second transport part passes through institute Third transport part is stated to be connected on the connector.

93. the unmanned vehicle as described in claim 92, it is characterised in that: second transport part and the third transport part Between be in predetermined angle, so that the Transmission Part is generated the deformation of pre-bend.

94. the unmanned vehicle as described in claim 93, it is characterised in that: the unmanned vehicle further includes flight controller And with the flight controller be electrically connected Inertial Measurement Unit, the Inertial Measurement Unit for detect it is described nobody fly The posture of row device is to allow flight controller unmanned vehicle according to the gesture stability to fly.

95. the unmanned vehicle as described in claim 93, it is characterised in that: the unmanned vehicle further include be connected to it is described Electron speed regulator on first driver, the electron speed regulator are used to control the velocity of rotation and rotation of first driver Direction.

96. the unmanned vehicle as described in claim 87, it is characterised in that: the holder further includes being arranged on the stator Installing part, one end of the Transmission Part is fixed on the installing part.

97. the unmanned vehicle as described in claim 96, it is characterised in that: the first limiting section is provided on the connector, First limiting section is matched with the installing part to limit the connector along the opposite stator of a first direction and turn Dynamic angle.

98. the unmanned vehicle as described in claim 97, it is characterised in that: be additionally provided with the second limit on the connector Portion, second limiting section are matched with the installing part to limit the connector along the opposite stator of a second direction Rotational angle, the second direction are opposite to the first direction.

99. the unmanned vehicle as described in claim 98, it is characterised in that: the other end of the Transmission Part and the connector It is fixedly connected, first limiting section and second limiting section are symmetrical arranged about the other end of the Transmission Part.

100. the unmanned vehicle as described in claim 98, it is characterised in that: first limiting section and second limit In a predetermined angle setting between portion.

101. the unmanned vehicle as described in claim 100, it is characterised in that: first limiting section and second limit The predetermined angle between portion is less than or equal to 180 degree.

102. the unmanned vehicle as described in claim 101, it is characterised in that: first limiting section and second limit The predetermined angle between portion is 90 degree~135 degree.

103. the unmanned vehicle as described in claim 96, it is characterised in that: it is provided with positioning region on the installing part, it is described The holding section matched with the positioning region is provided on Transmission Part, the positioning region cooperates with the holding section phase clamping to incite somebody to action The Transmission Part is positioned on the installing part.

104. the unmanned vehicle as described in claim 96, it is characterised in that: the installing part includes fixed part and guidance part, The fixed part is fixedly installed on the stator, and the guidance part is connected on the fixed part, and the neighbouring rotating member End face setting, the Transmission Part extends on the connector along the fixed part and the guidance part.

105. the unmanned vehicle as described in claim 104, it is characterised in that: the fixed part extends along the stator periphery To the neighbouring rotating member edge.

106. the unmanned vehicle as described in claim 104, it is characterised in that: the guidance part is perpendicular to the rotating member End face setting.

107. the unmanned vehicle as described in claim 104, it is characterised in that: the holder further includes reinforcer, described to add Strong part setting is on the connector and corresponding with the guidance part, and the other end of the Transmission Part is fixed on the reinforcer On.

108. the unmanned vehicle as described in claim 107, it is characterised in that: the reinforcer is perpendicular to the rotating member End face setting, in a predetermined angle setting between the guidance part and the reinforcer.

109. the unmanned vehicle as described in claim 104, it is characterised in that: the installing part further includes support portion, described Support portion is arranged between the fixed part and the guidance part, and is parallel to the end face of the rotating member.

110. the unmanned vehicle as described in claim 87, it is characterised in that: first driver is rotating electric machine, rotation Cylinder or steering engine.

111. the unmanned vehicle as described in claim 84, it is characterised in that: the pivot center of the rotating member is the cloud The course axis of platform.

112. the unmanned vehicle as described in claim 84, it is characterised in that: the holder further includes that supporting element and second drive Dynamic device, second driver are set on the connector, and the supporting element is connected on second driver, to allow Second driver drives the supporting element to rotate relative to the connector.

113. the unmanned vehicle as described in claim 112, it is characterised in that: the supporting element includes switching part and setting Support arm on the switching part, the switching part are connected on second driver.

114. the unmanned vehicle as described in claim 113, it is characterised in that: the quantity of the support arm is two, two The support arm is respectively arranged at the two sides of the switching part.

115. the unmanned vehicle as described in claim 114, it is characterised in that: two support arms are symmetrically disposed in institute State the opposite sides of switching part.

116. the unmanned vehicle as described in claim 112, it is characterised in that: the pivot center of the supporting element is perpendicular to institute State the pivot center of rotating member.

117. the unmanned vehicle as described in claim 112, it is characterised in that: the connector includes being connected to described first Linking arm on driver and the interconnecting piece being set on the linking arm, second driver are set to the interconnecting piece It is interior.

118. the unmanned vehicle as described in claim 112, it is characterised in that: the holder further includes being set to the support Third driver on part, described image acquisition device are arranged on the third driver, and the third driver can drive Dynamic described image acquisition device is rotated relative to the supporting element.

119. the unmanned vehicle as described in claim 118, it is characterised in that: the rotation axis of the rotor of the third driver Pivot center of the line perpendicular to the supporting element.

120. the unmanned vehicle as described in claim 118, it is characterised in that: the holder is three axis holders, the third The pivot center of the pivot center of the rotor of driver, the pivot center of the supporting element and the rotating member corresponds respectively to three Pitch axis, roll axis and the course axis of axis holder.

121. the unmanned vehicle as described in claim 84, it is characterised in that: the holder further includes assembly parts, and described first Driver is arranged in the assembly parts.

122. the unmanned vehicle as described in claim 121, it is characterised in that: institute's holder further includes housing piece, the receiving Part is set to one end of the connector, and is interlocked and can rotate relative to the assembly parts, the dress with the assembly parts Accessory and the housing piece accommodate first driver jointly.

123. the unmanned vehicle as described in claim 121, it is characterised in that: it is provided with perforating on the assembly parts, with It is worn for the Transmission Part, the inner cavity of the assembly parts is connected by the perforating with the external world.

124. the unmanned vehicle as described in claim 84, it is characterised in that: described image acquisition device be it is following it is several in One kind: video camera, camera, camera, infrared camera or portable communication apparatus.

125. the unmanned vehicle as described in claim 124, it is characterised in that: the unmanned vehicle further includes being connected to institute State the image transmission on holder, the Transmission Part be connected to described image transmitting device and described image acquisition device it Between, the Transmission Part is used to the image data that described image acquisition device obtains being sent to described image transmitting device.

126. the unmanned vehicle as described in claim 124, it is characterised in that: the Transmission Part is connected to described image acquisition Between the power supply unit of device and the holder, the Transmission Part is used for the power transmission of the power supply unit to the figure As on acquisition device.

127. the unmanned vehicle as described in claim 84, it is characterised in that: the unmanned vehicle further includes flight control Device and with the flight controller be electrically connected Inertial Measurement Unit, the Inertial Measurement Unit for detect it is described nobody The posture of aircraft is to allow flight controller unmanned vehicle according to the gesture stability to fly.

128. the unmanned vehicle as described in claim 127, it is characterised in that: the unmanned vehicle further includes being connected to institute The electron speed regulator on the first driver is stated, the electron speed regulator is used to control the velocity of rotation of first driver and turns Dynamic direction.

129. a kind of driving device, including connector and the first driver, first driver include and the connector The rotating member being fixedly linked, the rotating member are able to drive the connector and rotate around an axis, it is characterised in that: the driving Device further includes Transmission Part, and the Transmission Part extends to the connection along the end face of the rotating member from the side of the rotating member On part.

130. the driving device as described in claim 129, it is characterised in that: the Transmission Part is data line, is used for transmission Electric power or transmission data.

131. the driving device as described in claim 129, it is characterised in that: the Transmission Part is flexible circuit board, is used for Transmit electric power or transmission data.

132. the driving device as described in claim 129, it is characterised in that: first driver further includes stator, described Rotating member is rotatably connected on the stator, and one end of the Transmission Part is fixed on the stator, and the other end is along institute The end face for stating rotating member extends on the connector.

133. the driving device as described in claim 132, it is characterised in that: the Transmission Part includes the first transmission being connected Portion and the second transport part, first transport part are fixed on the stator, and second transport part is connected to described first and passes It is extended on the connector in defeated portion and along the end face of the rotating member.

134. the driving device as described in claim 133, it is characterised in that: the rotating member is set to described stator one end, One end of first transport part is fixed on the stator, extends to the neighbouring rotating member along the stator periphery.

135. the driving device as described in claim 134, it is characterised in that: first transport part and the outer phase of the stator It is arranged in parallel.

136. the driving device as described in claim 133, it is characterised in that: the vertical rotating member in second transport part End face setting, and extended on the connector along the end face of the rotating member.

137. the driving device as described in claim 136, it is characterised in that: the Transmission Part further includes third transport part, institute It states third transport part and is connected to the one end of second transport part far from first transport part, second transport part passes through institute Third transport part is stated to be connected on the connector.

138. the driving device as described in claim 137, it is characterised in that: second transport part and the third transport part Between be in predetermined angle, so that the Transmission Part is generated the deformation of pre-bend.

139. 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 include the rotating member being fixedly linked with the connector, the rotation Part is able to drive the connector and rotates around an axis, it is characterised in that: the holder further includes Transmission Part, and the Transmission Part is certainly The side of the rotating member extends on the connector along the end face of the rotating member.

140. the movable equipment as described in claim 139, it is characterised in that: the Transmission Part is data line, is used to pass Power of transmitting electricity or transmission data.

141. movable equipment as described in claim 139, it is characterised in that: the Transmission Part is flexible circuit board, is used In transmission electric power or transmission data.

142. movable equipment as described in claim 139, it is characterised in that: first driver further includes stator, institute It states rotating member to be rotatably connected on the stator, one end of the Transmission Part is fixed on the stator, other end edge The end face of the rotating member extends on the connector.

143. movable equipment as described in claim 142, it is characterised in that: the Transmission Part includes that first to be connected passes Defeated portion and the second transport part, first transport part are fixed on the stator, and second transport part is connected to described first It is extended on the connector on transport part and along the end face of the rotating member.

144. movable equipment as described in claim 143, it is characterised in that: the rotating member is set to the stator one End, one end of first transport part are fixed on the stator, extend to the neighbouring rotating member along the stator periphery.

145. movable equipment as described in claim 144, it is characterised in that: first transport part and the stator periphery Parallel setting.

146. movable equipment as described in claim 143, it is characterised in that: the vertical rotating member in second transport part End face setting, and extended on the connector along the end face of the rotating member.

147. movable equipment as described in claim 146, it is characterised in that: 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 passes through The third transport part is connected on the connector.

148. movable equipment as described in claim 147, it is characterised in that: second transport part and third transmission It is in predetermined angle between portion, the Transmission Part is made to generate the deformation of pre-bend.

149. movable equipment as described in claim 148, it is characterised in that: the movable equipment further include controller with And the Inertial Measurement Unit being electrically connected with the controller, the Inertial Measurement Unit is for detecting the movable equipment Posture is to allow controller movable equipment according to the gesture stability to advance.

150. movable equipment as described in claim 149, it is characterised in that: the movable equipment further includes being connected to institute The electron speed regulator on the first driver is stated, the electron speed regulator is used to control the velocity of rotation of first driver and turns Dynamic direction.