CN107624099A

CN107624099A - Head and the unmanned plane for having the head

Info

Publication number: CN107624099A
Application number: CN201680012470.7A
Authority: CN
Inventors: 廖然; 刘浩
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-07-29
Filing date: 2016-07-29
Publication date: 2018-01-23
Anticipated expiration: 2036-07-29
Also published as: WO2018018634A1; CN112623246A; CN107624099B

Abstract

A kind of head (100),Including bracket component (30),Functional module group (50),Control panel (500) and attachment structure (70),Functional module group (50) is arranged on bracket component (30),Functional module group (50) includes actuator (51,53,55),Control panel (500) is arranged at outside bracket component (30) and actuator,Attachment structure (70) electrically connects control panel (500) with actuator,Attachment structure (70) includes the bending section (720) corresponding to actuator,Bending section (720) is arranged at actuator (51,53,55) it is outside and be located at bracket component (30) and actuator (51,53,55) between,For being provided for attachment structure (70) with actuator (51,53,55) the motion surplus rotated.The present invention also provides a kind of unmanned plane (400) with the head (100).The head (100) and unmanned plane (400) can avoid attachment structure (70) from tight situation occur during being rotated in company with actuator (51,53,55), resistance of the actuator (51,53,55) when being rotated around each axle is reduced, avoids attachment structure (70) from pullling the problem of damaging because tight.

Description

Head and the unmanned plane for having the head

Technical field

The present invention relates to head technical field, more particularly to a kind of head of miniaturization and the unmanned plane for having the head.

Background technology

Nowadays, unmanned plane, such as unmanned vehicle, the task such as be used to carry out taking photo by plane, monitor, explore, searching and rescuing.In order to realize The purpose of steady shot, unmanned plane generally configure head to carry the modules such as video camera, camera, and the head also includes in itself The modules such as actuator, control panel, the multiple connection cables of above module generally use are electrically connected, to realize each functional module group Between signal connection.However, for connecting the cable of actuator and control panel generally about in the housing of the actuator, Because cabling space is small, causes actuator to drive in support rotary course by larger resistance, influence head use.

The content of the invention

In view of this, it is necessary to which a kind of head for avoiding above mentioned problem and the unmanned plane for having the head are provided.

A kind of head, it includes bracket component, functional module group, control panel and attachment structure, and the functional module group is set On the bracket component, the functional module group includes actuator, and the control panel is arranged at the bracket component and the drive Outside moving part, the attachment structure electrically connects the control panel with the actuator, and the attachment structure is included corresponding to described The bending section of actuator, the bending section be arranged at outside the actuator and positioned at the bracket component and the actuator it Between, for providing the motion surplus rotated with the actuator for the attachment structure.

Further, the bracket component includes first support and the second support being connected with the first support, described Actuator includes the first actuator, and first actuator is connected between the first support and the second support, described First actuator is used to drive the second support to rotate around first axle, and the attachment structure is electrically connected to first driving Between part and the control panel, the crooked position is in the outside of first actuator and neighbouring first support and/or described Second support is set.

Further, the first axle is the course axle of the head.

Further, the bracket component also includes the 3rd support, and the functional module group also includes the second actuator, described Second actuator is connected between the second support and the 3rd support, and second actuator is used to drive the described 3rd Support rotates around second axis, and the attachment structure electrically connects with second actuator.

Further, the second axis and the first axle are perpendicular.

Further, the second axis is the roll axle of the head.

Further, the attachment structure includes trunk, the first branch and the second branch, first branch, described Two branches are extended by the trunk and formed, the one end of the trunk away from first branch and second branch and the control Making sheet electrically connects, and first branch is electrically connected to first actuator, the second branch electrical connection second driving Part.

Further, if first branch in the branch point extended out on the trunk is the first branch point, if institute It is the second branch point that the second branch, which is stated, in the branch point extended out on the trunk, the trunk from first branch point with The part of second branch point is bent to form bending section, and the crooked position is in first actuator and the described second driving Between part.

Further, the attachment structure also includes also extending the 3rd branch formed, the function mould by the trunk Group also includes the 3rd actuator, and the 3rd actuator is connected to the described one end of 3rd support away from the second support, institute The 3rd branch is stated to electrically connect with the 3rd actuator.

Further, the 3rd branch is bent to form bending between first actuator and the 3rd actuator Portion.

Further, the 3rd component is attached at the periphery of the 3rd support.

Further, the functional module group also includes filming apparatus, and the filming apparatus is installed in the 3rd actuator On, the 3rd actuator is used to drive the filming apparatus to rotate around the 3rd axis.

Further, the 3rd axis, the second axis are mutually perpendicular to the first axle.

Further, the 3rd axis is the pitch axis of the head.

Further, the bracket component putting in order as roll-pitching-course by most inner side to outside, it is described most Inner side is the side that the bracket component is directly connected to the filming apparatus.

Further, the attachment structure includes the first connector and the second connector, the first connector electrical connection Between first actuator and the control panel, second connector is connected to second actuator and the control Between plate, first connector and second connector are separately positioned.

Further, the head includes filming apparatus, the attachment structure include the first separately positioned connector and Second connector, first connector electrically connect the control panel with the actuator, the filming apparatus and the branch Frame component is connected, and second connector is connected between the filming apparatus and the control panel.

Further, first connector is made up of flexible PCB.

Further, second connector is made up of coaxial line.

Further, the bracket component includes first support, the second support being rotatablely connected successively, and the actuator connects It is connected between the first support and the second support, spacing raised line, second connector is formed in the first support It is arranged in the spacing raised line.

Further, the second support includes connecting portion and the rotation connection formed by connecting portion bending extension Portion, the actuator are connected between the first support and the connecting portion, and the connecting portion is with the rotating junction Hollow structure, the connecting portion connect with the rotating junction, second connector be arranged in the connecting portion with it is described Rotating junction.

Further, the bracket component also includes the 3rd support, and the 3rd support rotates with the second support to be connected Connect, on the 3rd support projection form spacing raised line, second connector is arranged in the spacing raised line of the 3rd support.

Further, the bracket component, which includes the second support of rotation connection and the 3rd support, the actuator, includes Second actuator and the 3rd actuator, second actuator are used to drive the second support to rotate, and the 3rd support connects It is connected between second actuator and the 3rd actuator, the attachment structure includes the second connector and the 3rd connection Part, second connector are electrically connected between second actuator and the control panel, the 3rd connector electrical connection Between the 3rd actuator and the control panel, the attachment structure includes the first meet and the second meet, described Second connector links together with the 3rd connector in first meet, second connector and the described 3rd Connector is linked together in second meet, and first meet is set adjacent to the control panel, and described second converges Set at conjunction adjacent to the second support.

Further, second connector, the 3rd connector converge in first meet and described second Between correspond to the actuator and be bent to form bending section.

Further, second connector of first meet to second meet is connected with the described 3rd Part connection overlaps on together.

Further, the second connector of second meet is connected to the second support with the 3rd connector On.

Further, the second support includes connecting portion and the rotation connection formed by connecting portion bending extension Portion, the lateral wall projection of the connecting portion form boss, the second connector of second meet and the 3rd connector It is connected to the boss.

Further, insertion offers through hole on the rotating junction, and second connector converges from described second Place extends and the through hole that is arranged on the rotating junction and then is connected with second actuator.

Further, the functional module group also includes filming apparatus, and the filming apparatus is installed in the 3rd actuator On, the attachment structure also includes the 4th connector, and the 4th connector is connected to the filming apparatus and the control Between the corresponding control module of making sheet.

Further, the 4th connector is connected in first meet with second connector, the described 3rd Part is connected together, and the 4th connector connects in second meet and second connector, the 3rd connector It is connected together.

Further, the 3rd connector and the 4th connector are in second meet to the 3rd support Between be bent to form bending section.

Further, first meet to second meet second connector, it is described 3rd connection Part and the 4th connector connection overlap on together.

Further, the attachment structure also includes the 4th meet, and the 4th meet is adjacent to the 3rd support And second actuator is set, the 3rd connector and the 4th connector are connected to one in the 4th meet Rise, the 3rd connector and the 4th connector extend to the 4th meet from second meet.

Further, second meet to the 3rd connector of the 4th meet and the 4th connector connects It is connected together.

Further, the second installing that the 3rd support includes the first installing department and is connected with first installing department Portion, first installing department are connected by second actuator with the second support, and the 3rd actuator is installed in institute State on the second installing department.

Further, second meet to the 3rd connector of the 4th meet and the 4th connector pastes Together on the periphery wall of first installing department.

Further, insertion opens up through hole on second installing department, and the 3rd connector is from the 4th meet The through hole for extending and being arranged on second installing department with the 3rd actuator to be connected.

Further, first installing department forms platform portion adjacent to the through hole of second installing department, and the described 4th converges Neighbouring described portion of place is set.

Further, the functional module group includes being installed in the filming apparatus of the actuator, and the actuator includes this Body and lid set portion, and the lid portion of setting is installed on the body, the attachment structure be connected to the 3rd actuator with it is described Between control panel, and between the filming apparatus and the control panel.

Further, the lid sets portion's projection guide part, and the guide part protrudes out to the sidepiece in described portion, the guiding Portion and described portion are arranged at intervals and form gap, and the attachment structure is arranged in the gap.

Further, the filming apparatus includes matrix and leads and hold plate, and described lead is held the side of plate and described matrix and fixed Connection, and described lead holds plate and described matrix interval setting, can pass through the passage of the attachment structure, the connection to be formed Structure is connected by the passage with the functional module group.

Further, the attachment structure comprises at least two connectors, and each connector includes main part and located at institute State the termination of the end of main part.

Further, the main part is coaxial line.

Further, the main part is flexible PCB.

Further, the termination is flexible circuit board connector.

Further, the termination is caxial-line feeder.

Further, the control module of the actuator is integrated on the control panel.

Further, the control module of the actuator is arranged on the actuator.

A kind of unmanned plane, it includes body and head as described above, and the head is installed in the body.

Relative to prior art, head provided by the invention and the unmanned plane for having the head, the attachment structure include pair The bending section of actuator described in Ying Yu, the bending section are arranged at the not busy complementary space of the actuator and the bracket component, use In providing the motion surplus rotated with the actuator for the attachment structure, the motion surplus that the bending section provides can Avoid the attachment structure from tight situation occur during being rotated in company with the actuator, and then the drive can be reduced Resistance of the moving part when being rotated around each axle, also avoids the attachment structure from pullling the problem of damaging because tight.

Brief description of the drawings

Fig. 1 is the schematic perspective view of the unmanned plane of first embodiment of the invention.

Fig. 2 is the head schematic perspective view of first embodiment of the invention.

Fig. 3 is another visual angle schematic diagram of Fig. 2 head.

Fig. 4 is that Fig. 2 head removes the schematic perspective view after attachment structure.

Fig. 5 is the functional module group schematic diagram of the unmanned plane of first embodiment of the invention.

Fig. 6 is the schematic diagram of the attachment structure of Fig. 2 head.

Fig. 7 is the schematic perspective view for the head that second embodiment of the invention provides.

Fig. 8 is another visual angle schematic diagram of Fig. 7 head.

Fig. 9 is the schematic diagram of the first connector of Fig. 7 head.

Figure 10 is the functional module group schematic diagram of the unmanned plane of second embodiment of the invention.

Main element symbol description

Unmanned plane 400

Body 200

Head 100,600

Rotor assemblies 404

Fuselage 201

Foot stool 203

Control panel 500,601

Control module 503

First control module 5031,875

Second control module 5033,876

3rd control module 5035,877

4th control module 5037

Support base 10,602

Pedestal 11

Buffering ball 13

Bracket component 30,80

First support 31,81

Spacing raised line 811

Through hole 313,339,358

Second support 33,83

Connecting portion 331,831

Entrance 8311

Rotating junction 333,833

Outlet 8331

Boss 337

3rd support 35,85

First installing department 351,851

Second installing department 353,853

Functional module group 50,87

First actuator 51,871

First docking section 511

Second actuator 53,872

Second docking section 531

3rd actuator 55,873

Body 551

Lid sets portion 553

Guide part 557

3rd docking section 558

Filming apparatus 57,89

Matrix 573

Lead and hold plate 575

4th docking section 577

First axle α

Second axis β

3rd axis γ

Attachment structure 70,900

Connector 71

Main part 711

Termination 713

Bending section 720,920

First connector 73,901

Second connector 75,902

3rd connector 77

4th connector 79

First meet 718

Second meet 719

3rd meet 715

4th meet 717

Trunk 91

First branch 92

Second branch 93

3rd branch 94

First branch point 921

Second branch point 923

Following embodiment will combine above-mentioned accompanying drawing and further illustrate the present invention.

Embodiment

Refer to shown in Fig. 1 and Fig. 2, the unmanned plane 400 of an embodiment of the present invention includes body 200 and is installed in machine Head 100 on body 200.Certainly, the unmanned plane 400 can include some necessary or attached structures, such as power supply, sensing Device etc., to save space, it will not be described here.In the present embodiment, the unmanned plane 400 is unmanned vehicle, in other implementations In example, the unmanned plane 400 can be the unmanned machines such as unmanned boat, unmanned vehicle.

In present embodiment, the unmanned plane 400 is quadrotor, the i.e. flight with four rotor assemblies 404 Device.It is appreciated that the unmanned plane 400 can also be six rotorcraft, eight-rotary wing aircraft, 12 rotor crafts etc., Even, the unmanned plane 400 can be single rotor craft；In addition, in other embodiments, the unmanned plane 400 can be with For Fixed Wing AirVehicle, or the aircraft of fixed-wing-rotor mixing.

The body 200 includes fuselage 201 and the foot stool 203 being connected with the fuselage 201.The fuselage 201 is institute State the main support and installation structure of unmanned plane 400, such as support or collecting rotor assemblies 404, antenna module (not shown), biography Sensor (not shown) etc., circuit board (not shown), inertia survey meter (IMU), fly control module (not shown), sensor (not shown) Etc. structure or module.According to the difference of the configuration design of the unmanned plane 400, the fuselage 201 can have different shapes, For example, square, polygon, streamlined and other regularly or irregularly shapes etc..

The foot stool 203 provides support when being landed for the unmanned plane 400.In one embodiment, the foot stool 203 is relative It is fixedly connected in the fuselage 201；In another embodiment, the connection angle between the foot stool 203 and the fuselage 201 can Adjustment；In a further embodiment, a part for the foot stool 203 can adjust relative to the connection angle of another part.

The head 100 includes control panel 500, support base 10, the bracket component 30 being connected with the support base 10, is located at Functional module group 50 and attachment structure 70 (as shown in Figure 6) on the bracket component 30.The control panel 500 is arranged at the branch Support outside seat 10, the bracket component 30 and the functional module group 50.

The control panel 500 is installed on the body 200, and the control panel 500 can adjust turning for the head 100 To parameters such as, rotating speeds.In present embodiment, the control panel 500 includes multiple functional control modules 503.The multiple control Module 503 includes the first control module 5031, the second control module 5033, the 3rd control module 5035 and the 4th control module 5037, wherein first control module 5031 is set adjacent to a lateral edges of control panel 500, the 4th control module 5037 Another lateral edges of the neighbouring control panel 500 are set.Second control module 5033 and the 3rd control module 5035 It is neighbouring to set, and be arranged between the first control module 5031 and the 4th control module 5037.Second control module 5033 adjacent to first control module 5031, and the 3rd control module 5035 is adjacent to the 4th control module 5037.

Include pedestal 11 and the buffering ball 13 being installed on the pedestal 11 on the support base 10.The pedestal 11 is substantially In frame shaped, the pedestal 11 is connected with the fuselage 201, to support the bracket component 30 and located at the bracket component Functional module group 50 on 30.The buffering ball 13 is connected with the fuselage 201.Specifically, buffering ball 13 is made up of elastomeric material, So as to form elastic connection between the fuselage 201 and the pedestal 11, so buffer that the head 100 is subject to from described The vibrations of the fuselage 201 caused by the vibrations of fuselage 201, such as propeller operating, air-flow, aircraft lifting etc..It can manage Solve, elastic component can also be set on the buffering ball 13, to buffer the shake from the fuselage 201 that the head 100 is subject to It is dynamic.

Incorporated by reference to shown in Fig. 3 and Fig. 4, the bracket component 30 includes first support 31, the support of second support 33 and the 3rd 35.The first support 31 is substantially vertical with one end of the pedestal 11 to connect.The first support 31 is substantially plate-like, thereon Offer through hole 313.The second support 33 can be rotationally connected with the first support 31.The second support 33 includes Connecting portion 331 and the rotating junction 333 being fixedly connected with the connecting portion 331.The connecting portion 331 is substantially in ring body shape, It is rotatablely connected with the first support 31.The lateral wall projection of the connecting portion 331 forms boss 337 (such as Fig. 3 and Fig. 4 institutes Show).Substantially in bending demihull shape, it is formed by the edge bending extension of the connecting portion 331 for the rotating junction 333.Institute State insertion on rotating junction 333 and open up through hole 339.The through hole 339 is set adjacent to the boss 337.3rd support 35 can rotationally be connected with the rotating junction 333, and it includes the first installing department 351 and the second installing department 353.Described One installing department 351 can be rotationally connected with the rotating junction 333.First installing department 351 is substantially in annular shape, its Projection forms platform portion 357 (as shown in Figure 4) on periphery wall.Second installing department 353 by first installing department 351 one end Bending extension is formed, and opens up through hole 358 (as shown in Figure 4) adjacent to the described insertion of portion 357 thereon.

The functional module group 50 includes the first actuator 51, the second actuator 53, the 3rd actuator 55 and filming apparatus 57. First actuator 51 is installed in the one end of the first support 31 away from the support base 10 and connected with the connecting portion 331 Connecing, second actuator 53 is installed on the rotating junction 333 and is connected with first installing department 351, and described Three actuators 55 are installed on second installing department 353 and are connected with the filming apparatus 57.Specifically, in present embodiment In, first actuator 51, the second actuator 53 and the 3rd actuator 55 are motor, such as brushless electric machine.Described One actuator 51 is installed in the first support 31 and is connected with the connecting portion 331 of the second support 33, for driving The second support 33 is moved to rotate and (rotate along pitching (pitch) direction) around the first axle α；Second actuator 53 fills It is connected on the rotating junction 333 and with the first installing department 351 of the 3rd support 35, for driving the described 3rd Support 35 is rotated and (rotated along course (yaw) direction) around the second axis β.3rd actuator 55 is installed in the described 3rd Second installing department 353 of support 35, for driving the filming apparatus 57 to be rotated around the 3rd axis γ (along roll (roll) Direction rotates).Therefore, the bracket component 30 is by most inner side putting in order as roll-pitching-course (roll- to outside Pitch-yaw), most inner side is the side being directly connected to the filming apparatus 57.It is understood that the bracket component 30 Arrangement mode can also be other arrangement modes.

The filming apparatus 57 is digital camera.The filming apparatus 57 is located at the lower section of second actuator 53.

Also referring to shown in Fig. 5, first actuator 51 has the first docking section 511, and first docking section 511 is adjacent The nearly through hole 313 is set, and second actuator 53 has the second docking section 531, and second docking section 531 is adjacent to described logical Hole 339 is set.3rd actuator 55 includes body 551, the lid being covered on the body 551 sets portion 553 and is convexly equipped in The lid sets the guide part 557 in portion 553.The body 551 has the 3rd docking section 558.3rd docking section 558 is adjacent to institute State through hole 358 and the guide part 557 substantially piece shape shape be set, the guide part 557 by the lid set portion 553 protrude out to it is described The sidepiece in platform portion 357.The guide part 557 is arranged at intervals with described portion 357 and forms gap.The filming apparatus 57 tool the Four docking sections 577.

The attachment structure 70 includes multiple connectors 71.Each connector 71 includes main part 711 and located at the master The termination 713 at the both ends of body portion 711.The multiple connector 71 includes the first connector 73, the second connector 75, the 3rd connector 77 and the 4th connector 79.One termination 713 of first connector 73 is connected with first control module 5031, Another termination 713 of first connector 73 is connected through the through hole 313 and with first docking section 511； One termination 713 of second connector 75 is connected with second control module 5033, second connector 75 Another termination 713 through the through hole 339 and being connected with second docking section 531；3rd connector 77 A termination 713 be connected with the 3rd control module 5035, another termination 713 of the 3rd connector 77 is worn The through hole 358 is crossed, and is connected with the 3rd docking section 558；One termination 713 of the 4th connector 79 and described the Four control modules 5037 are connected, and another termination 713 and the 4th docking section 577 of the 4th connector 79 connect Connect.In present embodiment, the connector 71 is cable made of flexible PCB.It is appreciated that the master of the connector 71 Body portion 711 can be coaxial line, the flexible circuit board connector that the termination 713 of the connector 71 is connected with the coaxial line, In other embodiments, the termination 713 is caxial-line feeder.

Specifically, Fig. 6, second connector 75, the 3rd connector 77 and the 4th connection are please referred to Part 79 has the first meet 718 and the second meet 719, and the 3rd connector 77 and the 4th connector 79 also include 3rd meet 715 and the 4th meet 717, the 3rd meet 715 and first meet 718 are adjacent to the control Plate 500 is set, and the 4th meet 717 is set adjacent to described portion 357, and second meet 719 is adjacent to the boss 337 are set.

Second connector 75, the 3rd connector 77 and the 4th connector 79 meet at described first and converged Place 718 simultaneously links together in first meet 718, second connector 75, the 3rd connector 77 and described 4th connector 79 also meets at second meet 719 and linked together in second meet 719, the present embodiment In, in first meet 718 between second meet 719, second connector 75, the 3rd connector 77 and the 4th connector 79 be connected in together in being stacked, the 3rd connector 77 is located in described second and connected Between fitting 75 and the 4th connector 79.

3rd connector 77 and the 4th connector 79 meet at the 3rd meet 715 and the described 3rd Meet 715 links together, and the 3rd connector 77 and the 4th connector 79 also meet at the 4th meet 717 and link together in the 4th meet 717, in the present embodiment, converged in the 3rd meet 715 to described first Between 718 at conjunction, and in second meet 719 between the 4th meet 717, the 3rd connector 77 and It is in be stacked together that 4th connector 79, which is connected in,.

The problem of to avoid during use the connector 71 from rocking, release, the connector of the 4th meet 717 71 are fixedly connected with platform portion 357, and the connector 71 of second meet 719 is fixedly connected with the boss 337.Described 4th The mode that the connector 71 of meet 717 is fixedly connected with platform portion 357, and the connector 71 of second meet 719 with The mode that the boss 337 is fixedly connected, it can be realized by way of bonding, clamping, fixture are fixed.

The second connector 75, the 3rd connector 77 and the 4th connector 79 at second meet 719 is by described convex The support of platform 337 is fixed.Second connector 75 is extended through located at the through hole 339 simultaneously by second meet 719 bending It is connected with second docking section 531.3rd connector 77 and the 4th connector 79 are from second meet 719 Bending extension, the rotating junction 333 is set around, and part fits in the side wall of first installing department 351.

It is appreciated that the connector 71 of second meet 719 can be connected to other ground of the second support 33 Side, such as rotating junction 333, the end of connecting portion 331 as described in second actuator 53 is neighbouring；Second meet 719 connector 71 can be connected with the structure outside described portion 357, for example, the second installing department of the 3rd support 35 On 353, or, the lid of such as described 3rd actuator 55 sets portion 553.

3rd connector 77 is fixed in the 4th meet 717 with described portion 357, and is converged from the described 4th Place 717 stretches into the through hole 358 and is connected with the 3rd docking section 558；4th connector 79 converges from the described 4th 717 extend at conjunction, and together with it is arranged in the gap and fitted in the guide part 557, the 4th connector 79 is from institute State further to bend at guide part 557 and extend and be connected with the 4th docking section 577.

Second connector 75, the 3rd connector 77 and the 4th connector 79 are in first meet The bending section 720 that actuator (51,53,55) bending takes the shape of the letter U, the bending section are corresponded between 718 and second meet 719 720 tool certain lengths are simultaneously set adjacent to the second support 33.3rd connector 77 and the 4th connector 79 are in institute The second meet 719 is stated to reserved certain length between first installing department 351 and bends the bending section 720 being generally u-shaped, For providing the motion surplus rotated with actuator (51,53,55) for the attachment structure 70.What the bending section 720 provided Surplus is moved, the attachment structure 70 can be avoided tight feelings occur during being rotated in company with actuator (51,53,55) Condition, and then resistance of the actuator (51,53,55) when being rotated around each axle can be reduced, also avoid the attachment structure 70 The problem of damaging is pullled because tight.The length of the bending section 720 is set according to actually required, and it only needs to reach When actuator (51,53,55) rotates, each connector of the bending section 720 is in relaxed state and occurs without tight situation .In addition, the attachment structure 70 to sufficient space is reserved with each axis rotation of the head 100, avoids described Between connector 71, and winding between other structures, friction phenomenon, will not be to first actuator 51, described The work of two actuators 53, the 3rd actuator 55 interferes.It is appreciated that in other embodiment, the described 4th converges 717 connector 71 can not be connected with second support 33 or other structures at conjunction, and the connector of second meet 719 71 can not be connected with the 3rd support 35 or other structures.

It is appreciated that the bending section 720 is not limited to bending and taken the shape of the letter U, the other shapes such as it can also be S-shaped.It is described curved Pars convoluta 720 be arranged at the outside of the actuator (51,53,55) and positioned at the bracket component 30 and the actuator (51, 53rd, between 55).

Further, the filming apparatus 57 includes matrix 573 and led to hold plate 575.Described matrix 573 is connected to described On three actuators 55.Described lead is held plate 575 and is fixedly connected with the side of described matrix 573, and described lead holds plate 575 and the base Body 573 is arranged at intervals, can be by the passage (figure is not marked) of the 4th connector 79 with formation, and then is the described 4th connection Part 79 is oriented to and positioned.4th connector 79 is connected by the passage with the filming apparatus 57.This embodiment party In formula, the first axle α, the second axis β and the 3rd axis γ are mutually perpendicular to.The filming apparatus 57 is installed in On 3rd actuator 55, to obtain image.Because the head 100 is three axle heads, it can be around course axle (first axle α), roll axle (second axis β) and pitch axis (the 3rd axis γ) adjust shooting angle and the side of the shooting unit 52 To.

During assembling, the first support 31 is connected to the support base 10, the second support 33 passes through described first Actuator 51 is connected with the first support 31, and the 3rd support 35 passes through second actuator 53 and the second support 33 connections, the filming apparatus 57 is installed on the 3rd support 35.First connector 73 is connected into described first to drive Between moving part 51 and the control panel, by the second connector 75 be connected to second actuator 53 and the control panel 500 it Between, the 3rd connector 77 is connected between the 3rd actuator 55 and the control panel 500, by the described 4th connection Part 79 is connected between the filming apparatus 57.

Head 100 provided by the invention and the unmanned plane 400 for having head 100, each connector 71 are arranged at each actuator The outside of (51,53,55), connector 71 is when bending winding because of larger cabling space, and attachment structure 70 is in actuator The not busy complementary space of (51,53,55) between bracket component 30 forms the bending section 720 of bending, and then is driven in the actuator Motion surplus is provided when each support (31,33,35) rotates, enough avoids the attachment structure 70 from being rotated in company with the actuator During there is tight situation, and then resistance of the actuator (51,53,55) when being rotated around each axle can be reduced, The attachment structure 70 is avoided to pull the problem of damaging because tight.

In addition, in existing three axles head (not shown), generally each motor (not shown) is individually with an electric-controlled plate (figure Do not show), its corresponding motor of electric-controlled plate is disposed adjacent, and (figure is not by cable for its corresponding motor of electric-controlled plate Show) connect, connected again by cable to allow power supply to be powered between three electric-controlled plates, the number of cable is more, wire structures Complexity, in use, the friction between cable is easily caused, disturb the motion of actuator and other structures.Described One actuator 51, second actuator 53, the control module of the 3rd actuator 55 are integrated on same control panel 500, And the control panel 500 is located at outside the support base 10, the bracket component 30 and the actuator and then can reduce body Product and weight.

Further, the 3rd connector 77 and the tandem of the 4th connector 79 are in the 3rd meet 715 and the 4th Meet 717, second connector 75, the 3rd connector 77 and the tandem of the 4th connector 79 converge in described first 718 and second meet 719 at conjunction, the connector 71 is in the 3rd meet 715 to first meet 718, the connector 71 is connected in together in the 4th meet 717 to second meet 719, avoids institute State between connector 71 and the winding between the connector 71 and each functional module group 50, friction phenomenon, without interference with each work( Work between energy module 50, and save cabling space.

It is appreciated that the support base 10 can omit, the first support 31 is fixedly connected with the body 200.

It is appreciated that the attachment structure 70 comprises at least a connector 71.

It is appreciated that when the attachment structure 70 includes two connectors 71, each connector 71 is connected to One function Between module 50 and control panel 500, connector 71 described in wherein at least two, which converges, is connected at least two meets, it is described its In at least two connectors 71 be connected together between at least two meets.

Second embodiment of the invention provides a kind of unmanned plane (not shown), and the unmanned plane includes head 600, referred to Fig. 7 and Fig. 8, the head 600 include control panel 601, support base 602, the bracket component 80 being connected with the support base 602, Functional module group on the bracket component 30, and attachment structure 90.The control panel 601 is arranged at the support base 602nd, outside the bracket component 80 and the functional module group 87.

The bracket component 80 includes first support 81, the support 85 of second support 83 and the 3rd.The functional module group 87 is wrapped Include the first actuator 871, the second actuator 872 and the 3rd actuator 873 and filming apparatus 89.The first support 81 with it is described Support base 602 connects.Spacing raised line 811 is formed in the first support 81.The second support 83 include connecting portion 831 and by The connecting portion 831 extends the rotating junction 833 being bent to form.The connecting portion 831 is substantially in ring body shape, and it is with described One support 81 is rotatablely connected.The connecting portion 831 for ducted body and is interconnected with the rotating junction 833, the connection Portion 831 opens up entrance 8311 (please join shown in Fig. 7) adjacent to the bottom of the first support 81, and the rotating junction 833 is remote One end of the connecting portion 831 offers outlet 8331 (please join shown in Fig. 7), to facilitate receiving connection cables.The company of rotation Insertion opens up through hole 8335 in socket part 833.3rd support 85 is rotatablely connected with the rotating junction 833, and it includes One installing department 851 and the second installing department 853.First installing department 851 is rotatablely connected with the rotating junction 833.It is described Second installing department 853 is formed by one end bending extension of first installing department 851.The outer peripheral edge of first installing department 851 And it is convexly equipped with limit convex bar 811 on second installing department 853.

The actuator includes the first actuator 871, the second actuator 872 and the 3rd actuator 873.First driving Part 871 is connected between the first support 81 and the connecting portion 831, for driving the second support 83 around first axle Rotate, the first axle is the course axle of the head 600.Second actuator 872 is connected to the rotating junction Between 835 and first installing department 851, for driving the 3rd support 85 to be rotated around second axis, the second axis For the roll axle of the head 600.3rd actuator 873 is on second installing department 853.The second axis with The first axle is perpendicular.The bracket component 80 is by most inner side putting in order as roll-pitching-course to outside (roll-pitch-yaw), most inner side is the side being directly connected to the filming apparatus 89.It is understood that the support The arrangement mode of component 30 can also be other arrangement modes.

The filming apparatus 89 is connected with the 3rd actuator 873.3rd actuator 873 is used to drive the bat Take the photograph device 89 to rotate around the 3rd axis, the 3rd axis and the first axle and the second axis are perpendicular.Described Three axis are the pitch axis of the head 600.

The attachment structure 900 includes the first connector 901 and the second connector 902.Referring to Fig. 9, described first connects Fitting 901 includes trunk 91, the first branch 92, the second branch 93 and the 3rd branch 94, first branch 92, described second point Branch 93 and the 3rd branch 94 are extended by the trunk 91 to be formed.The trunk 91 is away from first branch 92 and described One end of two branches 93 electrically connects with the control panel 601, and first branch 92 is electrically connected to first actuator 871, Second branch 93 electrically connects second actuator 872, and the 3rd branch 94 electrically connects the 3rd actuator 873. If first branch 92 is the first branch point 921 in the branch point extended out on the trunk 91, if second branch 93 with the 3rd branch 94 in the branch point extended out on the trunk 91 be the second branch point 923.The trunk 91 is certainly The part of first branch point 921 and second branch point 923 is bent to form the bending section 920 of substantially u-shaped structure.Institute State the 3rd branch 94 and be bent to form substantially u-shaped structure between first actuator 871 and second actuator 872 Bending section 920, bending section 920 of the 3rd branch 94 between first actuator 871 and second actuator 872 Also between the support 85 of second support 83 and the 3rd.In present embodiment, first connector 901 is flexible circuit Plate is made.The part of 3rd branch 94 is attached at the periphery of the 3rd support 85.

The bending that the trunk 91 is bent to form from the part of first branch point 921 and second branch point 923 Portion 920, and bending section 920 of the 3rd branch 94 between first actuator and second actuator 872 not around Actuator (871,872,873) is set, and bending section 920 is arranged at actuator (871,872,873) and each support (81,83,85) Between.

The bending section 920, for providing what is rotated with actuator (871,872,873) for first connector 901 Move surplus, the motion surplus that the bending section 920 provides, can avoid the attachment structure 900 in company with actuator (871, 872nd, there is tight situation during 873) rotating, and then the actuator (871,872,873) can be reduced around cloud Resistance when 600 each axle of platform rotates, also avoids first connector 901 from pullling the problem of damaging because tight.

Second connector 902 is electrically connected between the control panel 601 and the filming apparatus 89.Described second connects Fitting 902 is arranged in the spacing raised line 811 in the first support 81, the second support 83, and the 3rd support 85 Spacing raised line 811, to avoid first connector 901.In present embodiment, second connector 902 is coaxial line, with Improve the efficiency of transmission high frequency/high speed signal.

Further, in present embodiment, refer to shown in Figure 10, first for the first actuator of drive control 871 Control module 875 electrically connects on first actuator 871 and with first actuator 871, for drive control the Second control module 876 of two actuators 872 is electrically connected on second actuator 872 and with second actuator 872 Connect, the 3rd control module 877 for the 3rd actuator 873 described in drive control on the 3rd actuator 873 and with 3rd actuator 873 electrically connects.

It is understood that those skilled in the art can also do other changes etc. in spirit of the invention is used in the present invention's Design, without departing from the technique effect of the present invention.These changes done according to present invention spirit, it should all be included in Within scope of the present invention.

Claims

1. a kind of head, it includes bracket component, functional module group, control panel and attachment structure, and the functional module group is arranged on On the bracket component, the functional module group includes actuator, and the control panel is arranged at the bracket component and the driving Outside part, the attachment structure electrically connects the control panel with the actuator, it is characterised in that：The attachment structure include pair The bending section of actuator described in Ying Yu, the bending section are arranged at outside the actuator and positioned at the bracket components and described Between actuator, for providing the motion surplus rotated with the actuator for the attachment structure.

2. head as claimed in claim 1, it is characterised in that：The bracket component include first support and with described first The second support of frame connection, the actuator include the first actuator, first actuator be connected to the first support and Between the second support, first actuator is used to drive the second support to rotate around first axle, the connection knot Structure is electrically connected between first actuator and the control panel, the crooked position in the outside of first actuator simultaneously Neighbouring first support and/or the second support are set.

3. head as claimed in claim 2, it is characterised in that：The first axle is the course axle of the head.

4. head as claimed in claim 2, it is characterised in that：The bracket component also includes the 3rd support, the function mould Group also includes the second actuator, and second actuator is connected between the second support and the 3rd support, and described the Two actuators are used to drive the 3rd support to rotate around second axis, and the attachment structure is electrically connected with second actuator Connect.

5. head as claimed in claim 4, it is characterised in that：The second axis and the first axle are perpendicular.

6. head as claimed in claim 4, it is characterised in that：The second axis is the roll axle of the head.

7. head as claimed in claim 4, it is characterised in that：The attachment structure includes trunk, the first branch and second point Branch, first branch, second branch extend by the trunk and formed, and the trunk is away from first branch and described One end of second branch electrically connects with the control panel, and first branch is electrically connected to first actuator, and described second Branch electrically connects second actuator.

8. head as claimed in claim 7, it is characterised in that：If first branch is in point extended out on the trunk Fulcrum is the first branch point, described if second branch is the second branch point in the branch point extended out on the trunk Trunk is bent to form bending section from the part of first branch point and second branch point, and the crooked position is in described the Between one actuator and second actuator.

9. head as claimed in claim 7, it is characterised in that：The attachment structure also includes also by the trunk being extended being formed The 3rd branch, the functional module group also includes the 3rd actuator, and it is remote that the 3rd actuator is connected to the 3rd support One end of the second support, the 3rd branch electrically connect with the 3rd actuator.

10. head as claimed in claim 9, it is characterised in that：3rd branch is in first actuator and described the Bending section is bent to form between two actuators.

11. head as claimed in claim 9, it is characterised in that：3rd component is attached at the 3rd support Periphery.

12. head as claimed in claim 9, it is characterised in that：The functional module group also includes filming apparatus, the shooting dress Put and be installed on the 3rd actuator, the 3rd actuator is used to drive the filming apparatus to rotate around the 3rd axis.

13. head as claimed in claim 12, it is characterised in that：3rd axis, the second axis and described first Axis is mutually perpendicular to.

14. head as claimed in claim 13, it is characterised in that：3rd axis is the pitch axis of the head.

15. head as claimed in claim 12, it is characterised in that：The bracket component is by most inner side putting in order to outside For roll-pitching-course, the side that most inner side is directly connected to for the bracket component with the filming apparatus.

16. head as claimed in claim 4, it is characterised in that：The attachment structure includes the first connector and the second connection Part, first connector are electrically connected between first actuator and the control panel, the first connector Curved Into a bending section and between the second support and second actuator, second connector is bent to form another curved Pars convoluta and between the second support and second actuator, second connector is connected to second actuator Between the control panel, first connector and second connector are separately positioned.

17. head as claimed in claim 1, it is characterised in that：The head includes filming apparatus, and the attachment structure includes The control panel and the actuator are electrically connected by separately positioned the first connector and the second connector, first connector Connect, the filming apparatus is connected with the bracket component, and second connector is connected to the filming apparatus and the control Between plate.

18. head as claimed in claim 17, it is characterised in that：First connector is made up of flexible PCB.

19. head as claimed in claim 17, it is characterised in that：Second connector is made up of coaxial line.

20. head as claimed in claim 17, it is characterised in that：The bracket component includes first be rotatablely connected successively Frame, second support, the actuator are connected between the first support and the second support, are formed in the first support Spacing raised line, second connector are arranged in the spacing raised line.

21. head as claimed in claim 20, it is characterised in that：The second support includes connecting portion and by the connecting portion The rotating junction that bending extension is formed, the actuator are connected between the first support and the connecting portion, the company Socket part and the rotating junction are hollow structure, and the connecting portion connects with the rotating junction, second connector It is arranged in the connecting portion and the rotating junction.

22. head as claimed in claim 21, it is characterised in that：The bracket component also includes the 3rd support, and the described 3rd Support and the second support are rotatablely connected, on the 3rd support projection form spacing raised line, second connector is worn In the spacing raised line of the 3rd support.

23. head as claimed in claim 1, it is characterised in that：The bracket component include rotation connection second support and 3rd support, the actuator include the second actuator and the 3rd actuator, and second actuator is used to drive described second Holder pivots, the 3rd support are connected between second actuator and the 3rd actuator, the attachment structure bag Include the second connector and the 3rd connector, second connector be electrically connected to second actuator and the control panel it Between, the 3rd connector is electrically connected between the 3rd actuator and the control panel, and the attachment structure includes first Meet and the second meet, second connector link together with the 3rd connector in first meet, Second connector links together with the 3rd connector in second meet, and first meet is adjacent to institute Control panel setting is stated, second meet is set adjacent to the second support.

24. head as claimed in claim 23, it is characterised in that：Second connector, the 3rd connector are in described The actuator, which is corresponded to, between first meet and second meet is bent to form bending section.

25. head as claimed in claim 23, it is characterised in that：Described in first meet to second meet Together with second connector overlaps on the 3rd connector connection.

26. head as claimed in claim 23, it is characterised in that：Second connector of second meet and the described 3rd Connector is connected in the second support.

27. head as claimed in claim 26, it is characterised in that：The second support includes connecting portion and by the connecting portion The rotating junction that bending extension is formed, the lateral wall projection formation boss of the connecting portion, the second of second meet Connector is connected to the boss with the 3rd connector.

28. head as claimed in claim 27, it is characterised in that：Insertion offers through hole on the rotating junction, described Through hole that second connector extends from second meet and is arranged on the rotating junction and then driven with described second Moving part connects.

29. head as claimed in claim 23, it is characterised in that：The functional module group also includes filming apparatus, the shooting Device is installed on the 3rd actuator, and the attachment structure also includes the 4th connector, and the 4th connector connects It is connected between the corresponding control module of the filming apparatus and the control panel.

30. head as claimed in claim 29, it is characterised in that：4th connector first meet with it is described Second connector, the 3rd connector are connected together, and the 4th connector is in second meet and described second Connector, the 3rd connector are connected together.

31. head as claimed in claim 30, it is characterised in that：3rd connector and the 4th connector are in described Second meet is bent to form bending section between the 3rd support.

32. head as claimed in claim 30, it is characterised in that：Described in first meet to second meet Second connector, the 3rd connector and the 4th connector connection overlap on together.

33. head as claimed in claim 30, it is characterised in that：The attachment structure also includes the 4th meet, and described Four meets are set adjacent to the 3rd support and second actuator, and the 3rd connector and the 4th connector exist 4th meet is connected together, and the 3rd connector and the 4th connector extend to from second meet 4th meet.

34. head as claimed in claim 33, it is characterised in that：Second meet is to the 3rd of the 4th meet Connector and the 4th connector are connected together.

35. head as claimed in claim 33, it is characterised in that：3rd support includes the first installing department and with described the Second installing department of one installing department connection, first installing department are connected by second actuator with the second support, 3rd actuator is installed on second installing department.

36. head as claimed in claim 35, it is characterised in that：Second meet is to the 3rd of the 4th meet Connector and the 4th connector are fitted on the periphery wall of first installing department.

37. head as claimed in claim 35, it is characterised in that：Insertion opens up through hole on second installing department, and described the The through hole that three connectors extend from the 4th meet and are arranged on second installing department with the 3rd actuator Connection.

38. head as claimed in claim 35, it is characterised in that：First installing department is adjacent to the logical of second installing department Hole forms platform portion, and the 4th meet is set adjacent to described portion.

39. head as claimed in claim 1, it is characterised in that：The functional module group includes being installed in the bat of the actuator Device is taken the photograph, the actuator includes body and lid sets portion, and the lid portion of setting is installed on the body, the attachment structure connection Between the 3rd actuator and the control panel, and between the filming apparatus and the control panel.

40. head as claimed in claim 39, it is characterised in that：The lid sets portion's projection guide part, and the guide part protrudes out To the sidepiece in described portion, the guide part is arranged at intervals with described portion and forms gap, and the attachment structure is arranged in institute State gap.

41. head as claimed in claim 39, it is characterised in that：The filming apparatus includes matrix and led to hold plate, described to lead Hold plate to be fixedly connected with the side of described matrix, and described lead holds plate and described matrix interval setting, can pass through institute to be formed The passage of attachment structure is stated, the attachment structure is connected by the passage with the functional module group.

42. head as claimed in claim 1, it is characterised in that：The attachment structure comprises at least two connectors, Mei Gelian Fitting includes main part and located at the termination of the end of the main part.

43. head as claimed in claim 42, it is characterised in that：The main part is coaxial line.

44. head as claimed in claim 42, it is characterised in that：The main part is flexible PCB.

45. head as claimed in claim 42, it is characterised in that：The termination is flexible circuit board connector.

46. head as claimed in claim 42, it is characterised in that：The termination is caxial-line feeder.

47. head as claimed in claim 1, it is characterised in that：The control module of the actuator is integrated in the control panel On.

48. head as claimed in claim 1, it is characterised in that：The control module of the actuator is arranged at the actuator On.

49. a kind of unmanned plane, it includes body and head, and the head is installed in the body, and the head includes support group Part, functional module group, control panel and attachment structure, the bracket component connect with the body, and the functional module group is arranged on On the bracket component, the functional module group includes actuator, and the control panel is arranged at the bracket component and the driving Outside part, the attachment structure electrically connects the control panel with the actuator, it is characterised in that：The attachment structure include pair The bending section of actuator described in Ying Yu, the bending section are arranged at outside the actuator and positioned at the bracket components and described Between actuator, for providing the motion surplus rotated with the actuator for the attachment structure.

50. unmanned plane as claimed in claim 49, it is characterised in that：The bracket component includes first support and with described the The second support of one support connection, the actuator include the first actuator, and first actuator is connected to described first Between frame and the second support, first actuator is used to drive the second support to rotate around first axle, the company Binding structure is electrically connected between first actuator and the control panel, and the crooked position is in the outer of first actuator Portion and the neighbouring first support and/or second support setting.

51. unmanned plane as claimed in claim 50, it is characterised in that：The first axle is the course axle of the head.

52. unmanned plane as claimed in claim 50, it is characterised in that：The bracket component also includes the 3rd support, the work( Energy module also includes the second actuator, and second actuator is connected between the second support and the 3rd support, institute State the second actuator to be used to drive the 3rd support to rotate around second axis, the attachment structure and second actuator electricity Connection.

53. unmanned plane as claimed in claim 52, it is characterised in that：The second axis and the first axle are perpendicular.

54. unmanned plane as claimed in claim 52, it is characterised in that：The second axis is the roll axle of the head.

55. unmanned plane as claimed in claim 52, it is characterised in that：The attachment structure includes trunk, the first branch and the Two branches, first branch, second branch are extended by the trunk and formed, the trunk away from first branch and One end of second branch electrically connects with the control panel, and first branch is electrically connected to first actuator, described Second branch electrically connects second actuator.

56. unmanned plane as claimed in claim 55, it is characterised in that：If first branch extends out on the trunk Branch point be the first branch point, if second branch is the second branch point in the branch point extended out on the trunk, The trunk is bent to form bending section from the part of first branch point and second branch point, and the crooked position is in institute State between the first actuator and second actuator.

57. unmanned plane as claimed in claim 55, it is characterised in that：The attachment structure also includes also by the trunk being extended The 3rd branch formed, the functional module group also include the 3rd actuator, and the 3rd actuator is connected to the 3rd support One end away from the second support, the 3rd branch electrically connect with the 3rd actuator.

58. unmanned plane as claimed in claim 57, it is characterised in that：3rd branch in first actuator with it is described Bending section is bent to form between second actuator.

59. unmanned plane as claimed in claim 57, it is characterised in that：3rd component is attached at the 3rd support Periphery.

60. unmanned plane as claimed in claim 55, it is characterised in that：The functional module group also includes filming apparatus, the bat Take the photograph device to be installed on the 3rd actuator, the 3rd actuator is used to drive the filming apparatus around the 3rd axis to turn It is dynamic.

61. unmanned plane as claimed in claim 60, it is characterised in that：3rd axis, the second axis and described the One axis is mutually perpendicular to.

62. unmanned plane as claimed in claim 61, it is characterised in that：3rd axis is the pitch axis of the head.

63. unmanned plane as claimed in claim 60, it is characterised in that：The bracket component is suitable by most arrangement of the inner side to outside Sequence is roll-pitching-course, the side that most inner side is directly connected to for the bracket component with the filming apparatus.

64. unmanned plane as claimed in claim 52, it is characterised in that：The attachment structure includes the first connector and the second company Fitting, first connector are electrically connected between first actuator and the control panel, the first connector bending Form a bending section and between the second support and second actuator, second connector is bent to form another Bending section and between the second support and second actuator, second connector are connected to second driving Between part and the control panel, first connector and second connector are separately positioned.

65. unmanned plane as claimed in claim 49, it is characterised in that：The head includes filming apparatus, the attachment structure Including separately positioned the first connector and the second connector, first connector is electric by the control panel and the actuator Connection, the filming apparatus are connected with the bracket component, and second connector is connected to the filming apparatus and the control Between making sheet.

66. the unmanned plane as described in claim 65, it is characterised in that：First connector is made up of flexible PCB.

67. the unmanned plane as described in claim 65, it is characterised in that：Second connector is made up of coaxial line.

68. the unmanned plane as described in claim 65, it is characterised in that：The bracket component includes first be rotatablely connected successively Support, second support, the actuator are connected between the first support and the second support, shape in the first support Into spacing raised line, second connector is arranged in the spacing raised line.

69. unmanned plane as recited in claim 68, it is characterised in that：The second support includes connecting portion and by the connection The rotating junction that portion's bending extension is formed, the actuator is connected between the first support and the connecting portion, described Connecting portion and the rotating junction are hollow structure, and the connecting portion connects with the rotating junction, second connection Part is arranged in the connecting portion and the rotating junction.

70. the unmanned plane as described in claim 69, it is characterised in that：The bracket component also includes the 3rd support, and described Three supports and the second support are rotatablely connected, on the 3rd support projection form spacing raised line, second connector is worn Located at the spacing raised line of the 3rd support.

71. unmanned plane as claimed in claim 49, it is characterised in that：The bracket component includes the second support of rotation connection And the 3rd support, the actuator include the second actuator and the 3rd actuator, second actuator is used to driving described the Two holder pivots, the 3rd support are connected between second actuator and the 3rd actuator, the attachment structure Including the second connector and the 3rd connector, second connector be electrically connected to second actuator and the control panel it Between, the 3rd connector is electrically connected between the 3rd actuator and the control panel, and the attachment structure includes first Meet and the second meet, second connector link together with the 3rd connector in first meet, Second connector links together with the 3rd connector in second meet, and first meet is adjacent to institute Control panel setting is stated, second meet is set adjacent to the second support.

72. the unmanned plane as described in claim 71, it is characterised in that：Second connector, the 3rd connector are in institute State and correspond to the actuator between the first meet and second meet and be bent to form bending section.

73. the unmanned plane as described in claim 71, it is characterised in that：First meet to second meet institute State together with the connection of the second connector and the 3rd connector overlaps on.

74. the unmanned plane as described in claim 71, it is characterised in that：Second connector of second meet and described the Three connectors are connected in the second support.

75. the unmanned plane as described in claim 74, it is characterised in that：The second support includes connecting portion and by the connection The rotating junction that portion's bending extension is formed, the lateral wall projection of the connecting portion form boss, and the of second meet Two connectors are connected to the boss with the 3rd connector.

76. the unmanned plane as described in claim 75, it is characterised in that：Insertion offers through hole on the rotating junction, institute State the through hole that the second connector extends from second meet and is arranged on the rotating junction and then with described second Actuator connects.

77. the unmanned plane as described in claim 71, it is characterised in that：The functional module group also includes filming apparatus, the bat Take the photograph device to be installed on the 3rd actuator, the attachment structure also includes the 4th connector, the 4th connector It is connected between the corresponding control module of the filming apparatus and the control panel.

78. the unmanned plane as described in claim 77, it is characterised in that：4th connector is in first meet and institute State the second connector, the 3rd connector is connected together, the 4th connector is in second meet and described the Two connectors, the 3rd connector are connected together.

79. the unmanned plane as described in claim 78, it is characterised in that：3rd connector and the 4th connector are in institute State the second meet and be bent to form bending section between the 3rd support.

80. the unmanned plane as described in claim 78, it is characterised in that：First meet to second meet institute The second connector, the 3rd connector and the 4th connector connection is stated to overlap on together.

81. the unmanned plane as described in claim 78, it is characterised in that：The attachment structure also includes the 4th meet, described 4th meet is set adjacent to the 3rd support and second actuator, the 3rd connector and the 4th connector It is connected together in the 4th meet, the 3rd connector and the 4th connector extend from second meet To the 4th meet.

82. the unmanned plane as described in claim 81, it is characterised in that：Second meet is to the of the 4th meet Three connectors and the 4th connector are connected together.

83. the unmanned plane as described in claim 81, it is characterised in that：3rd support include the first installing department and with it is described Second installing department of the first installing department connection, first installing department pass through second actuator and the second support phase Connect, the 3rd actuator is installed on second installing department.

84. the unmanned plane as described in claim 83, it is characterised in that：Second meet is to the of the 4th meet Three connectors and the 4th connector are fitted on the periphery wall of first installing department.

85. the unmanned plane as described in claim 83, it is characterised in that：Insertion opens up through hole on second installing department, described The through hole that 3rd connector extends from the 4th meet and is arranged on second installing department with the described 3rd driving Part connects.

86. the unmanned plane as described in claim 83, it is characterised in that：First installing department is adjacent to second installing department Through hole forms platform portion, and the 4th meet is set adjacent to described portion.

87. unmanned plane as claimed in claim 49, it is characterised in that：The functional module group includes being installed in the actuator Filming apparatus, the actuator includes body and lid sets portion, and the lid portion of setting is installed on the body, and the attachment structure connects It is connected between the 3rd actuator and the control panel, and between the filming apparatus and the control panel.

88. the unmanned plane as described in claim 87, it is characterised in that：The lid sets portion's projection guide part, and the guide part is convex The sidepiece in described portion is extended, the guide part is arranged at intervals with described portion and forms gap, and the attachment structure is arranged in The gap.

89. the unmanned plane as described in claim 87, it is characterised in that：The filming apparatus includes matrix and led to hold plate, described Lead and hold plate and be fixedly connected with the side of described matrix, and described lead is held plate and be arranged at intervals with described matrix, can be passed through with being formed The passage of the attachment structure, the attachment structure are connected by the passage with the functional module group.

90. unmanned plane as claimed in claim 49, it is characterised in that：The attachment structure comprises at least two connectors, often Individual connector includes main part and located at the termination of the end of the main part.

91. the unmanned plane as described in claim 90, it is characterised in that：The main part is coaxial line.

92. the unmanned plane as described in claim 90, it is characterised in that：The main part is flexible PCB.

93. the unmanned plane as described in claim 90, it is characterised in that：The termination is flexible circuit board connector.

94. the unmanned plane as described in claim 90, it is characterised in that：The termination is caxial-line feeder.

95. unmanned plane as claimed in claim 49, it is characterised in that：The control module of the actuator is integrated in the control On plate.

96. unmanned plane as claimed in claim 49, it is characterised in that：The control module of the actuator is arranged at the driving On part.