CN117769518A

CN117769518A - Vibration isolator and movable platform

Info

Publication number: CN117769518A
Application number: CN202280050539.0A
Authority: CN
Inventors: 李雄飞; 王韵杰; 王永明
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2024-03-26
Also published as: WO2023173377A1

Abstract

A vibration isolator (100) for connecting a movable platform (200) body (12) and a head (300), the vibration isolator (100) comprising: the vibration isolator comprises a first connecting part (14), at least two first connecting pieces (18) are arranged along the circumference of the vibration isolator (100), the first connecting pieces (18) are used for being matched and connected with a holder (300) to achieve the installation of the vibration isolator (100) and the holder (300), and a second connecting part (16), at least two second connecting pieces (20) are arranged along the circumference of the vibration isolator (100), the second connecting pieces (20) are used for being matched and connected with a main body (12) to achieve the installation of the vibration isolator (100) and the main body (12), one of the first connecting pieces (18) and the second connecting pieces (20) comprises an installation hole (22), and the other one of the first connecting pieces and the second connecting pieces (20) comprises a clamping block (24). The design of the spatial position and angle of the vibration isolation configuration is simpler, and the constraint of the spatial position is less.

Description

Vibration isolator and movable platform

Technical Field

The application relates to the technical field of movable platforms, in particular to a vibration isolator and a movable platform.

Background

At present, the multi-rotor unmanned aerial vehicle has the advantages of good stability, simple operation, in-situ vertical lifting, simple site requirement and good concealment, and is widely applied and developed in the fields of military, civil and scientific. In the flight process of the unmanned aerial vehicle, broadband vibration excitation generated by factors such as rotor vibration, airflow disturbance and the like is transmitted to the lens through the fuselage, so that the imaging quality of the lens can be seriously influenced, and measures are required to be taken to actively stabilize the lens. In the related art, a pan-tilt is generally used to achieve stability enhancement of a lens. However, when the holder is mounted on the unmanned aerial vehicle, vibration excitation generated by the unmanned aerial vehicle is also transmitted to the holder, so that the stability enhancement effect of the lens on the holder is poor.

Disclosure of Invention

Embodiments of the present application provide a vibration isolator and a movable platform.

The utility model provides a vibration isolator for connect movable platform main part and cloud platform, vibration isolator includes:

the first connecting part is provided with at least two first connecting pieces along the circumferential direction of the vibration isolator, and the first connecting pieces are used for being connected with the cradle head in a matched manner so as to realize the installation of the vibration isolator and the cradle head, and

the second connecting part is provided with at least two second connecting pieces along the circumferential direction of the vibration isolator, and the second connecting pieces are used for being matched and connected with the main body so as to realize the installation of the vibration isolator and the main body;

one of the first connecting piece and the second connecting piece comprises a mounting hole, and the other one comprises a clamping block.

A movable platform according to an embodiment of the present application includes:

the main body is provided with a plurality of grooves,

cradle head, and

vibration isolator, vibration isolator connects the main part with between the cloud platform, vibration isolator includes:

Above-mentioned isolator and movable platform realize with the installation of cloud platform through the first connecting piece that sets up along circumference to and realize with the installation of main part through the second connecting piece, vibration excitation in the main part can be separated through second connecting piece and first connecting piece, has reduced the vibration excitation that transmits to the cloud platform from the main part effectively, has promoted the stability enhancement effect of cloud platform.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic structural view of a vibration isolator according to an embodiment of the present application;

FIG. 2 is a schematic structural view of a movable platform according to an embodiment of the present application;

fig. 3 to 10 are schematic structural diagrams of a pan-tilt and photographing device according to an embodiment of the present application;

fig. 11 to 12 are schematic structural views of a pan-tilt, a photographing device, and a vibration isolator according to an embodiment of the present application;

fig. 13 to 14 are schematic structural views of a roll shaft assembly and a photographing device according to an embodiment of the present application;

FIG. 15 is an exploded schematic view of a roll axle assembly and camera of an embodiment of the present application;

fig. 16 to 17 are schematic structural views of a rear case according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Referring to fig. 1 and 2, an vibration isolator 100 according to an embodiment of the present application is configured to connect a main body 12 of a movable platform 200 and a cradle head 300, where the vibration isolator 100 includes a first connecting portion 14 and a second connecting portion 16.

The first connecting portion 14 is provided with at least two first connecting members 18 along the circumferential direction of the vibration isolator 100, and the first connecting members 18 are used for being connected with the cradle head 300 in a matching manner so as to realize the installation of the vibration isolator 100 and the cradle head 300. The second connecting portion 16 is provided with at least two second connecting members 20 along the circumferential direction of the vibration isolator 100, and the second connecting members 20 are used for being connected with the main body 12 in a matching manner so as to realize the installation of the vibration isolator 100 and the main body 12. Wherein one of the first connector 18 and the second connector 20 includes a mounting hole 22 and the other includes a latch 24.

The vibration isolation pad 100 is installed with the cradle head 300 through the first connecting piece 18 arranged along the circumferential direction, and is installed with the main body 12 through the second connecting piece 20, and vibration excitation on the main body 12 can be dispersed and isolated through the second connecting piece 20 and the first connecting piece 18, so that vibration excitation transmitted from the main body 12 to the cradle head 300 is effectively reduced, and the stability enhancement effect of the cradle head 300 is improved.

Specifically, the movable platform 200 includes an unmanned aerial vehicle, an unmanned ship, a robot, or a shooting stabilizer. The movable platform 200 typically generates vibrations when moving, for example, when the movable platform 200 is a multi-rotor unmanned aerial vehicle, vibration excitation occurs when the rotor of the unmanned aerial vehicle rotates. If the vibration excitation is directly transmitted to the pan-tilt head 300 without filtering, the vibration of the pan-tilt head 300 is increased, and the stability-increasing effect of the pan-tilt head 300 is weakened. The vibration isolator 100 is connected between the main body 12 of the movable platform 200 and the cradle head 300, so that vibration excitation of the movable platform 200 is transmitted to the cradle head 300 as little as possible, and the stability enhancement effect of the cradle head 300 on the load is improved.

In the embodiment shown in fig. 1, the first connecting member 18 includes a mounting hole 22, the second connecting member 20 includes a clamping block 24, a clamping member 26 (see fig. 3) is provided on a motor housing of the holder 300 located at the outermost side, the clamping piece 26 can penetrate through the mounting hole 22, and the top of the clamping piece 26 can be clamped on the surface of the first connecting portion 14, so that interference fit connection between the vibration isolation piece and the holder 300 can be achieved. In one embodiment, the clip 26 may be T-shaped, so that the vibration isolator 100 and the cradle head 300 are mounted with good effect and firm structure.

The main body 12 may be provided with a clamping hole (not shown), the clamping block 24 may penetrate through the clamping hole, and the top of the clamping block 24 may be clamped on the surface of the main body 12, so that the vibration isolation pad 100 and the main body 12 may be installed.

In some embodiments, the first connector 18 and a corresponding one of the second connectors 20 are aligned in a radial direction of the vibration isolator 100. In this way, the vibration isolator 100 has a good connection strength with the main body 12 and the cradle head 300.

Specifically, the distance between the first connecting member 18 and the second connecting member 20 arranged along the radial direction of the vibration isolator 100 is shorter, so that the distance between the mounting points of the first connecting member 18 and the holder 300 and the mounting points of the second connecting member 20 and the main body 12 are also shorter, and when vibration is transmitted, the vibration amplitude between the two mounting points can be reduced, the first connecting member 18 and the holder 300 are prevented from accidentally falling off, the second connecting member 20 and the main body 12 are prevented from accidentally falling off, and the connection strength between the vibration isolator 100 and the main body 12 and the holder 300 is ensured.

In the illustrated embodiment, the number of the first connecting members 18 is three, the three first connecting members 18 are uniformly spaced along the circumferential direction of the vibration isolator 100, the number of the second connecting members 20 is three, the three second connecting members 20 are in one-to-one correspondence with the three first connecting members 18, and each first connecting member 18 is arranged with a corresponding one of the second connecting members 20 in the radial direction of the vibration isolator 100. It will be appreciated that in other embodiments, the number of first connectors 18 is not limited to three, but may be two or more than three, and the number of second connectors 20 is not limited to three, but may be two or more than three.

In some embodiments, the mounting holes 22 are racetrack-type. In this manner, the mounting holes 22 may increase the connection strength.

Specifically, in the illustrated embodiment, the first connector 18 includes a mounting hole 22 and the second connector 20 includes a latch 24. Holder 300 may include a clip 26, and a hook 28 (see fig. 5) may be disposed on top of clip 26, where clip 26 passes through mounting hole 22. The hooks 28 may be engaged with the first connecting member 18 along the periphery of the mounting hole 22. Compared with the circular hole, the track-shaped mounting hole 22 has a larger peripheral length, which allows the hook 28 to be properly enlarged, and the hook 28 is more clamped at the first connecting member 18, so that the connection strength between the holder 300 and the first connecting member 18 can be improved.

In some embodiments, at least two first connecting members 18 are circumferentially aligned along the vibration isolator 100 in a ring shape, at least two second connecting members 20 are circumferentially aligned along the vibration isolator 100 in a ring shape, and at least two first connecting members 18 are positioned within the ring formed by at least two second connecting members 20. In this way, vibration isolator 100 can be more firmly connected to cradle head 300 and main body 12, respectively.

Specifically, in the illustrated embodiment, the number of the first connecting members 18 and the second connecting members 20 is three, and the three first connecting members 18 and the three second connecting members 20 are each arranged in a ring shape along the circumferential direction of the vibration isolator 100. The connecting pieces which are annularly arranged can distribute the mounting points of the vibration isolation pad 100, the main body 12 and the cradle head 300 in an annular shape to form the connection distribution of the inner ring and the outer ring, so that the connection strength of the vibration isolation pad 100, the cradle head 300 and the main body 12 is integrally improved, and the three are firmly connected.

In some embodiments, the ring formed by the arrangement of at least two first connectors 18 is concentric with the ring formed by the arrangement of at least two second connectors 20. In this manner, undesired vibration of the vibration isolator 100 due to vibration transmission can be avoided or reduced.

Specifically, the ring formed by the arrangement of at least two first connecting members 18 is an inner ring, and the ring formed by the arrangement of at least two second connecting members 20 is an outer ring, and the inner ring and the outer ring are concentrically arranged. When the vibration on the main body 12 is transmitted to the vibration isolator 100, since the inner ring and the outer ring are concentrically arranged, the transmission of the vibration in all directions on the vibration isolator 100 tends to be uniform, and the vibration of the vibration isolator 100 which is unexpected due to the transmission difference of the vibration in all directions can be avoided or reduced.

In some embodiments, the latch 24 is T-shaped. Thus, the clamping effect of the clamping block 24 is good.

Specifically, in the illustrated embodiment, the first connector 18 includes a mounting hole 22 and the second connector 20 includes a latch 24. Referring to fig. 1, the clamping block 24 may include a cylindrical portion 30 and a clamping portion 32, where the cylindrical portion 30 is connected to the clamping portion 32, the clamping portion 32 has two protruding portions along 180 degrees with respect to a periphery of the cylindrical portion 30, when the main body 12 and the vibration isolation pad 100 are installed, the clamping portion 32 deforms when passing through a clamping hole on the main body 12, the clamping portion 32 returns to its shape after passing through the clamping hole, the cylindrical portion 30 is inserted into the clamping hole, and the protruding portions of the clamping portion 32 can compress the peripheral portion of the clamping hole enclosed on the main body 12 along 180 degrees.

In one embodiment, vibration isolator 100 is manufactured with three elongated tweezer-like spokes 34 reserved at the end of clip 32. When the vibration isolator 100 is assembled with the main body 12, the three spokes 34 can penetrate into the clamping holes on the main body 12, and the spokes 34 are pulled to enable the root parts (namely the clamping parts 32) of the spokes 34 to clamp the main body 12 for limiting, and then the spokes 34 can be sheared and removed. The perforated mounting of the vibration isolator 100 is relatively simple and reliable, and the additional increase in size and weight of the mounting structure is relatively small.

In some embodiments, the second connecting portion 16 is annular and is connected to the edge of the first connecting portion 14 along the circumferential direction of the vibration isolator 100. Thus, a bowl-like vibration isolator 100 can be formed, and the vibration isolation effect is good.

Specifically, when the second connecting portion 16 having a ring shape is connected to the main body 12 and vibration on the main body 12 is transmitted to the second connecting portion 16, the vibration is dispersed by the second connecting portion 16 having a ring shape, so that the vibration isolation effect is reduced due to the fact that local vibration is excessively large due to the fact that the vibration is excessively concentrated.

In some embodiments, referring to fig. 1 and 2, a first clamping surface 36 is provided at the bottom of the clamping block 24, a second clamping surface 38 opposite to the first clamping surface 36 is provided at the top of the clamping block 24, and the first clamping surface 36 and the second clamping surface 38 are used to jointly clamp opposite surfaces of the mounting portion 40 of the main body 12. In this way, the vibration isolator 100 is mounted to the main body 12 with good efficiency.

Specifically, the main body 12 includes the installation department 40, and the draw-in hole can be seted up to the installation department 40, and two centre gripping are facing the two opposite surfaces of main body 12 installation department 40 and are carried out the centre gripping, and the clamping area is big, and the clamping position can comparatively evenly distribute, and the centre gripping is effectual, and then has guaranteed the installation effect of vibration isolator 100 and main body 12. The second clamping surface 38 may be a bottom surface of the clip portion 32.

In certain embodiments, the vibration isolator 100 has a shape that includes a circle, an ellipse, a triangle, a square, a regular polygon. In this manner, the vibration isolator 100 is flexible in design and can accommodate more needs.

Specifically, the shape of the vibration isolator 100 may be designed and manufactured according to actual needs, so as to meet the required application scenario or design requirement.

In one embodiment, the vibration isolator 100 is circular in shape. In one embodiment, the vibration isolator 100 is elliptical in shape. In one embodiment, the vibration isolator 100 is triangular in shape. In one embodiment, the vibration isolator 100 is square in shape. In one embodiment, the shape of the insulation mat is a regular polygon, which may be pentagonal, hexagonal, etc. shape.

It is understood that in other embodiments, the vibration isolator 100 may also be annular, i-shaped, conical, etc. in shape. The present invention is not particularly limited herein.

In some embodiments, the vibration isolator 100 is made of rubber or plastic. Thus, the vibration isolator 100 is low in cost and easy to manufacture.

Specifically, the vibration isolator 100 can be manufactured through an integral molding process. In one embodiment, the material of the vibration isolator 100 is rubber. In one embodiment, the vibration isolator 100 is plastic.

In one embodiment, the vibration isolator 100 can be manufactured by the following steps:

step 1: calculating mass and inertia parameters of the tripod head 300, determining an approximate interval of vibration isolation frequency points of a rotating shaft (such as a transverse rolling shaft, a yaw shaft and the like) of the tripod head 300, determining the vibration isolation frequency point with the lowest limit in the radial translation direction, and determining the radial and axial rigidity range of the vibration isolator 100 approximately by combining the spans at the left end and the right end of the tripod head 300;

step 2: the diameter and depth of the vibration isolation pad 100 are approximately given by combining the diameter of the motor and the distance between the cradle head 300 and the machine body, the axial rigidity and the radial rigidity of the vibration isolation pad 100 are calculated in CAE simulation software (such as HyperWorks), and if the rigidity does not meet the requirement, the parameters such as the thickness, the height and the diameter of the vibration isolation pad 100 can be adjusted until the proper parameters of the vibration isolation pad 100 are obtained;

step 3: further importing the vibration isolation pad 100 model into a cradle head CAE model to calculate vibration isolation frequency points, decoupling rate, vibration isolation attenuation curves and maximum stress under the most severe working conditions of the cradle head 300, and comprehensively evaluating whether the vibration isolation pad 100 meets vibration isolation and strength requirements;

step 4: the final form of the vibration isolator 100 is formed by adding production process characteristics, whether the rigidity of the vibration isolator 100 is consistent with a design value is verified by proofing, and whether the vibration isolator 100 meets the requirement or not is verified by installing the cradle head 300 on the movable platform 200 through the vibration isolator 100 to move (such as test flight of an unmanned aerial vehicle).

Referring to fig. 1 and 2, a movable platform 200 according to an embodiment of the present application includes a main body 12, a cradle head 300, and a vibration isolator 100, wherein the vibration isolator 100 is connected between the main body 12 and the cradle head 300.

In the above-described movable platform 200, the mounting with the pan/tilt head 300 is achieved by the first connection member 18 provided in the circumferential direction, and the mounting with the main body 12 is achieved by the second connection member 20, vibration excitation on the main body 12 can be dispersed and isolated by the second connecting piece 20 and the first connecting piece 18, so that vibration excitation transmitted from the main body 12 to the cradle head 300 is effectively reduced, and the stability enhancement effect of the cradle head 300 is improved.

It should be noted that the above explanation of the embodiments and advantageous effects of the vibration isolator 100 is also applicable to the vibration isolator 100 of the movable platform 200 of the present embodiment, and is not developed in detail herein to avoid redundancy.

In some embodiments, the first connector 18 and a corresponding one of the second connectors 20 are aligned in a radial direction of the vibration isolator 100.

In some embodiments, the mounting holes 22 are racetrack-type.

In some embodiments, at least two first connecting members 18 are circumferentially aligned along the vibration isolator 100 in a ring shape, at least two second connecting members 20 are circumferentially aligned along the vibration isolator 100 in a ring shape, and at least two first connecting members 18 are positioned within the ring formed by at least two second connecting members 20.

In some embodiments, the ring formed by the arrangement of at least two first connectors 18 is concentric with the ring formed by the arrangement of at least two second connectors 20.

In some embodiments, the latch 24 is T-shaped.

In some embodiments, the second connecting portion 16 is annular and is connected to the edge of the first connecting portion 14 along the circumferential direction of the vibration isolator 100.

In some embodiments, the bottom of the clamping block 24 is provided with a first clamping surface 36, the top of the clamping block 24 is provided with a second clamping surface 38 opposite to the first clamping surface 36, the main body 12 includes a mounting portion 40, the mounting portion 40 is provided with a clamping hole, the clamping block 24 is provided with a clamping hole in a penetrating manner, and the first clamping surface 36 and the second clamping surface 38 jointly clamp opposite surfaces of the mounting portion 40.

In some embodiments, referring to fig. 3 to 10, the pan/tilt head 300 is a three-axis pan/tilt head, and the axes from the inside to the outside of the pan/tilt head 300 are a Roll axis assembly 42 (Roll), a heading axis assembly 44 (Yaw), and a Pitch axis assembly 46 (Pitch), the Pitch axis assembly 46 is connected to the main body 12, and the Roll axis assembly 42 is used for mounting the photographing device 50. Thus, the triaxial holder 300 adopting the axial sequence can reduce the envelope dimensions of the holder 300 up and down and front and back, and can obtain a larger pitch angle and support the photographing device 50 to vertically photograph.

Specifically, in the embodiment of the present application, the axis may be defined such that the camera 50 side is the inside of the cradle head 300 and the main body 12 side is the outside of the cradle head 300. Compared with the other two shaft assemblies, the pitching shaft assembly 46 is positioned at the outermost side of the cradle head 300, the blocking of the rotation range of the pitching shaft assembly 46 by the cradle head 300 and the main body 12 is reduced, and when the pitching shaft assembly 46 works, a larger pitching angle can be obtained, so that shooting on the sky and the ground is realized.

The horizontal roller assembly 42 is used for installing the photographing device 50, and when the horizontal roller assembly 42 works, the photographing device 50 can be driven to rotate, and the photographing device is switched from horizontal photographing to vertical photographing, or from vertical photographing to horizontal photographing, or to other angles between vertical photographing and horizontal photographing.

In some embodiments, the pan-tilt head 300 is a two-axis pan-tilt head, and the two-axis pan-tilt head 300 includes a roll axis assembly 42 and a pitch axis assembly 46, with the roll axis assembly 42 and the pitch axis assembly 46 being in order from the inside to the outside of the pan-tilt head 300. Compared with the roll shaft assembly 42, the pitch shaft assembly 46 is positioned on the outer side of the pan-tilt head 300, the blocking of the rotation range of the pitch shaft assembly 46 by the pan-tilt head 300 and the main body 12 is reduced, and a larger pitch angle can be obtained when the pitch shaft assembly 46 works. The horizontal roller assembly 42 is used for installing the photographing device 50, and when the horizontal roller assembly 42 works, the photographing device 50 can be driven to rotate, and the photographing device is switched from horizontal photographing to vertical photographing, or from vertical photographing to horizontal photographing, or to other angles between vertical photographing and horizontal photographing.

In some embodiments, the pan-tilt head 300 is a two-axis pan-tilt head, and the two-axis pan-tilt head 300 includes a heading axis assembly 44 and a pitch axis assembly 46, with the heading axis assembly 44 and the pitch axis assembly 46 being sequentially arranged from the inside to the outside of the pan-tilt head 300. Compared with the heading shaft assembly 44, the pitching shaft assembly 46 is positioned on the outer side of the cradle head 300, the blocking of the rotation range of the pitching shaft assembly 46 by the cradle head 300 and the main body 12 is reduced, and a larger pitching angle can be obtained when the pitching shaft assembly 46 works. The heading shaft assembly 44 is used for installing the photographing device 50, and when the heading shaft assembly 44 is in operation, the photographing device 50 can be driven to rotate to photograph at a large angle along the circumferential direction, such as 360-degree surrounding photographing.

In some embodiments, pan-tilt 300 is a single-axis pan-tilt that includes pitch axis assembly 46. The pitching axis group is connected with the main body 12 and is provided with the photographing device 50, so that blocking of rotation ranges of the pitching axis assembly 46 by the holder 300 and the main body 12 can be reduced, and a larger pitching angle can be obtained when the pitching axis assembly 46 works.

In certain embodiments, referring to fig. 3 and 4, the pitch axis assembly 46 includes two pitch axis arms 52, the two pitch axis arms 52 being symmetrically disposed on either side of the camera 50, each pitch axis arm 52 being coupled to the main body 12 by a vibration isolator 100. Thus, the vibration isolation effect can be improved.

Specifically, the two pitch axis arms 52 are symmetrically arranged on both sides of the photographing device 50 such that vibrations generated by the main body 12 are isolated via the two vibration isolation pads 100, enhancing vibration isolation effects, and the symmetrically arranged two pitch axis arms 52 can also reduce desired external vibrations due to positional deviations. Each pitch axis arm 52 is connected to the main body 12 by a vibration isolator 100 in a vibration isolation manner that is symmetrical in both the left and right and radial directions, so that a high vibration damping decoupling rate can be easily obtained.

The main body 12 has two mounting portions 40, and the two mounting portions 40 are spaced apart by a distance for mounting the cradle head 300. Each mounting portion 40 is connected to a corresponding one of the pitch axis arms 52 by a vibration isolator 100.

In certain embodiments, the pitch axis assembly 46 further comprises at least one pitch axis motor 54, the pitch axis motor 54 comprising a rotor and a stator, one of the rotor and stator being coupled to the pitch axis arm 52 and the other being coupled to the vibration isolator 100. As such, pitch axis motor 54 may be coupled to pitch axis arm 52 and vibration isolator 100 via a rotor and stator.

In one embodiment, the stator of pitch axis motor 54 may be coupled to pitch axis arm 52 and the rotor of pitch axis motor 54 may be coupled to vibration isolator 100, vibration isolator 100 being coupled to mounting portion 40. The motor casing of the pitching axis motor 54 is fixedly connected with the rotor, and the clamping piece 26 is arranged on the motor casing of the pitching axis motor 54 and is connected with the vibration isolator 100. In the embodiment shown in fig. 5, a convex ring 56 is provided at the periphery of the motor housing of the pitch axis motor 54, and a space formed by the convex ring 56 can accommodate a part of the vibration isolator 100. A plurality of supporting parts 58 are circumferentially arranged at the side edges of the convex ring 56, and the supporting parts 58 can compress the vibration isolation pad 100 accommodated in the space formed by the convex ring 56, so that the vibration isolation part is not easy to fall off from the cradle head 300.

In one embodiment, the rotor of pitch axis motor 54 may be coupled to pitch axis arm 52 and the stator of pitch axis motor 54 may be coupled to vibration isolator 100, vibration isolator 100 being coupled to mounting portion 40. The motor casing of the pitching axis motor 54 is fixedly connected with the stator, and the clamping piece 26 is arranged on the motor casing of the pitching axis motor 54 and is connected with the vibration isolator 100.

In the embodiment of fig. 2-10, the pitch axis assembly 46 may include a pitch axis motor 54, and the pitch axis motor 54 may connect one of the pitch axis arms 52 to one of the mounts 40. The other pitch axis arm 52 is rotatably connected to the other mount 40.

In one embodiment, the pitch axis assembly 46 may include two pitch axis motors 54, each pitch axis motor 54 connecting a corresponding one of the pitch axis arms 52 and one of the mounts 40.

In certain embodiments, referring to fig. 11-15, roll axle assembly 42 includes roll axle motor 60, roll axle motor 60 is mounted to axle arm 62 of pan-tilt head 300, camera 50 includes rear housing 64 and camera assembly 66, roll axle motor 60 includes rotor 68 and stator 70, one of stator 70 and rotor 68 is coupled to rear housing 64, the other is coupled to axle arm 62 of pan-tilt head 300, movable platform 200 includes connection line 72 and wire via 74, wire via 74 extends through stator 70, rotor 68 and rear housing 64 of roll axle motor 60, and connection line 72 extends through wire via 74 and is coupled to camera assembly 66. In this way, the connecting wire 72 can directly pass through the motor 60 inside the axle arm 62, and after extending from the axle arm 62, the connecting wire 72 can directly enter the photographing device from the rear housing 64 to be connected with the photographing assembly 66 without a complicated external winding, so that the winding force of the connecting wire 72 can be reduced, which is beneficial to increasing the rotation angle of the roll axle motor 60 and increasing the photographing angle range of the photographing device 50.

Specifically, in the embodiment shown in the drawings of the present application, the pan-tilt head 300 is a three-axis pan-tilt head, and the axle arm 62 of the pan-tilt head 300 is an axle arm of the heading axle assembly 44.

The camera 50 is mounted on the roll shaft assembly 42. The roll shaft assembly 42 can drive the camera 50 to take frames, frames and other angular shots, and switch between them. In the present embodiment, the wire passing hole 74 penetrates the stator 70, the rotor 68 and the rear case 64 of the photographing device 50 of the roll shaft motor 60, and the connecting wire 72 penetrates the wire passing hole 74 and is connected with the photographing assembly 66, so that when the roll shaft assembly 42 drives the photographing device 50 to rotate, the winding motion of the connecting wire 72 is less, the winding power of the connecting wire 72 can be reduced, the low-winding is realized, the connecting wire 72 is prevented from being easily damaged due to the large winding power of the connecting wire 72, the rotation resistance of the photographing device 50 is high, and the large angle of the transverse rolling shaft such as the rotation angle of more than or equal to 180 degrees and the vertical photographing can be realized. In one example, the connection line 72 may be a coaxial line.

In one embodiment, a rotor 68 of the roll shaft motor 60 is coupled to the rear housing 64 and a stator 70 is coupled to the roll shaft arm 60. In one embodiment, the stator 70 of the roll shaft motor 60 is coupled to the rear housing 64 and the rotor 68 is coupled to the roll shaft arm 60.

The photographing assembly 66 may include a circuit board 76 and an image sensor 78, and the connection line 72 may be connected to the circuit board 76 to enable transmission of image data and control signals of the main body 12 and the photographing device 50, etc.

The roll shaft motor 60 is provided with a first opening 80 through the stator 70 and the rotor 68, the first opening 80 forming part of the wire passage 74. In the illustrated embodiment, the first aperture 80 is located at the center of rotation of the roll shaft motor 60. It will be appreciated that in other embodiments, the first opening 80 may be offset from the center of rotation by a distance to achieve a reduced wire wrap.

In one embodiment, a motor driving chip may be integrated on the core board of the main body 12 to reduce the weight of the cradle head 300 and achieve good control accuracy, and the operation of the motor may be controlled through the connection line 72.

In certain embodiments, referring to fig. 15 to 17, a heat conducting planar structure 82 is disposed on the inner side of the rear case 64, the photographing assembly 66 includes a circuit board 76 and an image sensor 78, the circuit board 76 includes a first surface 84 and a second surface 86 opposite to each other, the image sensor 78 is mounted on the first surface 84, and the heat conducting planar structure 82 abuts against the second surface 86. In this manner, heat may be dissipated from the camera assembly 66.

Specifically, the rear housing 64 is provided with a second opening 88, the second opening 88 forming a portion of the via 74. The heat conductive planar structure 82 may be disposed corresponding to the second opening 88 on the rear housing 64, referring to fig. 17, the heat conductive planar structure 82 includes a connection portion 90 and a heat conductive portion 92, the connection portion 90 is connected to the rear housing 64 around the second opening 88, and the heat conductive portion 92 is connected to the top of the connection portion 90. The heat conductive portion 92 abuts the second surface 86 of the circuit board 76. The heat conduction portion 92 is planar, so that the heat dissipation area can be increased. The rear housing 64 may be made of a metallic material or other material suitable for heat dissipation.

In the illustrated embodiment, the second aperture 88 is a square aperture and the plane of the thermally conductive portion 92 is a square plane. It will be appreciated that in other embodiments, the second aperture 88 and the plane of the thermally conductive portion 92 may be other polygonal shapes or other shapes.

The image sensor 78 may output image data, which is processed by the circuit board 76 and then output to the main body 12 or other external device via the connection line 72. The image sensor 78 may be a CCD or CMOS image sensor 78. The photographing device 50 further includes a front case 94 and a lens 96, and the lens 96 is mounted on the front case 94 and located at the front side of the image sensor 78. The rear housing 64 is fixedly coupled to the front housing 94.

In some embodiments, a thermally conductive layer (not shown) is disposed between the thermally conductive planar structure 82 and the second face 86. Thus, the heat dissipation efficiency can be improved.

Specifically, the heat conduction layer connects the heat conduction portion 92 and the second surface 86, and can reduce the air gap between the heat conduction portion 92 and the second surface 86, so as to improve the heat dissipation contact area, further improve the heat dissipation efficiency, and ensure that the shooting device 50 works in a suitable working temperature range. The material of the heat conducting layer can be heat conducting silicone grease or other heat conducting materials.

In one embodiment of the present application, the purpose of wire winding reduction and heat dissipation can be achieved by the following steps of penetrating the coaxial wire in the middle, and large-angle (vertical shooting) shooting of the transverse roller is achieved:

step 1, fixing a stator 70 of a roll shaft motor 60 and a roll shaft arm 60 through screws;

step 2, fixing the structure formed in the step 1 and the rear shell 64 of the shooting device 50 through screws;

step 3, connecting the coaxial line with the shooting assembly 66 through the structure formed in the step 2;

step 4, coating heat conduction grease on the heat conduction plane of the rear shell 64 of the shooting device 50 to form a heat conduction layer;

and 5, assembling the structure formed in the step 3 and the structure formed in the step 4 together into a front shell 94 of the photographing device 50, so as to realize coaxial shaft penetration and heat dissipation of the photographing assembly 66, realize rotation control of the photographing device 50 by a driving motor, and detect whether the requirement of controlling the photographing device 50 can be met.

In some embodiments, the mobile platform 200 includes an unmanned aerial vehicle, an unmanned ship, a robot, or a shooting stabilizer. Thus, the mobile platform 200 has wide application range and many application scenes.

Specifically, in the illustrated embodiment, the movable platform 200 includes an unmanned aerial vehicle, the main body 12 is a body of the unmanned aerial vehicle, and the cradle head 300 is mounted at a front end of the body of the unmanned aerial vehicle through the vibration isolator 100.

In one embodiment, the mobile platform 200 includes an unmanned vehicle, the main body 12 is a body of the unmanned vehicle, and the cradle head 300 is mounted on top of the body of the unmanned vehicle through the vibration isolator 100. In other embodiments, the mobile platform 200 includes an unmanned ship, a robot, or a shooting stabilizer. The mounting position of the pan/tilt head 300 is not limited to the above-mentioned position, but may be another position, and is not particularly limited herein.

In summary, the vibration isolator 100 and the movable platform 200 according to the embodiments of the present application can at least achieve the following technical effects:

1. the design of the spatial position and the angle of the vibration isolation configuration is simpler, and the constraint of the spatial position is less;

2. because the vibration isolation form is symmetrical in the left-right direction and the radial direction, the high vibration reduction decoupling rate is easy to obtain;

3. the design of low wire winding and heat dissipation is considered, so that the wire winding is effectively reduced, and the heat dissipation of the shooting device 50 can be considered;

4. the outer envelope size and weight of the cradle head 300 are better optimized, and the design of the portable folding small unmanned aerial vehicle with smaller weight and size requirements is more beneficial.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

A vibration isolator for connecting a movable platform body and a cradle head, the vibration isolator comprising:

the first connecting part is provided with at least two first connecting pieces along the circumferential direction of the vibration isolator, and the first connecting pieces are used for being connected with the cradle head in a matched manner so as to realize the installation of the vibration isolator and the cradle head, and

the second connecting part is provided with at least two second connecting pieces along the circumferential direction of the vibration isolator, and the second connecting pieces are used for being matched and connected with the main body so as to realize the installation of the vibration isolator and the main body;

one of the first connecting piece and the second connecting piece comprises a mounting hole, and the other one comprises a clamping block.
The vibration isolator according to claim 1, wherein the first connector and a corresponding one of the second connectors are aligned in a radial direction of the vibration isolator.
The vibration isolator according to claim 1, wherein the mounting holes are racetrack shaped.
The vibration isolator according to claim 1, wherein the at least two first connecting members are arranged in a ring shape along the circumferential direction of the vibration isolator, the at least two second connecting members are arranged in a ring shape along the circumferential direction of the vibration isolator, and the at least two first connecting members are located in the ring shape formed by the at least two second connecting members.
The vibration isolator according to claim 4, wherein the ring formed by the at least two first connector arrangements is concentric with the ring formed by the at least two second connector arrangements.
The vibration isolator according to claim 1, wherein the clamp block is T-shaped.
The vibration isolator according to claim 1, wherein the second connecting portion is annular and is connected to an edge of the first connecting portion in a circumferential direction of the vibration isolator.
The vibration isolator according to claim 1, wherein a first clamping surface is provided at a bottom of the clamping block, a second clamping surface opposite to the first clamping surface is provided at a top of the clamping block, and the first clamping surface and the second clamping surface are used for jointly clamping two opposite surfaces of the mounting portion of the main body.
The vibration isolator according to claim 1, wherein the vibration isolator has a shape comprising a circle, an ellipse, a triangle, a square, a regular polygon.
The vibration isolator according to claim 1, wherein the vibration isolator comprises rubber or plastic.
A movable platform, comprising:

the main body is provided with a plurality of grooves,

cradle head, and

vibration isolator, vibration isolator connects the main part with between the cloud platform, vibration isolator includes:

the first connecting part is provided with at least two first connecting pieces along the circumferential direction of the vibration isolator, and the first connecting pieces are used for being connected with the cradle head in a matched manner so as to realize the installation of the vibration isolator and the cradle head, and

the second connecting part is provided with at least two second connecting pieces along the circumferential direction of the vibration isolator, and the second connecting pieces are used for being matched and connected with the main body so as to realize the installation of the vibration isolator and the main body;

one of the first connecting piece and the second connecting piece comprises a mounting hole, and the other one comprises a clamping block.
The mobile platform of claim 11, wherein the first connector and a corresponding one of the second connectors are aligned in a radial direction of the vibration isolator.
The mobile platform of claim 11, wherein the mounting holes are racetrack shaped.
The mobile platform of claim 11, wherein the at least two first connectors are circumferentially aligned in a ring shape along the vibration isolator, the at least two second connectors are circumferentially aligned in a ring shape along the vibration isolator, and the at least two first connectors are positioned within the ring formed by the at least two second connectors.
The mobile platform of claim 14, wherein the ring formed by the at least two first connector arrangements is concentric with the ring formed by the at least two second connector arrangements.
The movable platform of claim 11, wherein the latch is T-shaped.
The mobile platform of claim 11, wherein the second connection portion is annular and is connected to an edge of the first connection portion along a circumferential direction of the vibration isolator.
The movable platform of claim 11, wherein a first clamping surface is provided at a bottom of the clamping block, a second clamping surface opposite to the first clamping surface is provided at a top of the clamping block, the main body includes a mounting portion, a clamping hole is provided in the mounting portion, the clamping block penetrates through the clamping hole, and the first clamping surface and the second clamping surface clamp opposite surfaces of the mounting portion together.
The mobile platform of claim 11, wherein the pan-tilt is a three-axis pan-tilt, and the axes from inside to outside of the pan-tilt are a roll axis assembly, a heading axis assembly, and a pitch axis assembly, the pitch axis assembly being connected to the main body, the roll axis assembly being configured to mount a camera.
The mobile platform of claim 11, wherein the cradle head is a two-axis cradle head, and the axes from the inside to the outside of the cradle head are a roll axis assembly, a heading axis assembly, and a pitch axis assembly, wherein the pitch axis assembly is connected to the main body, and the roll axis assembly or the heading axis assembly is used for installing a photographing device.
The mobile platform of claim 11, wherein the pan-tilt comprises a tilt-axis assembly, the tilt-axis assembly connecting the body and for mounting a camera.
The mobile platform of any one of claims 19-21, wherein the pitch axis assembly comprises two pitch axis arms symmetrically disposed on either side of the camera, each pitch axis arm being connected to the main body by the vibration isolator.
The mobile platform of claim 22, wherein the pitch axis assembly further comprises at least one pitch axis motor comprising a rotor and a stator, one of the rotor and the stator being coupled to the pitch axis arm and the other being coupled to the vibration isolator.
The mobile platform of claim 19 or 20, wherein the roll shaft assembly comprises a roll shaft motor mounted to the axle arm of the pan head, the camera comprises a rear housing and a camera assembly, the roll shaft motor comprises a rotor and a stator, one of the stator and the rotor is connected to the rear housing, the other is connected to the axle arm of the pan head, the mobile platform comprises a connection line and a wire through the stator, the rotor and the rear housing of the roll shaft motor, and the connection line is threaded through the wire through and connected to the camera assembly.
The mobile platform of claim 24, wherein the rear housing has a thermally conductive planar structure disposed inside, the camera assembly includes a circuit board and an image sensor, the circuit board includes a first surface and a second surface opposite to each other, the image sensor is mounted on the first surface, and the thermally conductive planar structure abuts the second surface.
The movable platform of claim 25, wherein a thermally conductive layer is disposed between the thermally conductive planar structure and the second face.
The mobile platform of claim 11, wherein the mobile platform comprises an unmanned aerial vehicle, an unmanned ship, a robot, or a shooting stabilizer.