WO2015144037A1 - 一种云台中陀螺仪的安装结构 - Google Patents

一种云台中陀螺仪的安装结构 Download PDF

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Publication number
WO2015144037A1
WO2015144037A1 PCT/CN2015/074936 CN2015074936W WO2015144037A1 WO 2015144037 A1 WO2015144037 A1 WO 2015144037A1 CN 2015074936 W CN2015074936 W CN 2015074936W WO 2015144037 A1 WO2015144037 A1 WO 2015144037A1
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WO
WIPO (PCT)
Prior art keywords
bracket
mounting
arm
gyroscope
structure according
Prior art date
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PCT/CN2015/074936
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English (en)
French (fr)
Inventor
杨建军
孙宏涛
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杨建军
孙宏涛
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Publication date
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Publication of WO2015144037A1 publication Critical patent/WO2015144037A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5783—Mountings or housings not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/003—Alignment of optical elements

Definitions

  • the utility model relates to a self-balancing gimbal, and more particularly to the installation of components in a gimbal.
  • the pan/tilt is a supporting component for mounting and fixing cameras, etc. It is divided into fixed and electric pan/tilt.
  • the fixed head is suitable for the case where the monitoring range is not large. After installing the camera on the fixed head, the horizontal and vertical angles of the camera can be adjusted. After the final working posture is reached, the adjustment mechanism can be operated.
  • the electric pan/tilt is suitable for scanning or monitoring a large range.
  • the body such as an aircraft, a ship, etc.
  • a three-degree-of-freedom self-balancing gimbal of the gyro ceremony has appeared on the market to compensate for the stability problems caused by the above changes.
  • Most of the gimbals detect the attitude change of the imaging device through electronic devices, and control the rudder. Machine reverse compensation to achieve stable shooting.
  • An object of the present invention is to provide a mounting structure of a gyroscope in a gimbal.
  • a mounting structure of a gyroscope in a gimbal including a base fixed to the carrier body, and a first bracket rotatably coupled to the base and rotating in the Z-axis direction is rotatably coupled to the first bracket And a second bracket rotating in the X-axis direction, rotating a third bracket for mounting the imaging device connected to the second bracket and rotating in the Y-axis direction, the third bracket comprising a second bracket for rotating the second bracket a support plate, and an upper mounting seat and a lower mounting seat respectively fixed to the two ends of the supporting plate, wherein the supporting plate, the upper mounting seat and the lower mounting seat form a U-shaped structure
  • the space for fixing the imaging device; the lower mount is provided with an inner cavity, and the inner cavity is provided with a gyroscope for controlling the attitude of the gimbal.
  • the inner cavity is further provided with an IMU skeleton corresponding to the shape of the inner cavity.
  • the first bracket is an L-shaped spiral arm, including a first spiral arm for connecting the base, and a second spiral arm for connecting the second bracket.
  • the first bracket is provided with a first bracket motor for driving the rotation of the second bracket.
  • the free end of the second arm is provided with a mounting slot
  • the first bracket motor is provided with a mounting plug that cooperates with the mounting slot
  • the mounting groove and the mounting plug are fixed by screws.
  • the second bracket is an L-shaped spiral arm, including a third spiral arm for connecting the first bracket, and a fourth spiral arm for connecting the third bracket.
  • the second bracket is provided with a second bracket motor for driving the rotation of the third bracket.
  • the free end of the fourth arm is provided with a mounting slot
  • the second bracket motor is provided with a mounting plug that cooperates with the mounting slot
  • the mounting groove and the mounting plug are fixed by screws.
  • One technical effect of the utility model is that the installation of the gyroscope is optimized, and the gyroscope can be better protected.
  • FIG. 1 is a schematic view showing the structure of the pan/tilt of the present invention.
  • FIG. 2 is a schematic view showing the structure of the utility model when the pan/tilt is not equipped with an imaging device.
  • FIG. 3 is a schematic view showing the structure of the third bracket of FIG. 1.
  • Fig. 4 is a view showing the structure of a third holder and an image forming apparatus.
  • Figure 5 shows a partial exploded view of the second bracket of the utility model.
  • Figure 6 shows an exploded view of the lower mount of the present invention.
  • the utility model discloses a gyroscope self-balancing gimbal, which comprises a base 1 for fixing a carrier body.
  • the carrier body may be an unmanned aerial vehicle, a car, a ship, etc., and the base 1 passes through a base.
  • the first motor 2 is rotatably connected to the first motor 2, and the second frame 3 is rotated by the first bracket motor 2a.
  • the second bracket 3 is rotated by the second bracket motor 3a for mounting the imaging device 5.
  • the three brackets 4, such that the first bracket 2, the second bracket 3, and the third bracket 4 can independently rotate in the Z-axis, the X-axis, and the Y-axis direction, respectively, to achieve dynamic balance compensation of the pan/tilt.
  • the third bracket 4 of the present invention includes a support plate 41 for pivotally connecting the second bracket 3, and an upper mount 42 and a lower mount 40 respectively fixed to the two ends of the support plate 41, the support plate 41.
  • the upper mount 42 and the lower mount 40 constitute a space for fixing the image forming apparatus 5 in a U-shaped configuration.
  • the first bracket 2 in the present invention is an L-shaped spiral arm, and includes a first spiral arm 20 for connecting the base 1, and a second spiral arm 21 for connecting the second bracket 3.
  • the first bracket 2 can have the same structure as the second bracket 3, that is, it is also an L-shaped spiral arm, Distinguished from the first bracket 2, the second bracket 3 includes a third arm 30 for connecting the first bracket, and a fourth arm 31 for connecting the third bracket 4.
  • the first bracket 2 and the second bracket 3 of the utility model adopt the design of the L-shaped spiral arm, so that the structure of the whole gimbal is simpler, and the stability of the whole gimbal is not affected, and the motor is more suitable for each bracket. control.
  • the utility model also provides a mounting structure of the motor in the pan/tilt.
  • the installation structure is as follows: in the first bracket 2, the free end of the second spiral arm 21 is installed. a slot, the first bracket motor 2a is provided with a mounting plug that cooperates with a mounting slot, and the mounting plug and the mounting slot are fixed by screws.
  • the first bracket motor 2a is mounted on the free end of the second arm 21, so that the mounting of the first bracket motor 2a is simpler and more stable.
  • the mounting structure of the second bracket motor 3a is the same as that of the first bracket motor 2a.
  • the second bracket 3 is an L-shaped arm, and the free end of the fourth arm 31 is provided with a mounting slot 313.
  • the second bracket motor 2a is provided with a mounting plug 312 that cooperates with the mounting slot 313. When installed, the mounting plug 312 of the second bracket motor 2a is inserted into the mounting slot 313 of the end of the fourth arm 31, and Secure with screws.
  • the utility model also provides a mounting structure of the electronic governor in the pan/tilt.
  • the side wall of the fourth spiral arm 31 is provided with a groove 310, the groove
  • An electronic governor 314 is provided in 310, and includes a housing 311 for sealing the recess 310.
  • the electronic governor 314 is "buried" in the fourth spiral arm 31 and encapsulated by the outer casing 311, which not only has a structurally fine structure, but also provides better protection for the electronic governor. effect.
  • the structure of the electronic governor on the first bracket 2 is the same as that on the second bracket 3, and a groove is provided on the side wall of the second swing arm 21, and the electronic governor is disposed in the recess, and includes The outer casing used to seal the groove.
  • the grooves are distributed along the length of the second arm.
  • the utility model also provides a mounting structure of a gyroscope in a gimbal, wherein the lower mounting seat 40 is provided with an inner cavity, and the inner cavity is provided with a gyroscope for controlling the posture of the gimbal, and specifically referring to FIG.
  • the lower mount 40 includes a frame 403 provided with a cavity in which the gyroscope is mounted and packaged by the cover 401.
  • This structure not only better protects the gyroscope but also makes the entire structure Simple and compact.
  • the inner cavity is further provided with an IMU skeleton 402 corresponding to the shape of the inner cavity.
  • IMU skeleton belongs to a technique commonly used in the art, and is not specifically described herein. Description.
  • the utility model also provides a lens-adjustable driving component in the pan/tilt.
  • the imaging device 5 is provided with a button 530 for adjusting the lens
  • the third bracket 4 is provided with a steering gear
  • the steering gear A V-shaped fork 530 for dialing the button is provided on the output shaft.
  • the steering gear is controlled to rotate, so that the V-shaped fork 530 drives the button to move to adjust the lens, thereby improving the aerial photography effect.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Gyroscopes (AREA)

Abstract

一种云台中陀螺仪的安装结构，包括固定运载本体的基座（1），转动连接于基座（1）并在Z轴方向上转动的第一支架（2），转动连接于第一支架（2）并在X轴方向上转动的第二支架（3），转动连接于第二支架（3）并在Y轴方向上转动的用于搭载成像设备（5）的第三支架（4），所述第三支架（4）包括用于转动连接第二支架（3）的支撑板（41），以及分别固定在支撑板（41）两端的上安装座（42）、下安装座（40），所述支撑板（41）、上安装座（42）、下安装座（40）构成了呈U形结构的用于固定成像设备（5）的空间；所述下安装座（40）设有内腔，所述内腔中设有用于控制该云台姿态的陀螺仪。该陀螺仪的安装结构，优化了陀螺仪的安装，而且可以对陀螺仪进行更好的防护。

Description

一种云台中陀螺仪的安装结构 技术领域
本实用新型涉及一种自平衡的云台，更具体地，本实用新型涉及一种云台中零部件的安装。
背景技术
云台是安装、固定摄像机等拍摄设备用的支撑部件，它分为固定和电动云台两种。固定云台适用于监视范围不大的情况，在固定云台上安装好摄像机后可调整摄像机的水平和俯仰的角度，达到最后的工作姿态后只要锁定调整机构即可工作。
电动云台适用于对大范围进行扫描拍摄或监视，对于要求比较高的条件下，由于云台在运行的过程中，搭载本体(例如飞行器、轮船等)本身存在高频震动和低频的抖动，为了解决这一问题，市场上出现了陀螺仪式的三自由度自平衡云台，来补偿由于上述变化带来的稳定性问题，该云台大多是通过电子设备检测成像设备的姿态变化，控制舵机反向补偿来实现拍摄的稳定。
但是现有技术中的云台，其结构较为复杂，而且安装也不合理.
实用新型内容
本实用新型的一个目的是提供一种云台中陀螺仪的安装结构。
根据本实用新型的一个方面，提供一种云台中陀螺仪的安装结构，包括固定运载本体的基座，转动连接于基座并在Z轴方向上转动的第一支架，转动连接于第一支架并在X轴方向上转动的第二支架，转动连接于第二支架并在Y轴方向上转动的用于搭载成像设备的第三支架，所述第三支架包括用于转动连接第二支架的支撑板，以及分别固定在支撑板两端的上安装座、下安装座，所述支撑板、上安装座、下安装座构成了呈U形结构的用 于固定成像设备的空间；所述下安装座设有内腔，所述内腔中设有用于控制该云台姿态的陀螺仪。
优选地，所述内腔中还设有和内腔形状相应的IMU骨架。
优选地，所述第一支架为L形旋臂，包括用于连接基座的第一旋臂，以及用于连接第二支架的第二旋臂。
优选地，所述第一支架上设有用于驱动第二支架转动的第一支架电机。
优选地，所述第二旋臂的自由端头设有安装槽，所述第一支架电机上设有和安装槽配合的安装插头。
优选地，所述安装槽和安装插头通过螺丝固定。
优选地，所述第二支架为L形旋臂，包括用于连接第一支架的第三旋臂，以及用于连接第三支架的第四旋臂。
优选地，所述第二支架上设有用于驱动第三支架转动的第二支架电机。
优选地，所述第四旋臂的自由端头设有安装槽，所述第二支架电机上设有和安装槽配合的安装插头。
优选地，所述安装槽和安装插头通过螺丝固定。
本实用新型的一个技术效果在于，优化了陀螺仪的安装，而且可以对陀螺仪进行更好的防护。
通过以下参照附图对本实用新型的示例性实施例的详细描述，本实用新型的其它特征及其优点将会变得清楚。
附图说明
构成说明书的一部分的附图描述了本实用新型的实施例，并且连同说明书一起用于解释本实用新型的原理。
图1示出了本实用新型云台的结构示意图。
图2示出了本实用新型云台不搭载成像设备时的结构示意图。
图3示出了图1中第三支架的结构示意图。
图4示出了第三支架和成像设备的结构示意图。
图5示出了本实用新型云台中第二支架的部分爆炸图。
图6示出了本实用新型下安装座的爆炸图。
具体实施方式
现在将参照附图来详细描述本实用新型的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本实用新型的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本实用新型及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术和设备可能不作详细讨论，但在适当情况下，所述技术和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
参考图1、图2，本实用公开了一种陀螺仪自平衡云台，包括固定运载本体的基座1，运载本体可以是无人飞行器、汽车、航船等，所述基座1上通过基座电机1a转动连接有第一支架2，所述第一支架2上通过第一支架电机2a转动连接第二支架3，第二支架3通过第二支架电机3a转动用于搭载成像设备5的第三支架4，这样第一支架2、第二支架3、第三支架4分别可在Z轴、X轴、Y轴方向上独立转动，以实现该云台的动态平衡补偿。
参考图3，本实用新型的第三支架4包括用于转动连接第二支架3的支撑板41，以及分别固定在支撑板41两端的上安装座42、下安装座40，所述支撑板41、上安装座42、下安装40座构成了呈U形结构的用于固定成像设备5的空间。这样的结构布置，使得该云台的结构较为简单，自重小，使得电机更容易控制该云台进行动态补偿。
本实用新型中所述第一支架2，其为L形旋臂，包括用于连接基座1的第一旋臂20，以及用于连接第二支架3的第二旋臂21。
第一支架2可与第二支架3具有相同的结构，即其也为L形旋臂，为 了和第一支架2区分开来，该第二支架3包括用于连接第一支架的第三旋臂30，以及用于连接第三支架4的第四旋臂31。
本实用新型的第一支架2、第二支架3采用L形旋臂的设计，使得整个云台的结构更为简单，同时也不会影响整个云台的稳定性，更有利于电机对各个支架的控制。
本实用新型还提供了一种云台中电机的安装结构，以第一支架电机2a为例，其安装结构如下：在第一支架2中，所述第二旋臂21的自由端头设有安装槽，所述第一支架电机2a上设有和安装槽配合的安装插头，所述安装插头和安装槽通过螺丝固定。这样就把第一支架电机2a安装在了第二旋臂21的自由端头，使得第一支架电机2a的安装更为简单、稳定。
第二支架电机3a的安装结构和第一支架电机2a的安装结构相同，参考图5，所述第二支架3为L形旋臂，其第四旋臂31的自由端头设有安装槽313，所述第二支架电机2a上设有和安装槽313配合的安装插头312，安装的时候，第二支架电机2a的安装插头312插到第四旋臂31端头的安装槽313中，并通过螺丝进行固定。
本实用新型还提供了一种云台中电子调速器的安装结构，参考图5，在第二支架3中，所述第四旋臂31的侧壁上设有凹槽310，所述凹槽310中设有电子调速器314，还包括用于将凹槽310封住的外壳311。在该电子调速器的安装结构中，电子调速器314“埋”在第四旋臂31中，并通过外壳311进行封装，不但结构节凑，对电子调速器起到了更好的防护作用。
第一支架2上电子调速器的结构和第二支架3上的相同，在其第二旋臂21的侧壁上设有凹槽，所述凹槽中设有电子调速器，还包括用于将凹槽封住的外壳。优选的是，所述凹槽沿着第二旋臂的长度方向分布。
本实用新型还提供了一种云台中陀螺仪的安装结构，所述下安装座40设有内腔，所述内腔中设有用于控制该云台姿态的陀螺仪，具体地参考图6，该下安装座40包括设有内腔的框体403，陀螺仪安装在该框体403中，并通过盖体401进行封装，这样的结构，不但更好地保护了陀螺仪，而且使得整个结构简单、紧凑。优选的是，所述内腔中还设有和内腔形状相应的IMU骨架402，这种IMU骨架属于本领域所常用的技术，在此不再具体 说明。
本实用新型还提供了一种云台中镜头可调的驱动组件，参考图4，成像设备5上设有用于调节镜头的按530，所述第三支架4上设有舵机，所述舵机的输出轴上设有用于来回拨动按钮的V形拨叉530。这样，根据实际需要，控制舵机转动，从而使得V形拨叉530驱动按钮移动，来进行镜头的调节，提升了航拍的效果。
虽然已经通过示例对本实用新型的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本实用新型的范围。本领域的技术人员应该理解，可在不脱离本实用新型的范围和精神的情况下，对以上实施例进行修改。本实用新型的范围由所附权利要求来限定。

Claims (10)

  1. 一种云台中陀螺仪的安装结构，包括固定运载本体的基座，转动连接于基座并在Z轴方向上转动的第一支架，转动连接于第一支架并在X轴方向上转动的第二支架，转动连接于第二支架并在Y轴方向上转动的用于搭载成像设备的第三支架，其特征在于：所述第三支架包括用于转动连接第二支架的支撑板，以及分别固定在支撑板两端的上安装座、下安装座，所述支撑板、上安装座、下安装座构成了呈U形结构的用于固定成像设备的空间；所述下安装座设有内腔，所述内腔中设有用于控制该云台姿态的陀螺仪。
  2. 根据权利要求1所述的安装结构，其特征在于：所述内腔中还设有和内腔形状相应的IMU骨架。
  3. 根据权利要求1所述的安装结构，其特征在于：所述第一支架为L形旋臂，包括用于连接基座的第一旋臂，以及用于连接第二支架的第二旋臂。
  4. 根据权利要求3所述的安装结构，其特征在于：所述第一支架上设有用于驱动第二支架转动的第一支架电机。
  5. 根据权利要求4所述的安装结构，其特征在于：所述第二旋臂的自由端头设有安装槽，所述第一支架电机上设有和安装槽配合的安装插头。
  6. 根据权利要求5所述的安装结构，其特征在于：所述安装槽和安装插头通过螺丝固定。
  7. 根据权利要求1所述的安装结构，其特征在于：所述第二支架为L形旋臂，包括用于连接第一支架的第三旋臂，以及用于连接第三支架的第四旋臂。
  8. 根据权利要求7所述的安装结构，其特征在于：所述第二支架上设有用于驱动第三支架转动的第二支架电机。
  9. 根据权利要求8所述的安装结构，其特征在于：所述第四旋臂的自由端头设有安装槽，所述第二支架电机上设有和安装槽配合的安装插头。
  10. 根据权利要求9所述的安装结构，其特征在于：所述安装槽和安装插头通过螺丝固定。
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