WO2017000299A1 - 限位装置及具有该限位装置的无人飞行器 - Google Patents

限位装置及具有该限位装置的无人飞行器 Download PDF

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Publication number
WO2017000299A1
WO2017000299A1 PCT/CN2015/083156 CN2015083156W WO2017000299A1 WO 2017000299 A1 WO2017000299 A1 WO 2017000299A1 CN 2015083156 W CN2015083156 W CN 2015083156W WO 2017000299 A1 WO2017000299 A1 WO 2017000299A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating member
rotating
limiting device
quick release
rotating shaft
Prior art date
Application number
PCT/CN2015/083156
Other languages
English (en)
French (fr)
Inventor
赵岩崇
李卫东
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to JP2017565908A priority Critical patent/JP6574855B2/ja
Priority to CN201580004253.9A priority patent/CN106029503B/zh
Priority to PCT/CN2015/083156 priority patent/WO2017000299A1/zh
Publication of WO2017000299A1 publication Critical patent/WO2017000299A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to a limit technology, in particular to a limit device and an unmanned aerial vehicle having the same.
  • a one-cycle limit rotation mechanism is usually used, that is, one rotation is performed to stop the rotation.
  • the structure cannot be fully rotated by 360 degrees when rotated, and thus there is a case where the shooting angle is insufficient.
  • a limiting device is configured to connect to the cloud platform, and the limiting device comprises:
  • the rotating member is rotatably connected to the fixing assembly, and one side of the rotating member is provided with a turret for holding the pan/tilt, and the turret can swing relative to the pan/tilt Holding or disengaging from the pan/tilt, when the turret is engaged with the gimbal, the pan/tilt can drive the rotating member to rotate through the turret;
  • the quick release assembly is disposed on the fixed component, and when the pan/tilt is disengaged, the pan/tilt is detachably retained by the quick release component on the fixed component.
  • the fixing assembly includes a rotating shaft
  • the limiting device further includes a first rotating member, a second rotating member and a limiting member, the first rotating member is fixedly coupled to the rotating member, and the rotating member is used for the rotating member
  • the first rotating member is driven to rotate around the rotating shaft;
  • the second rotating member is sleeved on the rotating shaft, and the first rotating member is configured to drive the second rotating member and the first rotating member Rotating together about the rotating shaft;
  • the limiting member is fixedly coupled to the fixing assembly, and the limiting member is configured to restrict continued rotation of the first rotating member and the second rotating member.
  • the rotating member drives the first rotating member to rotate a first angle about the rotating shaft, and when the first rotating member moves to contact with the second rotating member, the first rotating member drives The second rotating member continues to rotate the second angle together with the first rotating member until the second rotating member moves into contact with the limiting member, the first rotating member and the second rotating member Stop exercising.
  • first angle and the second angle are both greater than 180 degrees and less than 360 degrees.
  • the distance from the first rotating member to the center of the rotating shaft is smaller than the distance from the limiting member to the center of the rotating shaft, and the distance from the second rotating member to the center of the rotating shaft is greater than the limiting member to The distance from the center of the shaft.
  • the fixing component includes a base, the base is provided with a receiving cavity, the rotating shaft is disposed in the receiving cavity, the rotating component comprises a body, the body is provided with a through hole, and the rotating shaft passes through The through hole, the first rotating member is disposed around an edge of the through hole.
  • the rotating member further includes two mounting arms and a mounting post, the mounting arm is disposed on an outer wall of the body, and the two are relatively spaced apart, and the mounting arm is separately installed away from the end of the body a hole, one side of the turret is provided with a matching hole, the mounting post sequentially passes through the matching hole and the mounting hole, thereby connecting the turret to one side of the body, and opposite to the body or the mounting arm Turn.
  • the fixing component further includes a fixing plate, the fixing plate is disposed at a center of the receiving cavity, the rotating shaft is disposed on the fixing plate, and the limiting member is protruded from the fixing plate .
  • the limiting device further includes a sleeve, and the sleeve is sleeved on the rotating shaft to reduce the rotational friction between the second rotating member and the rotating shaft.
  • the limiting device includes two sleeves, and the two sleeves are sleeved on the rotating shaft, and an end surface of one of the sleeves is matched with an end surface of the second rotating member. .
  • the limiting device further includes a pretensioning member, and the pretensioning member is sleeved on the rotating shaft and located between the two sleeves.
  • the limiting device further comprises a flexible connecting member wound on the rotating shaft for realizing electrical connection between the load and the unmanned aerial vehicle.
  • the flexible connector is one of a flexible circuit board, a wire or a wire.
  • the flexible connector is in the form of a spring.
  • An unmanned aerial vehicle includes a limiting device and a pan/tilt head rotatably connected to the limiting device, wherein the limiting device comprises:
  • the rotating member is rotatably connected to the fixing assembly, and one side of the rotating member is provided with a turret for holding the pan/tilt, and the turret can swing relative to the pan/tilt Holding or disengaging from the pan/tilt, when the turret is engaged with the gimbal, the pan/tilt can drive the rotating member to rotate through the turret;
  • the quick release assembly is disposed on the fixed component, and when the pan/tilt is disengaged, the pan/tilt is detachably retained by the quick release component on the fixed component.
  • the fixing assembly includes a rotating shaft
  • the limiting device further includes a first rotating member, a second rotating member and a limiting member, the first rotating member is fixedly coupled to the rotating member, and the rotating member is used for the rotating member
  • the first rotating member is driven to rotate around the rotating shaft;
  • the second rotating member is sleeved on the rotating shaft, and the first rotating member is configured to drive the second rotating member and the first rotating member Rotating together about the rotating shaft;
  • the limiting member is fixedly coupled to the fixing assembly, and the limiting member is configured to restrict continued rotation of the first rotating member and the second rotating member.
  • the rotating member drives the first rotating member to rotate a first angle about the rotating shaft, and when the first rotating member moves to contact with the second rotating member, the first rotating member drives The second rotating member continues to rotate the second angle together with the first rotating member until the second rotating member moves into contact with the limiting member, the first rotating member and the second rotating member Stop exercising.
  • first angle and the second angle are both greater than 180 degrees and less than 360 degrees.
  • the distance from the first rotating member to the center of the rotating shaft is smaller than the distance from the limiting member to the center of the rotating shaft, and the distance from the second rotating member to the center of the rotating shaft is greater than the limiting member to The distance from the center of the shaft.
  • the fixing component includes a base, the base is provided with a receiving cavity, the rotating shaft is disposed in the receiving cavity, the rotating component comprises a body, the body is provided with a through hole, and the rotating shaft passes through The through hole, the first rotating member is disposed around an edge of the through hole.
  • the rotating member further includes two mounting arms and a mounting post, the mounting arm is disposed on an outer wall of the body, and the two are relatively spaced apart, and the mounting arm is separately installed away from the end of the body a hole, one side of the turret is provided with a matching hole, the mounting post sequentially passes through the matching hole and the mounting hole, thereby connecting the turret to one side of the body, and opposite to the body or the mounting arm Turn.
  • the fixing component further includes a fixing plate, the fixing plate is disposed at a center of the receiving cavity, the rotating shaft is disposed on the fixing plate, and the limiting member is protruded from the fixing plate .
  • the limiting device further includes a sleeve, and the sleeve is sleeved on the rotating shaft to reduce the rotational friction between the second rotating member and the rotating shaft.
  • the limiting device includes two sleeves, and the two sleeves are sleeved on the rotating shaft, and an end surface of one of the sleeves is matched with an end surface of the second rotating member. .
  • the limiting device further includes a pretensioning member, and the pretensioning member is sleeved on the rotating shaft and located between the two sleeves.
  • the limiting device further comprises a flexible connecting member wound on the rotating shaft for realizing electrical connection between the load and the unmanned aerial vehicle.
  • the flexible connector is one of a flexible circuit board, a wire or a wire.
  • the flexible connector is in the form of a spring.
  • the UAV further includes a connecting member, the connecting member includes a connecting portion and a connecting arm, the connecting portion is connected to the rotating member, and the connecting arm is disposed at a side of the connecting portion for The limit device is mounted to the unmanned aerial vehicle.
  • the connecting portion is provided with a connecting hole
  • the rotating shaft is provided with a shaft hole corresponding to the connecting hole, and a locking member is sequentially passed through the connecting hole and the shaft hole of the rotating shaft, thereby The limiting device is coupled to the connector.
  • the connecting arm includes an arm portion, a matching portion and a locking portion, the arm portion is connected to one side of the connecting portion, and a first holding slot and a first portion are opened away from an end of the connecting portion a latching hole, a second latching slot and a second latching hole corresponding to the first latching slot are formed at one end of the engaging portion, and the first latching slot and the second latching slot are respectively latched In the unmanned aerial vehicle, the locking portion is disposed in the second locking hole and the first locking hole.
  • the unmanned aerial vehicle includes a body, and the first holding groove of the arm portion and the second holding groove of the engaging portion are respectively engaged with the body, and the locking portion is disposed through the The second locking hole and the first locking hole.
  • the pan/tilt head includes a pitch axis bracket, a roll axle bracket, a heading shaft bracket, a pitch motor disposed at one end of the roll axle bracket and connected to the pitch shaft bracket, and the roller axle bracket connected a roll motor of the heading bracket and a heading motor disposed at one end of the heading bracket, the turret being clamped on the heading bracket.
  • the heading bracket further includes a first link and a second link disposed perpendicular to each other, the first link is connected to the heading motor, and one end of the second link is connected to the horizontal
  • the other end of the rolling motor is movably mounted on the first link, and the turret is clamped on the first link.
  • a limiting device comprising:
  • a quick release assembly for detachably holding a pan/tilt on the base
  • turret a turret, the turret being swingable relative to the platform to be engaged or disengaged from the platform.
  • the quick release assembly includes a first quick release portion and a second quick release portion that cooperates with the first quick release portion, the first quick release portion is disposed on the base, and the second quick release portion is The split portion is disposed on the pan/tilt head.
  • first quick release part is a guiding groove surrounded by a first protrusion part and a second protrusion part which are oppositely disposed at one end of the base
  • second quick release part is the first quick release part a sliding protrusion that cooperates with the guiding groove surrounded by the convex portion and the second convex portion.
  • first quick release part and the second quick release part are cooperating dovetail slots
  • first quick release portion and the second quick release portion are T-shaped grooves that cooperate with each other.
  • the side wall of the base is provided with a through receiving groove
  • the quick release assembly further includes a clamping member
  • the clamping member includes a clamping block, a clamping rod and a nut
  • the clamping block is received in the clamping block
  • One end of the clamping rod is received on one side of the clamping block, and the nut is sleeved on the clamping rod, and the clamping rod is rotated by operating the nut, thereby further Causing the clamping block into a locked state and a disassembled state; when the clamping block is in a locked state, one end of the clamping block abuts the sliding protrusion; when the clamping block is in a disassembled state, the One end of the clamping block is disengaged from the sliding projection.
  • a lug is disposed on an outer side of the nut, and the nut is rotated by operating the lug, thereby facilitating operation of the nut.
  • An unmanned aerial vehicle includes a limiting device and a pan/tilt head rotatably connected to the limiting device, wherein the limiting device comprises:
  • a quick release assembly for detachably holding a pan/tilt on the base
  • turret a turret, the turret being swingable relative to the platform to be engaged or disengaged from the platform.
  • the quick release assembly includes a first quick release portion and a second quick release portion that cooperates with the first quick release portion, the first quick release portion is disposed on the base, and the second quick release portion is The split portion is disposed on the pan/tilt head.
  • first quick release part is a guiding groove surrounded by a first protrusion part and a second protrusion part which are oppositely disposed at one end of the base
  • second quick release part is the first quick release part a sliding protrusion that cooperates with the guiding groove surrounded by the convex portion and the second convex portion.
  • first quick release part and the second quick release part are cooperating dovetail slots
  • first quick release portion and the second quick release portion are T-shaped grooves that cooperate with each other.
  • the side wall of the base is provided with a through receiving groove
  • the quick release assembly further includes a clamping member
  • the clamping member includes a clamping block, a clamping rod and a nut
  • the clamping block is received in the clamping block
  • One end of the clamping rod is received on one side of the clamping block, and the nut is sleeved on the clamping rod, and the clamping rod is rotated by operating the nut, thereby further Causing the clamping block into a locked state and a disassembled state; when the clamping block is in a locked state, one end of the clamping block abuts the sliding protrusion; when the clamping block is in a disassembled state, the One end of the clamping block is disengaged from the sliding projection.
  • a lug is disposed on an outer side of the nut, and the nut is rotated by operating the lug, thereby facilitating operation of the nut.
  • the limiting device of the present invention drives the first rotating member to rotate the first angle by the body, and then pushes the second rotating member to continue to rotate the second angle together with the first rotating member, and sets the limiting member to make the first The rotating member and the second rotating member stop rotating due to the limiting action of the limiting member.
  • the first rotating member has a total rotation angle greater than 360 degrees and less than 720 degrees due to the superposition of the first angle and the second angle.
  • the limiting device has the advantages of simple structure, low cost, and the transmission signal is not restricted by its structure.
  • FIG. 1 is a schematic view of an unmanned aerial vehicle in accordance with a preferred embodiment of the present invention.
  • FIG. 2 is a partial schematic view of the unmanned aerial vehicle of FIG. 1.
  • FIG. 3 is a partially exploded perspective view of the unmanned aerial vehicle of FIG. 1.
  • FIG. 4 is an exploded perspective view of the limit device of the unmanned aerial vehicle shown in FIG. 3.
  • FIG. 5 is a partial schematic view of the limiting device of the unmanned aerial vehicle shown in FIG. 4.
  • FIG. 6 is a partial assembled view of the limiting device in the UAV shown in FIG. 5.
  • Figure 7 is a schematic view showing the first moving rail and the second moving rail formed by the first rotating member and the second rotating member in the limiting device shown in Figure 5;
  • FIG. 8 is a schematic view showing a state in which the first rotating member rotates in the first direction and abuts against the second rotating member in the limiting device shown in FIG. 7.
  • FIG. 9 is a schematic view showing a state in which the first rotating member pushes the second rotating member to rotate, and the second rotating member abuts the limiting member in the limiting device shown in FIG. 7.
  • Unmanned aerial vehicle 100 Limiter 10 Fixed component 11 Base 111 Fixed plate 112 Stud 113 Rotating shaft 114 Threaded hole 115 Containment chamber 116 Fixed hole 117 Boss 118 Shaft hole 119 Rotating piece 12 Ontology 121 First surface 12a Second surface 12b Through hole 1211 Mounting arm 123 Mounting holes 1231 Turret 125 Matching hole 1251 Mounting column 127 Locating slot 129 First rotating member 13 Second rotating member 14 Main body 141 Rotating part 143 First motion track N1 Second motion track N2 Limiter 15 Socket 16 Pretension 17 washer 171 Back ring 173 Flexible connector 18 load 20 camera twenty one Yuntai twenty three Pitch bracket 230 Roller bracket 231 Heading axis bracket 233 First link 2331 Second link 2333 Pitch motor 235 Rolling motor 237 Heading motor 238 Mounting block 239 Connector 30 Connection 31 Connecting arm 33 Arm 331 Matching department 333 Locking part 335 First card slot 336 First lock hole 337 Second card slot 338 Second locking hole 339 Quick release component 40
  • an element when referred to as being “electrically connected” to another element, it can be directly on the other element or the element can be present.
  • an element when it is considered to be “electrically connected” to another element, it can be a contact connection, for example, either a wire connection or a non-contact connection, for example, a non-contact coupling.
  • FIG. 1 and FIG. 2 illustrate an unmanned aerial vehicle 100 according to an embodiment of the present invention.
  • the UAV 100 includes a body 70, a limiting device 10 that is rotatable relative to the body 70, and a load 20.
  • the load 20 is rotatably coupled to the limiting device 10.
  • the limiting device 10 includes a fixing component 11 , a rotating component 12 , a first rotating component 13 , a second rotating component 14 , and a limiting component 15 .
  • the fixing assembly 11 includes a base 111, a fixing plate 112, at least one stud 113 and a rotating shaft 114.
  • the base 111 has a cylindrical structure, and at least one threaded hole 115 is disposed at the bottom.
  • the fixing plate 112 is disposed on the base 111. Specifically, the base 111 defines a receiving cavity 116, and the fixing plate 112 is disposed at a center of the receiving cavity 116. In this embodiment, the fixing plate 112 is substantially rectangular and is screwed to the base 111. Specifically, the fixing plate 112 is provided with at least one fixing hole 117. In this embodiment, the number of the fixing holes 117 is the same as the number of the screw holes 115.
  • the number of the studs 113 is the same as the number of the threaded holes 115.
  • the number of the studs 113 may also be smaller than the number of the threaded holes 115, that is, the studs 113 cooperate with a part of the threaded holes 115 and the fixing holes 117.
  • the studs 113 sequentially pass through the corresponding threaded holes 115 and the fixing holes 117, so that the fixing plate 112 is screwed with the base 111 for easy disassembly.
  • the fixing plate 112 can also be disposed on the base 111 by other means, for example, by welding.
  • the stud 113, the threaded hole 115 and the fixing hole 117 can be omitted, so that the fixing plate 112 is directly formed integrally with the base 111.
  • the rotating shaft 114 is disposed on a surface of the fixing plate 112 facing away from the base 111. It can be understood that, in other embodiments, the rotating shaft 114 can be directly disposed on the base 111, and the fixing plate 112 is omitted.
  • a boss 118 is also disposed on the rotating shaft 114. In this embodiment, the boss 118 has a cylindrical shape and is disposed coaxially with the rotating shaft 114. Of course, in other embodiments, the boss 118 can also have other shapes.
  • the rotating member 12 is rotatably sleeved on the rotating shaft 114.
  • the rotating member 12 includes a body 121, two mounting arms 123, a turret 125, and a mounting post 127.
  • the body 121 has a cylindrical shape and includes a first surface 12a disposed opposite the base 111 and a second surface 12b disposed opposite the first surface 12a.
  • a through hole 1211 is defined in the body 121, and the through hole 1211 penetrates the first surface 12a and the second surface 12b.
  • the rotating shaft 114 passes through the through hole 1211.
  • the mounting arm 123 is disposed on an outer wall of the body 121, and the two are disposed at an interval.
  • a mounting hole 1231 is defined in the end of the mounting arm 123 away from the body 121.
  • the turret 125 has a ladder shape, and a fitting hole 1251 is opened on one side thereof.
  • the mounting post 127 sequentially passes through the mating hole 1251 and the mounting hole 1231, thereby connecting the turret 125 to one side of the body 121, and the turret 125 can be mounted relative to the body 121.
  • the arm 123 rotates.
  • the first rotating member 13 is disposed on the first surface 12a of the body 121. Specifically, the first rotating member 13 is disposed at an edge of the through hole 1211, so that when the rotating member 12 rotates around the rotating shaft 114, the rotating member 12 drives the first rotating member 13 along the first A direction A or a second direction B opposite to the first direction A is rotated, and the total angle at which the first rotating member 13 is rotated is greater than 360 degrees and less than 720 degrees.
  • the first rotating member 13 is integrally formed with the body 121 such that the first rotating member 13 and the body 121 maintain synchronous rotation.
  • the first rotating member 13 can also be fixed on the body 121 by welding or by other means such as screws.
  • first direction A is a counterclockwise direction
  • second direction B is a clockwise direction
  • first direction A may also be a clockwise direction
  • second direction B may also be a counterclockwise direction
  • the second rotating member 14 is disposed in the receiving cavity 116, and the second rotating member 14 is sleeved on the rotating shaft 114.
  • the second rotating member 14 includes a main body portion 141 and a rotating portion 143.
  • the main body portion 141 is sleeved on the rotating shaft 114. More specifically, the shape of the body portion 141 matches the boss 118.
  • the main body portion 141 is an annular structure, the main body portion 141 is sleeved on the boss 118, and the main body portion 141 is gap-fitted with the outer peripheral wall of the boss 118 so that When the main body portion 141 is rotated, the main body portion 141 does not drive the rotating shaft 114 to rotate at the same time.
  • the rotating portion 143 is provided on the main body portion 141.
  • the rotating portion 143 is a rod-like structure provided on an outer surface of the main body portion 141, and the rotating portion 143 is integrally formed with the main body portion 141 for ease of processing.
  • the limiting member 15 is disposed on the fixing component 11 . Specifically, the limiting member 15 is protruded from the fixing plate 112. It can be understood that in other embodiments, the limiting member 15 can also be directly disposed on the base 111.
  • the first rotating member 13 when the body 121 of the rotating member 12 rotates in the first direction A or in the second direction B opposite to the first direction A, the first rotating member 13 surrounds.
  • the axis of the rotating shaft 114 rotates and forms a first moving track N1.
  • the rotating portion 143 partially falls into the first moving track N1, and the first rotating member 13 can drive the rotating portion 143 to rotate about the axis of the rotating shaft 114 and form a second moving track N2.
  • the first motion track N1 is a circumferential track. That is, the first rotating member 13 is rotated one turn around the axis of the rotating shaft 114.
  • the first motion track N1 may also be a circular arc.
  • the body 121 drives the first rotating member 13 to rotate until the first rotating member 13 contacts the rotating portion 143, the first rotating member 13 drives the second rotating member 14 together. Rotating around the rotating shaft 114.
  • the limiting member 15 is located at the periphery of the first moving track N1 and partially falls into the second moving track N2. Specifically, in the process of rotating the body 121, the body 121 drives the first rotating member 13 to rotate together. When the first rotating member 13 is rotated to come into contact with the rotating portion 143, the rotating portion 143 rotates with the rotation of the first rotating member 13 until the rotating portion 143 and the limiting member 15 contact. At this time, the first rotating member 13 and the rotating portion 143 stop rotating.
  • the body 121 drives the first rotating member 13 away from one side of the rotating portion 143 .
  • the direction is rotated.
  • the first rotating member 13 is rotated to the other side of the rotating portion 143 and abuts against the rotating portion 143, the first rotating member 13 is rotated by a first angle ⁇ 1 (refer to FIG. 7).
  • the first rotating member 13 drives the rotating portion 143 to continue to rotate in the first direction A until the rotating portion 143 is in contact with the limiting member 15.
  • the second rotating member 14 and the first rotating member 13 stop rotating due to the limiting action of the limiting member 15, and the first rotating member 13 drives the rotating portion 143 to rotate together.
  • Angle ⁇ 2 see Figure 8
  • the first angle ⁇ 1 and the second angle ⁇ 2 are both greater than 180 degrees and less than 360 degrees. Therefore, the first rotating member 13 is caused by the superposition of the two rotation angles (the first angle ⁇ 1 and the second angle ⁇ 2), so that the total angle of its rotation is greater than 360 degrees and less than 720 degrees.
  • the principle that the first rotating member 13 rotates in the second direction B is similar to the principle of rotating in the first direction A, and details are not described herein again.
  • a distance from the first rotating member 13 to the center of the rotating shaft 114 is smaller than a distance between the limiting member 15 and the center of the rotating shaft 114, thereby ensuring that the first rotating member 13 is not in contact with the second When the rotating member 14 is rotated, the rotation of the limiting member 15 can be continued without being restricted. Further, the distance from the second rotating member 14 to the center of the rotating shaft 114 is greater than the distance from the limiting member 15 to the center of the rotating shaft 114, so that the second rotating member 14 is subjected to movement during movement. The limiting action of the limiting member 15 is such that the moving position of the second rotating member 14 is limited.
  • the height limit relationship between the first rotating member 13 and the limiting member 15 and the second rotating member 14 can be defined to achieve the limiting effect in the embodiment.
  • the limiting device 10 further includes at least one sleeve member 16 , and the sleeve member 16 is sleeved on the rotating shaft 114 for reducing the rotation between the second rotating member 14 and the rotating shaft 114 .
  • Friction
  • the limiting device 10 includes two sleeve members 16 . Both of the sleeves 16 are copper sleeves. The two sleeves 16 are sequentially sleeved on the rotating shaft 114, and an end surface of one of the sleeves 16 is in contact with an end surface of the second rotating member 14 away from the fixing plate 112 (refer to FIG. 6).
  • the sleeve member 16 can effectively reduce the between the second rotating member 14 and the rotating shaft 114. Rotating friction.
  • the sleeve 16 can also be a bearing or a guide sleeve.
  • the limiting device 10 further includes a pretensioning member 17.
  • the pretensioning member 17 includes a washer 171 and a backing ring 173.
  • the washer 171 and the backing ring 173 are respectively received in the through hole 1211 and are sleeved on the rotating shaft 114 and disposed between the two sleeves 16 . That is, one of the sleeves 16, the backing ring 173, the washer 171 and the other sleeve 16 are sequentially sleeved on the rotating shaft 114.
  • the pretensioning member 17 is for providing an axial preload force to prevent the rotating shaft 114 from slipping out of the through hole 1211.
  • the pretensioning member 17 can also be omitted in order to save material.
  • the limiting device 10 also includes a flexible connector 18.
  • the flexible connector 18 can be a flexible printed circuit (FPC), a wire or a cable.
  • the flexible connector 18 is disposed on the second surface 12b of the body 121.
  • the second surface 12b of the body 121 is provided with a receiving groove 129 (refer to FIG. 4).
  • the flexible connector 18 is received in the accommodating groove 129 and has one end wound on the rotating shaft 114 and the other end connected to a controller disposed on the body 70 of the UAV 100 or A processor (not shown) for electrically connecting the load 20 to the controller or processor.
  • the flexible connecting member 18 is substantially in the shape of a spring.
  • the flexible connecting member 18 can be regularly wound or loosened on the rotating shaft 114, A disordered trajectory is formed due to the rotation of the rotating member 12, which solves the problem of "uninterrupted entanglement of lines" in the related art. Moreover, the flexible connecting member 18 is wound in the existing space of the limiting device 10 (i.e., in the receiving groove 129), so that the volume of the limiting device 10 is not increased.
  • the UAV 100 further includes a connector 30.
  • the connecting member 30 includes a connecting portion 31 and at least one connecting arm 33.
  • the connecting portion 31 has a circular structure.
  • the connecting member 30 is connected to the rotating member 12 through the connecting portion 31, and the limiting device 10 is mounted to the body 70 of the UAV 100 through the connecting arm 33.
  • a connecting hole 311 is defined in a middle portion of the connecting portion 31.
  • a shaft hole 119 corresponding to the connecting hole 311 is defined in the rotating shaft 114 (refer to FIG. 3).
  • the limiting device 10 is further connected to the connecting member 30 by sequentially passing a locking member 50 through the connecting hole 311 and the shaft hole 119 of the rotating shaft 114. It can be understood that the locking member 50 is used to provide an axial pre-tightening force, so that the limiting device 10 is fixedly connected with the connecting member 30.
  • the connecting member 30 includes two connecting arms 33.
  • the connecting arms 33 are symmetrically disposed on both sides of the connecting portion 31 for mounting the limiting device 10 to the UAV 100.
  • the connecting arm 33 includes an arm portion 331 , a mating portion 333 , and at least one locking portion 335 .
  • the arm portion 331 is connected to one side of the connecting portion 31 , and an opening portion 336 of the substantially U-shaped shape and at least one first locking hole 337 are defined at one end of the connecting portion 31 .
  • the shape and structure of the engaging portion 333 correspond to the arm portion 331.
  • one end of the engaging portion 333 is provided with a second holding groove 338 corresponding to the first holding groove 336 and at least one second locking hole 339.
  • the first holding slot 336 is matched with the second holding slot 338 for holding the unmanned aerial vehicle 100, for example, the body 70 of the unmanned aerial vehicle 100, and then the limit is Device 10 and load 20 are assembled to the UAV 100.
  • the number of the locking portions 335 is the same as the number of the first locking holes 337.
  • the first holding groove 336 of the arm portion 331 and the second holding groove 338 of the engaging portion 333 are respectively clamped on the body 70 of the UAV 100, and the locking portion 335 is sequentially passed through
  • the second locking hole 339 and the first locking hole 337 are connected to the unmanned aerial vehicle 100 to realize the quick disassembly and assembly of the limiting device 10 relative to the UAV 100.
  • the number of the locking portions 335 can also be less than the number of the first locking holes 337, that is, the locking portion 335 is disposed in a portion of the first locking holes 337.
  • the load 20 is a camera module.
  • the load 20 can also be other, such as a microcomputer or a projection device.
  • the load 20 is rotatably coupled to the limiting device 10.
  • the load 20 includes a camera 21 and a pan/tilt head 23.
  • the pan/tilt head 23 is configured to implement fixing of the camera 21, arbitrarily adjusting the posture of the camera 21 (for example, changing the height, inclination, and/or direction of the camera 21) and stably maintaining the camera 21 in the determination. On the gesture.
  • the pan/tilt head 23 includes a pitch axis bracket 230 for mounting the camera 21, a roll axle bracket 231, a heading shaft bracket 233, and one end of the roll axle bracket 231.
  • a pitch motor 235 connected to the pitch axis bracket 230, a Roll motor 237 connecting the roll axis bracket 231 and the heading bracket 233, and a heading (Yaw) provided at one end of the heading bracket 233 Motor 238 and mounting block 239.
  • the heading shaft bracket 233 further includes a first link 2331 and a second link 2333 which are disposed perpendicular to each other.
  • the first link 2331 is coupled to the heading motor 238.
  • One end of the second link 2333 is connected to the roll motor 237, and the other end is movably mounted on the first link 2331, thereby adjusting the center of gravity of the pan/tilt head 23.
  • the mounting block 239 is mounted on the heading bracket 233 for connecting the platform 23 to the limiting device 10.
  • the heading motor 238 is fixed in the mounting block 239.
  • the heading motor 238 is for driving the mounting block 239 connected thereto to rotate, however, in the present embodiment, since the mounting block 239 is fixedly coupled to the unmanned aerial vehicle 100, the heading motor 238 The mounting block 239 cannot be driven to rotate, but the heading bracket 233 is driven to rotate in the horizontal direction.
  • the load 20 may also include only the camera 21 or only the pan/tilt head 23.
  • the limiting device 10 further includes a quick release assembly 40.
  • the quick release assembly 40 is configured to detachably hold the pan/tilt head 23 on the limiting device 10.
  • the quick release assembly 40 is not limited to the fixing and dismounting of the platform 23 on the UAV 100, and can also be used for fixing and dismounting any of the holders on other devices or mechanisms.
  • the quick release assembly 40 includes a first quick release portion 41, a second quick release portion 43 that is slidably engaged with the first quick release portion 41, and a clamping member 45.
  • the first quick release portion 41 is disposed at one end of the base 111.
  • the first quick release portion 41 may be a guiding groove surrounded by the first convex portion 411 and the second convex portion 413 which are oppositely disposed at one end of the base 111.
  • One side of the base 111 is further provided with a receiving groove 415 penetrating the first protruding portion 411.
  • the second quick release portion 43 is disposed at one end of the mounting block 239 and is slidably guided by the guiding groove surrounding the first protruding portion 411 and the second protruding portion 413.
  • the second quick release portion 43 may be a sliding protrusion 431 that cooperates with a guiding groove surrounded by the first convex portion 411 and the second convex portion 413.
  • first quick release portion 41 and the second quick release portion 43 are dovetail slots that cooperate with each other.
  • first quick release portion 41 and the second quick release portion 43 may also be T-shaped slots or other quick release structures that cooperate with each other.
  • the clamping member 45 is disposed on the base 111 and has a locked state and a disassembled state. When the clamping member 45 is in the locked state, the clamping member 45 abuts against the sliding protrusion 431 of the second quick release portion 43. When the clamping member 45 is in the disassembled state, the clamping member 45 is disengaged from the sliding protrusion 431 of the second quick release portion 43.
  • the clamping member 45 includes a clamping block 451, a clamping rod 453, and a nut 455.
  • the clamping block 451 is received in the receiving groove 415, and one end thereof abuts the sliding protrusion 431.
  • One end of the clamping rod 453 is received at one side of the clamping block 451.
  • the nut 455 is sleeved on the clamping rod 453.
  • the clamping member 453 is rotated by operating the nut 455, thereby causing the clamping member 45 to enter a locked state and a disassembled state.
  • the clamping block 451 slides into the receiving groove 415, and one end thereof abuts against the sliding protrusion 431 of the mounting block 239, thereby the mounting block 239 Locked on the base 111.
  • the clamping member 45 is in the disassembled state, the clamping block 451 slides out of the receiving groove 415, and one end thereof is disengaged from the sliding protrusion 431 of the mounting block 239 to allow the mounting block 239 to The base 111 is separated.
  • the outer side of the nut 455 is provided with a lug 457.
  • the lug 457 By operating the lug 457, the nut 455 is rotated, thereby facilitating the operation of the nut 455.
  • an end of the turret 125 away from the mounting arm 123 can be swung by an angle with respect to the heading bracket 233 of the platform 23 to be engaged or disengaged from the platform 23 .
  • the turret 125 can assist in detachably holding the platform 23 on the limiting device 10.
  • the heading motor 238 drives the first link 2331 of the heading bracket 233 to rotate, the first link 2331 of the platform 23 will drive the rotating member 12 to rotate through the turret 125. Thereby, the first rotating member 13 and the second rotating member 14 are rotated.
  • the second quick-release part 43 disposed on the pan/tilt head 23 is engaged with the first quick-release part 41 on the base 111,
  • the lug 457 is operated to move the nut 455 in a locking direction, such as a clockwise direction, thereby causing the clamping member 45 to enter the locked state.
  • one end of the clamping block 451 abuts the sliding protrusion 431 to more stably assemble the platform 23 to the limiting device 10.
  • the heading motor 238 of the pan/tilt head 23 realizes the function of rotating the rotary member 12 through the first link 2331 and the turret 125.
  • the pan/tilt head 23 When it is necessary to quickly remove the pan/tilt head 23 from the unmanned aerial vehicle 100, it is only necessary to lift the turret 125 relative to the first link 2331 so that the turret 125 is disengaged from the gimbal A heading bracket 233 of 23.
  • the lug 457 is simultaneously operated to move the nut 455 in an unlocking direction, such as a counterclockwise direction, thereby causing the clamping member 45 to enter the disassembled state. That is, one end of the clamping block 451 is disengaged from the sliding protrusion 431 of the mounting block 239 to allow the mounting block 239 to be separated from the base 111. As such, the pan/tilt head 23 can be quickly removed from the unmanned aerial vehicle 100.
  • the heading motor 238 of the pan/tilt 23 drives the heading bracket 233 to rotate in a horizontal direction, since the turret 125 is stuck in the The heading bracket 233 is on the first link 2331. Therefore, the heading bracket 233 drives the rotating member 12 to rotate by the turret 125, thereby rotating the first rotating member 13 in the first direction A.
  • the first rotating member 13 is rotated to contact with the second rotating member 14
  • the first rotating member 13 drives the second rotating member 14 to rotate together until the first rotating member 13 and the second
  • the rotating member 14 is rotated until the second rotating member 14 is in contact with the limiting member 15, and both the first rotating member 13 and the second rotating member 14 stop rotating. At this time, the load 20 stops rotating.
  • the total angle of rotation of the first rotating member 13 is greater than 360 degrees and less than 720 degrees
  • the total rotation angle of the camera 21 is also greater than 360 degrees and less than 720 degrees, thereby
  • the camera 21 has a wider shooting angle.
  • the first rotating member 13 rotates in the first direction A by at least one turn when rotating, so that the shooting direction of the camera 21 is the same direction, it is avoided that the reverse direction returns after one rotation. The scene is repeated, so that the scene captured by the camera 21 is more comprehensive.
  • the limiting device 10 drives the first rotating member 13 to rotate the first angle ⁇ 1 by the body 121, and then drives the second rotating member 14 to continue to rotate the second angle ⁇ 2 together with the first rotating member 13 and
  • the limiting member 15 is disposed such that the first rotating member 13 and the second rotating member 14 stop rotating due to the limiting action of the limiting member 15.
  • the first rotating member 13 has a total rotation angle greater than 360 degrees and less than 720 degrees due to the superposition of the first angle ⁇ 1 and the second angle ⁇ 2.
  • the limiting device 10 has the advantages of simple structure, low cost, and the advantages that the transmission signal is not restricted by its structure.
  • the limiting device 10 further implements quick disassembly and assembly of the limiting device 10 and the pan/tilt head 23 by providing the quick release assembly 40.

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  • Mechanical Engineering (AREA)
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  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

一种限位装置（10），及具有该限位装置（10）的无人飞行器（100）。所述限位装置（10）用于连接云台（23），包括：固定组件（11），旋转件（12），所述旋转件（12）与所述固定组件（11）相对转动连接，所述旋转件（12）的一侧设置有用于与所述云台（23）相卡持的转动架（125），所述转动架（125）能够相对于所述云台（23）摆动以与所述云台（23）卡持或者脱离卡持，当所述转动架（125）与所述云台（23）卡持时，所述云台（23）能够通过所述转动架（125）带动所述旋转件（12）旋转；以及快拆组件（40），所述快拆组件（40）设置于所述固定组件（11）上，当所述云台（23）脱离卡持时，所述云台（23）通过所述快拆组件（40）能够拆卸的固持于所述固定组件（11）上。所述限位装置（10）可相对云台（23）旋转，且可与云台（23）实现快速拆装。

Description

限位装置及具有该限位装置的无人飞行器 技术领域
本发明涉及限位技术，尤其涉及一种限位装置及具有该限位装置的无人飞行器。
背景技术
在无人飞行器的拍摄领域中，为了能达到较大范围的拍摄角度，通常采用单周限位转动机构，即转动一周进行限位停止转动。然而由于限位件的限位作用，使得该结构在转动时无法完全转动360度，从而存在拍摄角度不足的情况。
发明内容
鉴于以上内容，有必要提供一种具有限位作用且转动角度大于360度的限位装置。
另外，还有必要提供一种具有该限位装置的无人飞行器。
一种限位装置，用于连接云台，所述限位装置包括：
固定组件；
旋转件，所述旋转件与所述固定组件相对转动连接，所述旋转件的一侧设置有用于与所述云台相卡持的转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持，当所述转动架与所述云台卡持时，所述云台能够通过所述转动架带动所述旋转件旋转；以及
快拆组件，所述快拆组件设置于所述固定组件上，当所述云台脱离卡持时，所述云台通过所述快拆组件能够拆卸的固持于所述固定组件上。
进一步地，所述固定组件包括转轴，所述限位装置还包括第一转动件、第二转动件及限位件，所述第一转动件固定连接至所述旋转件，所述旋转件用以带动所述第一转动件绕所述转轴转动；所述第二转动件套设于所述转轴上，所述第一转动件用以带动所述第二转动件与所述第一转动件一起绕所述转轴转动；所述限位件固定连接于所述固定组件，所述限位件用以限制所述第一转动件与所述第二转动件的继续转动。
进一步地，所述旋转件带动所述第一转动件绕所述转轴转动第一角度，且当所述第一转动件运动至与所述第二转动件接触时，所述第一转动件带动所述第二转动件与所述第一转动件一起继续转动第二角度，直至所述第二转动件运动至与所述限位件接触，所述第一转动件及所述第二转动件均停止运动。
进一步地，所述第一角度及第二角度均大于180度且小于360度。
进一步地，所述第一转动件至所述转轴中心的距离小于所述限位件至所述转轴中心的距离，所述第二转动件至所述转轴中心的距离大于所述限位件至所述转轴中心的距离。
进一步地，所述固定组件包括底座，所述底座开设有收容腔，所述转轴设置于所述收容腔内，所述旋转件包括本体，所述本体上开设有通孔，所述转轴穿过所述通孔，所述第一转动件围绕所述通孔的边缘设置。
进一步地，所述旋转件还包括二个安装臂及安装柱，所述安装臂设置于该本体的外壁上，且两者相对间隔设置，该安装臂远离所述本体的端部分别开设有安装孔，所述转动架的一侧开设有配合孔，该安装柱依次穿过该配合孔及安装孔，进而将所述转动架连接于所述本体的一侧，并相对所述本体或安装臂转动。
进一步地，所述固定组件还包括固定板，所述固定板设置于所述收容腔的中心上，所述转轴设置于所述固定板上，所述限位件凸设于所述固定板上。
进一步地，所述限位装置还包括套设件，所述套设件套设于所述转轴上，用以减小所述第二转动件与所述转轴之间的转动摩擦力。
进一步地，所述限位装置包括两个套设件，两个所述套设件均套设于所述转轴上，且其中一个套设件的端面与所述第二转动件的端面贴合。
进一步地，所述限位装置还包括预紧件，所述预紧件套设于所述转轴上，且位于两个所述套设件之间。
进一步地，所述限位装置还包括柔性连接件，所述柔性连接件缠绕于所述转轴上，用以实现负载与无人飞行器的电连接。
进一步地，所述柔性连接件为柔性电路板、电线或排线中的一种。
进一步地，所述柔性连接件呈发条状。
一种无人飞行器，包括限位装置及与所述限位装置转动连接的云台，其中，所述限位装置包括：
固定组件；
旋转件，所述旋转件与所述固定组件相对转动连接，所述旋转件的一侧设置有用于与所述云台相卡持的转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持，当所述转动架与所述云台卡持时，所述云台能够通过所述转动架带动所述旋转件旋转；以及
快拆组件，所述快拆组件设置于所述固定组件上，当所述云台脱离卡持时，所述云台通过所述快拆组件能够拆卸的固持于所述固定组件上。
进一步地，所述固定组件包括转轴，所述限位装置还包括第一转动件、第二转动件及限位件，所述第一转动件固定连接至所述旋转件，所述旋转件用以带动所述第一转动件绕所述转轴转动；所述第二转动件套设于所述转轴上，所述第一转动件用以带动所述第二转动件与所述第一转动件一起绕所述转轴转动；所述限位件固定连接于所述固定组件，所述限位件用以限制所述第一转动件与所述第二转动件的继续转动。
进一步地，所述旋转件带动所述第一转动件绕所述转轴转动第一角度，且当所述第一转动件运动至与所述第二转动件接触时，所述第一转动件带动所述第二转动件与所述第一转动件一起继续转动第二角度，直至所述第二转动件运动至与所述限位件接触，所述第一转动件及所述第二转动件均停止运动。
进一步地，所述第一角度及第二角度均大于180度且小于360度。
进一步地，所述第一转动件至所述转轴中心的距离小于所述限位件至所述转轴中心的距离，所述第二转动件至所述转轴中心的距离大于所述限位件至所述转轴中心的距离。
进一步地，所述固定组件包括底座，所述底座开设有收容腔，所述转轴设置于所述收容腔内，所述旋转件包括本体，所述本体上开设有通孔，所述转轴穿过所述通孔，所述第一转动件围绕所述通孔的边缘设置。
进一步地，所述旋转件还包括二个安装臂及安装柱，所述安装臂设置于该本体的外壁上，且两者相对间隔设置，该安装臂远离所述本体的端部分别开设有安装孔，所述转动架的一侧开设有配合孔，该安装柱依次穿过该配合孔及安装孔，进而将所述转动架连接于所述本体的一侧，并相对所述本体或安装臂转动。
进一步地，所述固定组件还包括固定板，所述固定板设置于所述收容腔的中心上，所述转轴设置于所述固定板上，所述限位件凸设于所述固定板上。
进一步地，所述限位装置还包括套设件，所述套设件套设于所述转轴上，用以减小所述第二转动件与所述转轴之间的转动摩擦力。
进一步地，所述限位装置包括两个套设件，两个所述套设件均套设于所述转轴上，且其中一个套设件的端面与所述第二转动件的端面贴合。
进一步地，所述限位装置还包括预紧件，所述预紧件套设于所述转轴上，且位于两个所述套设件之间。
进一步地，所述限位装置还包括柔性连接件，所述柔性连接件缠绕于所述转轴上，用以实现负载与无人飞行器的电连接。
进一步地，所述柔性连接件为柔性电路板、电线或排线中的一种。
进一步地，所述柔性连接件呈发条状。
进一步地，所述无人飞行器还包括连接件，所述连接件包括连接部及连接臂，所述连接部连接至所述旋转件，所述连接臂设置于所述连接部的侧面，用于将所述限位装置安装至所述无人飞行器。
进一步地，所述连接部开设有连接孔，所述转轴上开设有与所述连接孔相应的轴孔，通过将一锁紧件依次穿过该连接孔及该转轴的轴孔，进而将所述限位装置连接至所述连接件。
进一步地，所述连接臂包括臂部、配合部及锁持部，所述臂部连接至所述连接部的一侧，且其远离该连接部的一端开设有第一卡持槽及第一锁持孔，所述配合部的一端开设有与第一卡持槽相应的第二卡持槽及第二锁持孔，所述第一卡持槽及第二卡持槽分别卡持于所述无人飞行器上，所述锁持部穿设于所述第二锁持孔及第一锁持孔内。
进一步地，所述无人飞行器包括机体，所述臂部的第一卡持槽及所述配合部的第二卡持槽分别卡持于所述机体，所述锁持部穿设于所述第二锁持孔及第一锁持孔内。
进一步地，所述云台包括俯仰轴支架、横滚轴支架、航向轴支架、设置于所述横滚轴支架一端且与所述俯仰轴支架连接的俯仰电机、连接所述横滚轴支架与航向轴支架的横滚电机以及设置于所述航向轴支架一端的航向电机，所述转动架卡持于所述航向轴支架上。
进一步地，所述航向轴支架还包括相互垂直设置的第一连杆以及第二连杆，所述第一连杆连接至所述航向电机，所述第二连杆的一端连接至所述横滚电机，另一端能够活动的装设于所述第一连杆上，所述转动架卡持于所述第一连杆上。
一种限位装置，包括：
底座；
快拆组件，所述快拆组件用以将一云台能够拆卸的固持于所述底座上；以及
转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持。
进一步地，所述快拆组件包括第一快拆部及与所述第一快拆部配合的第二快拆部，所述第一快拆部设置于所述底座上，所述第二快拆部设置于所述云台上。
进一步地，所述第一快拆部为由所述底座的一端相对设置的第一凸起部和第二凸起部围成的导向槽，所述第二快拆部为与所述第一凸起部和第二凸起部围成的导向槽配合的滑动凸起。
进一步地，所述第一快拆部和第二快拆部为相互配合的燕尾槽；
或者，所述第一快拆部和第二快拆部为相互配合的T型槽。
进一步地，所述底座的侧壁开设有贯通的收纳槽，所述快拆组件还包括夹紧件，所述夹紧件包括夹紧块、夹紧杆以及螺母，所述夹紧块收容在所述收纳槽内；所述夹紧杆的一端收容在所述夹紧块的一侧，所述螺母套设在夹紧杆上，通过操作所述螺母，以旋转所述夹紧杆，进而使得所述夹紧块进入锁定状态以及拆卸状态；当所述夹紧块在锁定状态下，所述夹紧块的一端抵持所述滑动凸起；当夹紧块在拆卸状态下，所述夹紧块的一端与所述滑动凸起相脱离。
进一步地，所述螺母的外侧设有凸耳，通过操作所述凸耳带动所述螺母转动，从而方便操作螺母。
一种无人飞行器，包括限位装置及与所述限位装置转动连接的云台，其中，所述限位装置包括：
底座；
快拆组件，所述快拆组件用以将一云台能够拆卸的固持于所述底座上；以及
转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持。
进一步地，所述快拆组件包括第一快拆部及与所述第一快拆部配合的第二快拆部，所述第一快拆部设置于所述底座上，所述第二快拆部设置于所述云台上。
进一步地，所述第一快拆部为由所述底座的一端相对设置的第一凸起部和第二凸起部围成的导向槽，所述第二快拆部为与所述第一凸起部和第二凸起部围成的导向槽配合的滑动凸起。
进一步地，所述第一快拆部和第二快拆部为相互配合的燕尾槽；
或者，所述第一快拆部和第二快拆部为相互配合的T型槽。
进一步地，所述底座的侧壁开设有贯通的收纳槽，所述快拆组件还包括夹紧件，所述夹紧件包括夹紧块、夹紧杆以及螺母，所述夹紧块收容在所述收纳槽内；所述夹紧杆的一端收容在所述夹紧块的一侧，所述螺母套设在夹紧杆上，通过操作所述螺母，以旋转所述夹紧杆，进而使得所述夹紧块进入锁定状态以及拆卸状态；当所述夹紧块在锁定状态下，所述夹紧块的一端抵持所述滑动凸起；当夹紧块在拆卸状态下，所述夹紧块的一端与所述滑动凸起相脱离。
进一步地，所述螺母的外侧设有凸耳，通过操作所述凸耳带动所述螺母转动，从而方便操作螺母。
本发明中的限位装置通过该本体带动第一转动件先行转动第一角度，再推动所述第二转动件与第一转动件一起继续转动第二角度，并设置限位件，使得第一转动件及第二转动件由于限位件的限位作用而停止转动。所述第一转动件由于第一角度及第二角度的叠加，而使得其总的转动角度大于360度并且小于720度。该限位装置的结构简单，成本较低，且具有传输信号不受其结构限制等优点。
 附图说明
图1为本发明较佳实施例的无人飞行器的示意图。
图2为图1所示无人飞行器的部分示意图。
图3为图1所示无人飞行器的部分分解示意图。
图4为图3所示无人飞行器中限位装置的分解示意图。
图5为图4所示无人飞行器中限位装置的部分结合示意图。
图6为图5所示无人飞行器中限位装置的部分组装示意图。
图7为图5所示限位装置中第一转动件、第二转动件构成的第一运动轨道及第二运动轨道的示意图。
图8为图7所示限位装置中第一转动件沿第一方向转动并抵持所述第二转动件时的状态示意图。
图9为图7所示限位装置中第一转动件推动所述第二转动件转动，且所述第二转动件抵持所述限位件的状态示意图。
主要元件符号说明
无人飞行器 100
限位装置 10
固定组件 11
底座 111
固定板 112
螺柱 113
转轴 114
螺纹孔 115
收容腔 116
固定孔 117
凸台 118
轴孔 119
旋转件 12
本体 121
第一表面 12a
第二表面 12b
通孔 1211
安装臂 123
安装孔 1231
转动架 125
配合孔 1251
安装柱 127
容置槽 129
第一转动件 13
第二转动件 14
主体部 141
转动部 143
第一运动轨道 N1
第二运动轨道 N2
限位件 15
套设件 16
预紧件 17
垫圈 171
垫环 173
柔性连接件 18
负载 20
相机 21
云台 23
俯仰轴支架 230
横滚轴支架 231
航向轴支架 233
第一连杆 2331
第二连杆 2333
俯仰电机 235
横滚电机 237
航向电机 238
安装块 239
连接件 30
连接部 31
连接臂 33
臂部 331
配合部 333
锁持部 335
第一卡持槽 336
第一锁持孔 337
第二卡持槽 338
第二锁持孔 339
快拆组件 40
第一快拆部 41
第一凸起部 411
第二凸起部 413
收纳槽 415
第二快拆部 43
滑动凸起 431
夹紧件 45
夹紧块 451
夹紧杆 453
螺母 455
凸耳 457
锁紧件 50
机体 70
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当一个元件被称为“电连接”另一个元件，它可以直接在另一个组件上或者也可以存在居中的元件。当一个元件被认为是“电连接”另一个元件，它可以是接触连接，例如，可以是导线连接的方式，也可以是非接触式连接，例如，可以是非接触式耦合的方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1及图2，为本发明实施例提供的一种无人飞行器100。所述无人飞行器100包括机体70、可相对机体70转动的限位装置10、以及负载20。所述负载20可转动地连接于所述限位装置10上。
请一并参阅图3及图4，所述限位装置10包括固定组件11、旋转件12、第一转动件13、第二转动件14及限位件15。该固定组件11包括底座111、固定板112、至少一个螺柱113及转轴114。在本实施例中，该底座111为圆柱体结构，其底部设置有至少一个螺纹孔115。
所述固定板112设置于该底座111上。具体的，所述底座111开设有收容腔116，所述固定板112设置于所述收容腔116的中心位置处。本实施例中，所述固定板112大致呈矩形，其与所述底座111螺纹连接。具体的，所述固定板112上开设有至少一个固定孔117。本实施例中，所述固定孔117的数量与所述螺纹孔115的数量一致。
本实施例中，所述螺柱113的数量与所述螺纹孔115的数量一致。当然，所述螺柱113的数量也可以小于所述螺纹孔115的数量，即所述螺柱113与部分所述螺纹孔115及固定孔117相配合。所述螺柱113依次穿过相应的螺纹孔115及固定孔117，进而使得所述固定板112与所述底座111螺纹连接，以便于拆卸。可以理解，所述固定板112也可通过其他方式设置于所述底座111上，例如通过焊接连接。当然，为了便于加工，所述螺柱113、螺纹孔115及固定孔117均可以省略，而使得所述固定板112直接与所述底座111一体成型。
所述转轴114设置于所述固定板112背向所述底座111的表面。可以理解的是，在其他实施例，所述转轴114可直接设置于所述底座111上，而省略所述固定板112。所述转轴114上还设置有凸台118。本实施例中，该凸台118呈圆柱状，其与所述转轴114同轴设置。当然，在其他实施例中，所述凸台118也可以为其他形状。
所述旋转件12可转动地套设于所述转轴114上。所述旋转件12包括本体121、二个安装臂123、转动架125及安装柱127。所述本体121呈圆柱状，其包括一与所述底座111相对设置的第一表面12a及一与所述第一表面12a相背设置的第二表面12b。所述本体121上开设有通孔1211，所述通孔1211贯通该第一表面12a及第二表面12b。所述转轴114穿过所述通孔1211。
所述安装臂123设置于该本体121的外壁上，且两者相对间隔设置。该安装臂123远离本体121的端部分别开设有安装孔1231。所述转动架125呈梯状，其一侧开设有配合孔1251。本实施例中，该安装柱127依次穿过该配合孔1251及安装孔1231，进而将所述转动架125连接于所述本体121的一侧，且所述转动架125可相对本体121或安装臂123转动。
请一并参阅图5，所述第一转动件13设置于所述本体121的第一表面12a上。具体的，所述第一转动件13设置于所述通孔1211的边缘，从而使得所述旋转件12绕所述转轴114转动时，所述旋转件12带动所述第一转动件13沿第一方向A或沿与第一方向A相反的第二方向B转动，并使得所述第一转动件13转动的总角度大于360度并且小于720度。本实施例中，所述第一转动件13与所述本体121一体成型，从而使得所述第一转动件13与所述本体121保持同步转动。当然，所述第一转动件13还可通过焊接或通过螺钉等其他方式固设于所述本体121上。
本实施例中，所述第一方向A为逆时针方向，所述第二方向B为顺时针方向。当然，在其他实施例中，所述第一方向A也可为顺时针方向，所述第二方向B也可为逆时针方向。
所述第二转动件14设置在所述收容腔116内，且所述第二转动件14套设于所述转轴114上。具体的，所述第二转动件14包括主体部141及转动部143。所述主体部141套设于所述转轴114上。更具体的，所述主体部141的形状与所述凸台118相匹配。在本实施例中，所述主体部141为环状结构，所述主体部141套设于所述凸台118上，且所述主体部141与所述凸台118的外周壁间隙配合，以便于当所述主体部141转动时，所述主体部141不会带动所述转轴114同时转动。所述转动部143设于所述主体部141上。具体的，所述转动部143为设于所述主体部141外表面上的杆状结构，且为了便于加工，所述转动部143与所述主体部141一体成型。
所述限位件15设于所述固定组件11上。具体的，所述限位件15凸设于所述固定板112上。可以理解，在其他实施例中，所述限位件15亦可直接设置于所述底座111上。
请一并参阅图6及图7，当所述旋转件12的本体121沿所述第一方向A或沿与第一方向A相反的第二方向B转动时，所述第一转动件13围绕所述转轴114的轴心转动并形成第一运动轨道N1。所述转动部143部分落入所述第一运动轨道N1内，且所述第一转动件13能够带动所述转动部143围绕所述转轴114的轴心转动，并形成第二运动轨道N2。本实施例中，所述第一运动轨道N1为圆周轨道。即所述第一转动件13绕所述转轴114的轴心转动一圈。当然，在其他实施例中，所述第一运动轨道N1也可为圆弧。具体的，当所述本体121带动所述第一转动件13转动至所述第一转动件13与所述转动部143接触时，所述第一转动件13带动所述第二转动件14一起绕所述转轴114转动。
所述限位件15位于所述第一运动轨道N1的外围，且部分落入所述第二运动轨道N2内。具体的，所述本体121转动的过程中，所述本体121带动所述第一转动件13一起转动。当所述第一转动件13转动至与所述转动部143接触时，所述转动部143随所述第一转动件13的转动而转动，直至所述转动部143与所述限位件15接触。此时，所述第一转动件13及转动部143均停止转动。
请一并参阅图8及图9，更进一步的，当所述本体121沿第一方向A转动时，所述本体121带动所述第一转动件13沿远离所述转动部143其中一侧的方向转动。当所述第一转动件13转动至所述转动部143的另一侧并抵持所述转动部143时，所述第一转动件13转动第一角度θ1（请参图7）。接着所述第一转动件13带动所述转动部143继续沿第一方向A转动，直至所述转动部143与所述限位件15接触。此时，所述第二转动件14及第一转动件13均由于所述限位件15的限位作用而停止转动，且所述第一转动件13带动所述转动部143共同转动第二角度θ2（请参图8）。显然，在本实施例中，所述第一角度θ1及第二角度θ2均大于180度且小于360度。因此，所述第一转动件13由于两次转动角度（第一角度θ1及第二角度θ2）的叠加，进而使得其转动的总角度大于360度并且小于720度。当所述第二转动件14及第一转动件13均由于所述限位件15的限位作用而停止转动时，所述本体121开始带动所述第一转动件13沿第二方向B转动，直至所述第二转动件14及第一转动件13再次由于所述限位件15的限位作用而停止转动，以此循环。所述第一转动件13沿所述第二方向B转动的原理与沿第一方向A转动的原理类似，在此不再赘述。
进一步的，所述第一转动件13至所述转轴114中心的距离小于所述限位件15至所述转轴114中心的距离，从而确保所述第一转动件13在未接触所述第二转动件14时可不受所述限位件15的限位作用而继续转动。更进一步的，所述第二转动件14至所述转轴114中心的距离大于所述限位件15至所述转轴114中心的距离，从而使得所述第二转动件14在运动时，受到所述限位件15的限位作用，从而使得所述第二转动件14的运动位置得到限制。当然，在其他实施例中，可通过定义所述第一转动件13、所述限位件15与所述第二转动件14的高度关系，从而达到本实施例中的限位效果。
所述限位装置10还包括至少一个套设件16，所述套设件16套设于所述转轴114上，用以减小所述第二转动件14与所述转轴114之间的转动摩擦力。本实施例中，所述限位装置10包括两个套设件16。两个所述套设件16均为铜套。两个所述套设件16依次套设于所述转轴114上，并且其中一个套设件16的端面与所述第二转动件14远离固定板112的端面贴合（请参图6）。因此，当所述第一转动件13带动所述第二转动件14绕所述转轴114转动时，所述套设件16可有效减少所述第二转动件14与所述转轴114之间的转动摩擦力。当然，在其他实施例中，所述套设件16也可为轴承或导套。
所述限位装置10还包括预紧件17。本实施例中，所述预紧件17包括垫圈171及垫环173。所述垫圈171及垫环173均收容于所述通孔1211内，且套设于所述转轴114上，并设置于两个套设件16之间。即其中一个套设件16、所述垫环173、所述垫圈171以及另外一个套设件16依次套设于所述转轴114上。所述预紧件17用于提供轴向预紧力，以防止所述转轴114从所述通孔1211内滑脱。
可以理解的是，在其他实施例中，为了节省材料，所述预紧件17也可以省略。
所述限位装置10还包括一个柔性连接件18。所述柔性连接件18可以是柔性电路板(flexible printed circuit，FPC)、电线或排线。所述柔性连接件18设置于所述本体121的第二表面12b。具体的，所述本体121的第二表面12b上开设有容置槽129(参图4)。所述柔性连接件18收容于所述容置槽129内，且其一端缠绕于所述转轴114上，另一端连接至设置于所述无人飞行器100的所述机体70上的一控制器或一处理器（图未示），用以实现所述负载20与所述控制器或处理器的电连接。在本实施例中，所述柔性连接件18大致呈发条状，因此，当所述旋转件12旋转时，所述柔性连接件18可以有规律的在所述转轴114上缠绕或松弛，不会因为所述旋转件12的旋转形成杂乱无章的轨迹，解决了相关技术中“线无规律的相互缠绕”的问题。而且，所述柔性连接件18缠绕在限位装置10的现有空间内（即容置槽129内），因此不会增加所述限位装置10的体积。
请再次参阅图3，所述无人飞行器100还包括连接件30。所述连接件30包括连接部31及至少一个连接臂33。本实施例中，所述连接部31呈圆形结构。所述连接件30通过所述连接部31连接至所述旋转件12，并通过所述连接臂33将所述限位装置10安装至所述无人飞行器100的机体70。具体的，所述连接部31的中部开设有连接孔311。所述转轴114上开设有与所述连接孔311相应的轴孔119（参图3）。通过将一锁紧件50依次穿过该连接孔311及该转轴114的轴孔119，进而将所述限位装置10连接至所述连接件30。可以理解，所述锁紧件50用于提供轴向预紧力，使得所述限位装置10与所述连接件30固定连接。
本实施例中，该连接件30包括二个连接臂33。该连接臂33对称设置于所述连接部31的两侧，用于将所述限位装置10安装至无人飞行器100上。具体的，所述连接臂33包括臂部331、配合部333及至少一个锁持部335。所述臂部331连接至所述连接部31的一侧，且其远离该连接部31的一端开设有大致呈“U”形的第一卡持槽336及至少一个第一锁持孔337。所述配合部333的形状及结构与所述臂部331相应。具体的，所述配合部333的一端开设有与第一卡持槽336相应的第二卡持槽338、以及至少一个第二锁持孔339。所述第一卡持槽336与第二卡持槽338相匹配，用于卡持所述无人飞行器100上，例如卡持所述无人飞行器100的机体70上，进而将所述限位装置10及负载20组装至所述无人飞行器100上。
本实施例中，所述锁持部335的数量与所述第一锁持孔337的数量一致。通过将所述臂部331的第一卡持槽336及配合部333的第二卡持槽338分别卡持于无人飞行器100的机体70上，并将所述锁持部335依次穿过所述第二锁持孔339及第一锁持孔337内，进而将所述连接件30连接至所述无人飞行器100，以实现该限位装置10相对该无人飞行器100的快速拆装。可以理解，所述锁持部335的数量也可少于所述第一锁持孔337的数量，即所述锁持部335穿设于部分的第一锁持孔337内。
请再次参阅图1及图2，本实施例中，所述负载20为相机模组。当然，在其他实施例中，所述负载20也可为其他，例如微型电脑或投影设备等。所述负载20转动连接于所述限位装置10上。具体的，所述负载20包括相机21及云台23。所述云台23用以实现所述相机21的固定、随意调节所述相机21的姿态（例如：改变所述相机21的高度、倾角和/或方向）和使所述相机21稳定保持在确定的姿态上。在本实施例中，所述云台23包括用于装设所述相机21的俯仰轴支架230、横滚轴支架231、航向轴支架233、设置于所述横滚轴支架231一端且与所述俯仰轴支架230连接的俯仰（Pitch）电机235、连接所述横滚轴支架231与航向轴支架233的横滚（Roll）电机237、设置于所述航向轴支架233一端的航向（Yaw）电机238以及安装块239。另外，所述航向轴支架233还包括相互垂直设置的第一连杆2331以及第二连杆2333。所述第一连杆2331连接至所述航向电机238。所述第二连杆2333的一端连接至所述横滚电机237，另一端可活动的装设于所述第一连杆2331，进而调节所述云台23的重心。
所述安装块239装设于所述航向轴支架233上，用以将所述云台23连接至所述限位装置10。在本实施例中，该航向电机238固定于所述安装块239内。通常所述航向电机238是用于驱动与其连接的所述安装块239转动，然而，在本实施例中，由于所述安装块239与所述无人飞行器100固定连接，因此所述航向电机238无法驱动所述安装块239旋转，而是驱动所述航向轴支架233在水平方向旋转。
可以理解的，在其他实施例中，所述负载20也可只包括相机21或者只包括云台23。
请再次参阅图2及图3，所述限位装置10还包括快拆组件40。所述快拆组件40用以将所述云台23可拆卸的固持于所述限位装置10上。当然，在其他实施例中，所述快拆组件40不局限于无人飞行器100上云台23的固定与拆卸，还可以用于其他装置或者机构上的任意被固持件的固定与拆卸。
该快拆组件40包括第一快拆部41、与所述第一快拆部41滑动配合的第二快拆部43以及夹紧件45。在本实施例中，所述第一快拆部41设置在所述底座111的一端。具体的，所述第一快拆部41可以是由所述底座111的一端相对设置的第一凸起部411和第二凸起部413围成的导向槽。所述底座111的一侧还开设有贯通所述第一凸起部411的收纳槽415。
在本实施例中，所述第二快拆部43设置于所述安装块239的一端，且为与所述第一凸起部411和所述第二凸起部413围成的导向槽滑动配合的配合槽。进一步的，所述第二快拆部43可以是与所述第一凸起部411和第二凸起部413围成的导向槽配合的滑动凸起431。
在本实施例中，所述第一快拆部41与第二快拆部43为相互配合的燕尾槽。当然，在其他实施例中，所述第一快拆部41与第二快拆部43也可为相互配合的T型槽或其他快拆结构。
所述夹紧件45设置于所述底座111上，且具有锁定状态以及拆卸状态。当所述夹紧件45在锁定状态下，所述夹紧件45抵持所述第二快拆部43的滑动凸起431。当所述夹紧件45在拆卸状态下，所述夹紧件45与所述第二快拆部43的滑动凸起431相脱离。具体的，在本实施例中，所述夹紧件45包括夹紧块451、夹紧杆453以及螺母455。所述夹紧块451收容在所述收纳槽415内，且其一端抵持所述滑动凸起431。所述夹紧杆453的一端收容在所述夹紧块451的一侧。所述螺母455套设在夹紧杆453上。通过操作所述螺母455，以旋转所述夹紧杆453，进而使得所述夹紧件45进入锁定状态以及拆卸状态。其中，所述夹紧件45在锁定状态下，所述夹紧块451滑入所述收纳槽415，且其一端抵持所述安装块239的滑动凸起431，进而将所述安装块239锁固在所述底座111上。所述夹紧件45在拆卸状态下，所述夹紧块451滑出所述收纳槽415，且其一端与所述安装块239的滑动凸起431相脱离，以允许所述安装块239与底座111相分离。
进一步的，所述螺母455的外侧设有凸耳457。通过操作所述凸耳457带动螺母455转动，从而方便操作螺母455。
可以理解的是，所述转动架125远离所述安装臂123的一端能够相对于所述云台23的航向轴支架233摆动一定角度以与所述云台23卡持或者脱离卡持。当所述转动架125与所述航向轴支架233的第一连杆2331卡持时，所述转动架125可辅助将所述云台23可拆卸的固持于所述限位装置10上。另外，当所述航向电机238驱动所述航向轴支架233的第一连杆2331转动时，所述云台23的第一连杆2331将通过所述转动架125带动所述旋转件12转动，从而带动所述第一转动件13及第二转动件14转动。
显然，通过设置上述快拆组件40，可实现所述云台23与所述限位装置10的快速组装及拆卸。具体的，将所述云台23组装至所述限位装置10时，使得设置于所述云台23上的第二快拆部43与所述底座111上的第一快拆部41配合，并操作所述凸耳457，以使得所述螺母455沿一锁紧方向，例如顺时针方向运动，进而使得所述夹紧件45进入所述锁定状态。如此，所述夹紧块451的一端抵持所述滑动凸起431，以将所述云台23较稳固的组装至所述限位装置10。接着旋转所述转动架125，以使得所述转动架125卡持于所述云台23的第一连杆2331上，以辅助将所述云台23组装至所述限位装置10上，并实现所述云台23的航向电机238通过所述第一连杆2331及所述转动架125带动所述旋转件12旋转的功能。
当需要将所述云台23从所述无人飞行器100快速拆除时，仅需将所述转动架125相对所述第一连杆2331抬起，以使得所述转动架125脱离所述云台23的航向轴支架233。同时操作所述凸耳457，以使得所述螺母455沿一解锁方向，例如逆时针方向运动，进而使得所述夹紧件45进入所述拆卸状态。即所述夹紧块451的一端与所述安装块239的滑动凸起431相脱离，以允许所述安装块239与底座111相分离。如此，可方便将所述云台23从所述无人飞行器100上快速拆除。
进一步的，当将所述无人飞行器100应用于航拍设备上时，所述云台23的航向电机238驱动所述航向轴支架233在水平方向转动，由于所述转动架125卡持于所述航向轴支架233的第一连杆2331上。因此所述航向轴支架233通过所述转动架125带动所述旋转件12转动，从而带动所述第一转动件13沿所述第一方向A转动。当所述第一转动件13转动至与所述第二转动件14接触时，所述第一转动件13带动所述第二转动件14一起转动，直至所述第一转动件13及第二转动件14转动至所述第二转动件14与所述限位件15接触，所述第一转动件13及第二转动件14均停止转动。此时所述负载20停止转动，当所述第一转动件13转动的总角度大于360度并且小于720度时，所述相机21的转动总角度也大于360度并且小于720度，进而使得所述相机21的拍摄角度更广。此外，由于所述第一转动件13在转动时沿所述第一方向A转动至少一圈，从而使得所述相机21的拍摄方向为同一方向，则避免了当转动一周后反方向返回造成拍摄景象重复，从而使得相机21拍摄的景象更全面。
本发明提供的限位装置10，通过该本体121带动第一转动件13先行转动第一角度θ1，再带动所述第二转动件14与第一转动件13一起继续转动第二角度θ2，并设置限位件15，使得第一转动件13及第二转动件14由于限位件15的限位作用而停止转动。所述第一转动件13由于第一角度θ1及第二角度θ2的叠加，而使得其总的转动角度大于360度并且小于720度。该限位装置10的结构简单，成本较低，且具有传输信号不受其结构限制等优点。另外，所述限位装置10还通过设置所述快拆组件40，以实现所述限位装置10与云台23的快速拆装。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (46)

  1. 一种限位装置，用于连接云台，其特征在于：所述限位装置包括：
    固定组件；
    旋转件，所述旋转件与所述固定组件相对转动连接，所述旋转件的一侧设置有用于与所述云台相卡持的转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持，当所述转动架与所述云台卡持时，所述云台能够通过所述转动架带动所述旋转件旋转；以及
    快拆组件，所述快拆组件设置于所述固定组件上，当所述云台脱离卡持时，所述云台通过所述快拆组件能够拆卸的固持于所述固定组件上。
  2. 如权利要求1所述的限位装置，其特征在于：所述固定组件包括转轴，所述限位装置还包括第一转动件、第二转动件及限位件，所述第一转动件固定连接至所述旋转件，所述旋转件用以带动所述第一转动件绕所述转轴转动；所述第二转动件套设于所述转轴上，所述第一转动件用以带动所述第二转动件与所述第一转动件一起绕所述转轴转动；所述限位件固定连接于所述固定组件，所述限位件用以限制所述第一转动件与所述第二转动件的继续转动。
  3. 如权利要求2所述的限位装置，其特征在于：所述旋转件带动所述第一转动件绕所述转轴转动第一角度，且当所述第一转动件运动至与所述第二转动件接触时，所述第一转动件带动所述第二转动件与所述第一转动件一起继续转动第二角度，直至所述第二转动件运动至与所述限位件接触，所述第一转动件及所述第二转动件均停止运动。
  4. 如权利要求3所述的限位装置，其特征在于：所述第一角度及第二角度均大于180度且小于360度。
  5. 如权利要求2所述的限位装置，其特征在于：所述第一转动件至所述转轴中心的距离小于所述限位件至所述转轴中心的距离，所述第二转动件至所述转轴中心的距离大于所述限位件至所述转轴中心的距离。
  6. 如权利要求2所述的限位装置，其特征在于：所述固定组件包括底座，所述底座开设有收容腔，所述转轴设置于所述收容腔内，所述旋转件包括本体，所述本体上开设有通孔，所述转轴穿过所述通孔，所述第一转动件围绕所述通孔的边缘设置。
  7. 如权利要求6所述的限位装置，其特征在于：所述旋转件还包括二个安装臂及安装柱，所述安装臂设置于该本体的外壁上，且两者相对间隔设置，该安装臂远离所述本体的端部分别开设有安装孔，所述转动架的一侧开设有配合孔，该安装柱依次穿过该配合孔及安装孔，进而将所述转动架连接于所述本体的一侧，并相对所述本体或安装臂转动。
  8. 如权利要求6所述的限位装置，其特征在于：所述固定组件还包括固定板，所述固定板设置于所述收容腔的中心上，所述转轴设置于所述固定板上，所述限位件凸设于所述固定板上。
  9. 如权利要求2所述的限位装置，其特征在于：所述限位装置还包括套设件，所述套设件套设于所述转轴上，用以减小所述第二转动件与所述转轴之间的转动摩擦力。
  10. 如权利要求9所述的限位装置，其特征在于：所述限位装置包括两个套设件，两个所述套设件均套设于所述转轴上，且其中一个套设件的端面与所述第二转动件的端面贴合。
  11. 如权利要求10所述的限位装置，其特征在于：所述限位装置还包括预紧件，所述预紧件套设于所述转轴上，且位于两个所述套设件之间。
  12. 如权利要求2所述的限位装置，其特征在于：所述限位装置还包括柔性连接件，所述柔性连接件缠绕于所述转轴上，用以实现负载与无人飞行器的电连接。
  13. 如权利要求12所述的限位装置，其特征在于：所述柔性连接件为柔性电路板、电线或排线中的一种。
  14. 如权利要求13所述的限位装置，其特征在于：所述柔性连接件呈发条状。
  15. 一种无人飞行器，其特征在于：包括限位装置及与所述限位装置转动连接的云台，其中，所述限位装置包括：
    固定组件；
    旋转件，所述旋转件与所述固定组件相对转动连接，所述旋转件的一侧设置有用于与所述云台相卡持的转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持，当所述转动架与所述云台卡持时，所述云台能够通过所述转动架带动所述旋转件旋转；以及
    快拆组件，所述快拆组件设置于所述固定组件上，当所述云台脱离卡持时，所述云台通过所述快拆组件能够拆卸的固持于所述固定组件上。
  16. 如权利要求15所述的无人飞行器，其特征在于：所述固定组件包括转轴，所述限位装置还包括第一转动件、第二转动件及限位件，所述第一转动件固定连接至所述旋转件，所述旋转件用以带动所述第一转动件绕所述转轴转动；所述第二转动件套设于所述转轴上，所述第一转动件用以带动所述第二转动件与所述第一转动件一起绕所述转轴转动；所述限位件固定连接于所述固定组件，所述限位件用以限制所述第一转动件与所述第二转动件的继续转动。
  17. 如权利要求16所述的无人飞行器，其特征在于：所述旋转件带动所述第一转动件绕所述转轴转动第一角度，且当所述第一转动件运动至与所述第二转动件接触时，所述第一转动件带动所述第二转动件与所述第一转动件一起继续转动第二角度，直至所述第二转动件运动至与所述限位件接触，所述第一转动件及所述第二转动件均停止运动。
  18. 如权利要求17所述的无人飞行器，其特征在于：所述第一角度及第二角度均大于180度且小于360度。
  19. 如权利要求18所述的无人飞行器，其特征在于：所述第一转动件至所述转轴中心的距离小于所述限位件至所述转轴中心的距离，所述第二转动件至所述转轴中心的距离大于所述限位件至所述转轴中心的距离。
  20. 如权利要求16所述的无人飞行器，其特征在于：所述固定组件包括底座，所述底座开设有收容腔，所述转轴设置于所述收容腔内，所述旋转件包括本体，所述本体上开设有通孔，所述转轴穿过所述通孔，所述第一转动件围绕所述通孔的边缘设置。
  21. 如权利要求20所述的无人飞行器，其特征在于：所述旋转件还包括二个安装臂及安装柱，所述安装臂设置于该本体的外壁上，且两者相对间隔设置，该安装臂远离所述本体的端部分别开设有安装孔，所述转动架的一侧开设有配合孔，该安装柱依次穿过该配合孔及安装孔，进而将所述转动架连接于所述本体的一侧，并相对所述本体或安装臂转动。
  22. 如权利要求20所述的无人飞行器，其特征在于：所述固定组件还包括固定板，所述固定板设置于所述收容腔的中心上，所述转轴设置于所述固定板上，所述限位件凸设于所述固定板上。
  23. 如权利要求16所述的无人飞行器，其特征在于：所述限位装置还包括套设件，所述套设件套设于所述转轴上，用以减小所述第二转动件与所述转轴之间的转动摩擦力。
  24. 如权利要求23所述的无人飞行器，其特征在于：所述限位装置包括两个套设件，两个所述套设件均套设于所述转轴上，且其中一个套设件的端面与所述第二转动件的端面贴合。
  25. 如权利要求24所述的无人飞行器，其特征在于：所述限位装置还包括预紧件，所述预紧件套设于所述转轴上，且位于两个所述套设件之间。
  26. 如权利要求16所述的无人飞行器，其特征在于：所述限位装置还包括柔性连接件，所述柔性连接件缠绕于所述转轴上，用以实现负载与无人飞行器的电连接。
  27. 如权利要求26所述的无人飞行器，其特征在于：所述柔性连接件为柔性电路板、电线或排线中的一种。
  28. 如权利要求26所述的无人飞行器，其特征在于：所述柔性连接件呈发条状。
  29. 如权利要求15所述的无人飞行器，其特征在于：所述无人飞行器还包括连接件，所述连接件包括连接部及连接臂，所述连接部连接至所述旋转件，所述连接臂设置于所述连接部的侧面，用于将所述限位装置安装至所述无人飞行器。
  30. 如权利要求29所述的无人飞行器，其特征在于：所述连接部开设有连接孔，所述转轴上开设有与所述连接孔相应的轴孔，通过将一锁紧件依次穿过该连接孔及该转轴的轴孔，进而将所述限位装置连接至所述连接件。
  31. 如权利要求29或30所述的无人飞行器，其特征在于：所述连接臂包括臂部、配合部及锁持部，所述臂部连接至所述连接部的一侧，且其远离该连接部的一端开设有第一卡持槽及第一锁持孔，所述配合部的一端开设有与第一卡持槽相应的第二卡持槽及第二锁持孔，所述第一卡持槽及第二卡持槽分别卡持于所述无人飞行器上，所述锁持部穿设于所述第二锁持孔及第一锁持孔内。
  32. 如权利要求31所述的无人飞行器，其特征在于：所述无人飞行器包括机体，所述臂部的第一卡持槽及所述配合部的第二卡持槽分别卡持于所述机体，所述锁持部穿设于所述第二锁持孔及第一锁持孔内。
  33. 如权利要求15所述的无人飞行器，其特征在于：所述云台包括俯仰轴支架、横滚轴支架、航向轴支架、设置于所述横滚轴支架一端且与所述俯仰轴支架连接的俯仰电机、连接所述横滚轴支架与航向轴支架的横滚电机以及设置于所述航向轴支架一端的航向电机，所述转动架卡持于所述航向轴支架上。
  34. 如权利要求33所述的无人飞行器，其特征在于：所述航向轴支架还包括相互垂直设置的第一连杆以及第二连杆，所述第一连杆连接至所述航向电机，所述第二连杆的一端连接至所述横滚电机，另一端能够活动的装设于所述第一连杆上，所述转动架卡持于所述第一连杆上。
  35. 一种限位装置，其特征在于：所述限位装置包括：
    底座；
    快拆组件，所述快拆组件用以将一云台能够拆卸的固持于所述底座上；以及
    转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持。
  36. 如权利要求35所述的限位装置，其特征在于：所述快拆组件包括第一快拆部及与所述第一快拆部配合的第二快拆部，所述第一快拆部设置于所述底座上，所述第二快拆部设置于所述云台上。
  37. 如权利要求36所述的限位装置，其特征在于：所述第一快拆部为由所述底座的一端相对设置的第一凸起部和第二凸起部围成的导向槽，所述第二快拆部为与所述第一凸起部和第二凸起部围成的导向槽配合的滑动凸起。
  38. 如权利要求36所述的限位装置，其特征在于：所述第一快拆部和第二快拆部为相互配合的燕尾槽；
    或者，所述第一快拆部和第二快拆部为相互配合的T型槽。
  39. 如权利要求36所述的限位装置，其特征在于：所述底座的侧壁开设有贯通的收纳槽，所述快拆组件还包括夹紧件，所述夹紧件包括夹紧块、夹紧杆以及螺母，所述夹紧块收容在所述收纳槽内；所述夹紧杆的一端收容在所述夹紧块的一侧，所述螺母套设在夹紧杆上，通过操作所述螺母，以旋转所述夹紧杆，进而使得所述夹紧块进入锁定状态以及拆卸状态；当所述夹紧块在锁定状态下，所述夹紧块的一端抵持所述滑动凸起；当夹紧块在拆卸状态下，所述夹紧块的一端与所述滑动凸起相脱离。
  40. 如权利要求39所述的限位装置，其特征在于：所述螺母的外侧设有凸耳，通过操作所述凸耳带动所述螺母转动，从而方便操作螺母。
  41. 一种无人飞行器，其特征在于：包括限位装置及与所述限位装置转动连接的云台，其中，所述限位装置包括：
    底座；
    快拆组件，所述快拆组件用以将一云台能够拆卸的固持于所述底座上；以及
    转动架，所述转动架能够相对于所述云台摆动以与所述云台卡持或者脱离卡持。
  42. 如权利要求41所述的无人飞行器，其特征在于：所述快拆组件包括第一快拆部及与所述第一快拆部配合的第二快拆部，所述第一快拆部设置于所述底座上，所述第二快拆部设置于所述云台上。
  43. 如权利要求42所述的无人飞行器，其特征在于：所述第一快拆部为由所述底座的一端相对设置的第一凸起部和第二凸起部围成的导向槽，所述第二快拆部为与所述第一凸起部和第二凸起部围成的导向槽配合的滑动凸起。
  44. 如权利要求42所述的无人飞行器，其特征在于：所述第一快拆部和第二快拆部为相互配合的燕尾槽；
    或者，所述第一快拆部和第二快拆部为相互配合的T型槽。
  45. 如权利要求43所述的无人飞行器，其特征在于：所述底座的侧壁开设有贯通的收纳槽，所述快拆组件还包括夹紧件，所述夹紧件包括夹紧块、夹紧杆以及螺母，所述夹紧块收容在所述收纳槽内；所述夹紧杆的一端收容在所述夹紧块的一侧，所述螺母套设在夹紧杆上，通过操作所述螺母，以旋转所述夹紧杆，进而使得所述夹紧块进入锁定状态以及拆卸状态；当所述夹紧块在锁定状态下，所述夹紧块的一端抵持所述滑动凸起；当夹紧块在拆卸状态下，所述夹紧块的一端与所述滑动凸起相脱离。
  46. 如权利要求45所述的无人飞行器，其特征在于：所述螺母的外侧设有凸耳，通过操作所述凸耳带动所述螺母转动，从而方便操作螺母。
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