WO2017128061A1 - 减震结构及使用该减震结构的云台组件、无人机 - Google Patents
减震结构及使用该减震结构的云台组件、无人机 Download PDFInfo
- Publication number
- WO2017128061A1 WO2017128061A1 PCT/CN2016/072228 CN2016072228W WO2017128061A1 WO 2017128061 A1 WO2017128061 A1 WO 2017128061A1 CN 2016072228 W CN2016072228 W CN 2016072228W WO 2017128061 A1 WO2017128061 A1 WO 2017128061A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pan
- tilt
- hole
- ball
- shock absorbing
- Prior art date
Links
- 230000035939 shock Effects 0.000 claims description 84
- 238000013016 damping Methods 0.000 claims description 75
- 230000000694 effects Effects 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 239000006096 absorbing agent Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- 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
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/006—Apparatus mounted on flying objects
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- 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
-
- 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
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
Definitions
- the invention relates to a shock absorbing structure, in particular to a cloud platform damping structure and a cloud platform and a drone using the same.
- the vibration-damping components of the airborne pan/tilt are usually placed outside the aircraft casing and connected to the shock absorber ball under the aircraft through a connecting line.
- This design method separates the aircraft from the gimbal, making the airborne gimbal look unconformable and occupying a large space.
- pan-tilt structure and a pan-tilt assembly and a drone using the pan-tilt structure which can set the pan-tilt inside the drone body, thereby making the drone as a whole
- the appearance is coordinated and the whole machine is more integrated.
- a pan-tilt structure for connecting a fuselage and a gimbal load comprising a damping ball and a positioning structure fixedly connected to the airbag to the fuselage, wherein the pan-tilt structure Set in the fuselage.
- the utility model relates to a cloud platform damping structure, which is used for connecting a fuselage and a cloud platform load, wherein the cloud platform damping structure comprises a damping ball and a positioning structure fixedly connecting the damping ball to the fuselage, wherein the pan/tilt head
- the shock absorbing structure is disposed inside the body.
- the positioning structure includes a movable member and a fixing member, the fixing member is fixedly connected to one end of the damping ball and the body, and the movable member is fixed to the other end of the damping ball, and The gimbal load is fixedly connected.
- the damper ball is opened with a first through hole, and the center of the first through hole coincides with the center of the damper ball.
- a line connecting the center of the first through hole and the center of the pan-tilt structure is perpendicular to a center line of the opening direction of the first through hole.
- the damper ball is provided with a second through hole, the center of the second through hole coincides with the center of the damper ball, and the opening direction of the second through hole and the opening of the first through hole The hole direction is vertical.
- the number of the damping balls is plural, and is symmetrically distributed with respect to a center point of the pan-tilt structure.
- the number of the shock absorbing balls is plural, and is evenly distributed on a circumference centered on a center point of the pan-tilt structure.
- the damper ball is provided with a second through hole, the center of the second through hole coincides with the center of the damper ball, and the opening direction of the second through hole and the opening of the first through hole The hole direction is vertical.
- the number of the damping balls is plural, and is symmetrically distributed with respect to a center point of the pan-tilt structure.
- the movable member includes a connecting plate and two first connecting arms extending from opposite sides of the connecting plate, the connecting plate is fixedly connected to the PTZ load, and each of the first connecting arms includes two distal ends Each of the distal ends is connected to a shock absorbing ball.
- each of the shock absorbing balls is provided with a first elastic collar, and the first elastic sleeves are respectively sleeved in the same The first neck or the second neck.
- the two first connecting arms are substantially parallel to the connecting plate.
- connecting plate and the pan-tilt load are fixedly connected by a connecting structure.
- the connecting plate is provided with a fixing hole
- the connecting structure is provided with a locking hole
- the connecting plate and the connecting structure pass through the fixing hole and the locking hole through a locking device. Locking.
- the movable member is integrally formed.
- the fixing member includes a positioning portion, two connecting portions extending from opposite ends of the positioning portion, two second connecting arms and a limiting portion, wherein the positioning portion is configured to be fixedly connected to the body,
- Each of the second connecting arms extends from the corresponding connecting portion away from the one end of the positioning portion, and each of the second connecting arms includes an end, each end is connected with a shock absorbing ball, the limiting portion and the positioning portion The connection is fixed and substantially parallel to the fixing portion.
- each of the second connecting arms is greater than the distance between the inner sides of the two connecting arms, and is smaller than the distance between the outer sides of the two connecting arms.
- each of the shock absorbing balls is provided with a second elastic collar, and the second elastic collar is sleeved on the third neck portion.
- the fixing member is integrally formed.
- the second connecting arm is substantially parallel to the positioning portion.
- a vertical distance between the limiting portion and the second connecting arm is greater than a diameter of the damping ball.
- the positioning portion is provided with a positioning hole through which the positioning portion is fixed to the inner side wall of the fuselage through a fixing device.
- the fixing member includes a positioning portion, two second connecting arms extending from opposite ends of the positioning portion, a connecting portion and a limiting portion extending from an end of the connecting portion away from the positioning portion, wherein the positioning portion is used for the positioning portion
- Each of the two second connecting arms respectively includes an end, and the end is connected to a shock absorbing ball.
- each of the second connecting arms is greater than the distance between the inner sides of the two connecting arms, and is smaller than the distance between the outer sides of the two connecting arms.
- connecting portion is substantially C-shaped.
- the connecting portion has a width smaller than the positioning portion in a direction perpendicular to the extending direction thereof.
- a length of the limiting portion in a direction perpendicular to the extending portion of the connecting portion is greater than a width of the connecting portion in a direction in which the connecting portion extends.
- the limiting portion is substantially parallel to the second connecting arm.
- a vertical distance of the limiting portion relative to the second connecting arm is greater than a diameter of the damping ball.
- each of the shock absorbing balls is provided with a second elastic collar, and the second elastic collar is sleeved on the third neck portion.
- the fixing member is integrally formed.
- a distance between the distal ends of each of the first connecting arms gradually increases from the connecting plate in a direction away from the connecting plate.
- a pan/tilt assembly comprising a pan/tilt structure as described above.
- a drone includes a fuselage and a pan-tilt structure disposed inside the fuselage, wherein the pan-tilt structure is the pan-tilt structure described above.
- FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
- FIG. 2 is a perspective view of a pan/tilt head according to an embodiment of the present invention.
- FIG 3 is an exploded view of a gimbal provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of assembling a PTZ to UAV body as shown in FIG. 3 according to an embodiment of the present invention.
- FIG. 5 is a schematic view of the pan-tilt shown in FIG. 3 after being loaded into the body of the drone.
- Figure 6 is a view of another angle of Figure 5.
- FIG. 7 is a perspective view of a pan/tilt head according to another embodiment of the present invention.
- Fig. 8 is an exploded perspective view of the pan/tilt head shown in Fig. 7.
- Figure 9 is a schematic view of the pan/tilt head shown in Figure 7 assembled to the body of the drone.
- Fig. 10 is a schematic view showing the opening direction of the damper ball of the pan/tilt head shown in Fig. 7.
- a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
- a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
- a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
- the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
- an embodiment of the present invention provides a drone 1000, which may be an unmanned aerial vehicle, such as a rotorcraft, a fixed-wing aircraft, or an aircraft in which a fixed wing and a rotor are mixed.
- the rotor may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor and an eight-rotor.
- the drone can also be a drone in water (for example, an unmanned or unmanned submarine), a drone on the ground (for example, an unmanned vehicle). ), drones in the air (for example, unmanned aerial vehicles) and so on.
- the drone 1000 is an Unmanned Aerial Vehicle (UAV).
- UAV Unmanned Aerial Vehicle
- the drone 1000 includes a body 1 and a pan/tilt assembly 2 mounted on the body 1.
- the pan/tilt assembly 2 includes a shock absorbing structure 20, a connecting structure 21, a pan/tilt head 22, and a load 23.
- the shock absorbing structure 20 is disposed inside the body 1, and the connecting structure 21 connects the shock absorbing structure 20 and the platform 22, and the platform 22 carries the load 23 thereon.
- the pan/tilt head 22 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head.
- the connection structure 21, the pan/tilt head 22, and the load 23 are disposed outside the body 1.
- the load 23 can be any sensing device or imaging device that is suitably mounted on the pan/tilt.
- the load 23 is a camera device, such as a camera.
- the center point of the pan-tilt structure 20 coincides with the center point of the pan-tilt assembly 2.
- the shock absorbing structure 20 includes a plurality of shock absorbing balls 202 and a positioning mechanism 201 fixedly connecting the shock absorbing balls 202 to the body 1 .
- the positioning mechanism 201 includes a movable member 200 and two fixing members 204 for fixing the pan/tilt assembly 2 to the inside of the body 1.
- the fixing member 204 is fixedly disposed inside the body 1 .
- the shock absorbing ball 202 connects the movable member 200 and the fixing member 204.
- the movable member 200 is fixedly connected to the connecting structure 21, and the movable member 200 is movable relative to the fixing member 204, thereby driving the platform 22 and the load 23 together to move relative to the body 1.
- the movable member 200 includes a connecting plate 2000 and two first connecting arms 2004 respectively disposed on opposite sides of the connecting plate 2000. Each of the first connecting arms 2004 is connected to the connecting plate 2000 by an extension portion 2003. Two of the first connecting arms 2004, the two extensions 2003, and the connecting plate 2000 are integrally formed. It can be understood that the components of the movable member 200 may not be integrally formed, but may be fixed together by various known fixing methods, such as screwing, snapping, and the like.
- the connecting plate 2000 is used for fixed connection with the connecting structure 21 .
- the connecting plate 2000 is provided with a plurality of fixing holes 2001
- the connecting structure 21 is provided with a plurality of corresponding locking holes 210
- the locking device 2002 is passed through the plurality of fixing holes.
- the fixing manner of the connecting plate 2000 and the connecting structure 21 is not limited to the fixing manner in the embodiment, such as a snap fit or an interference fit, etc., as long as the The connecting plate 2000 is fixedly coupled to the connecting structure 21 without relative movement.
- Each of the first connecting arms 2004 is away from an end of the connecting plate 2000 from one of the extending portions 2003.
- a plurality of shock absorbing balls 202 are respectively connected to the two ends of each of the first connecting arms 2004.
- the first connecting arm 2004 is substantially parallel to the connecting plate 2000.
- Each of the first connecting arms 2004 includes a first distal end portion 2005 and a second distal end portion 2006.
- Each of the first distal end portions 2005 and each of the second distal end portions 2006 is connected to a shock absorbing portion.
- Each first connecting arm 2004 is formed with a first neck portion 20050 near the first distal end portion 2005.
- the first neck portion 5050 correspondingly forms a notch at each end of the first distal end portion 2005, that is, the dimension of the first neck portion 5050 in a direction perpendicular to the first neck portion 20050 is smaller than The size of the first distal end portion 2005.
- Each of the first connecting arms 2004 is formed with a second neck portion 6060 near the second distal end portion 2006.
- the second neck portion 6060 correspondingly forms a notch at each end of the second distal end portion 2006, that is, the dimension of the second neck portion 6060 in a direction perpendicular to the second neck portion 6060 is smaller than The size of the second distal end portion 2006.
- Each of the fixing members 204 includes a positioning portion 2040 , two connecting portions 2043 , two second connecting arms 2044 and a limiting portion 2046 .
- the positioning portion 2040 is configured to be fixedly coupled to the inner side of the body 1 to fix the fixing member 204 on the inner bottom wall of the body 1.
- the connecting portion 2043 is configured to connect the positioning portion 2040 and the second connecting arm 2044.
- the components of the fixing member 204 for example, the positioning portion 2040, the two connecting portions 2043, the two second connecting arms 2044, the limiting portion 2046, and the like may be integrally formed. It can be understood that the components of the fixing member can also be separately arranged and fixed together by various known fixing methods, such as screwing or snapping.
- the positioning portion 2040 is provided with a plurality of positioning holes 2041 through which a plurality of fixing devices 2042 are locked on the inner side wall of the fuselage. It can be understood that, in other embodiments, the positioning portion 2040 can be fixedly connected to the inner side wall of the fuselage by other means, as long as the positioning portion 2040 can be fixedly connected to the inner bottom wall of the fuselage. There is no relative activity, such as a snap connection, an interference fit, and the like.
- Each connecting portion 2043 is formed to extend from one end of the positioning portion 2040 toward a direction away from the positioning portion 2040.
- Each of the second connecting arms 2044 is formed away from an end of the corresponding connecting portion 2043 away from the positioning portion 2040 in a direction away from the positioning portion 2040 and substantially parallel to the positioning portion 2040.
- Each second connecting arm 2044 includes a distal end 20440 for attaching a shock absorbing ball 202.
- the second connecting arm 2044 is formed with a third neck portion 20442 near the end 20440.
- the third neck portion 20442 is formed with a notch at each end of the second connecting arm 2044, that is, the third neck portion 20442 has a smaller dimension in a direction perpendicular to the third neck portion 20442.
- the limiting portion 2046 is formed to extend from a side of the positioning portion 2040 where the connecting portion 2043 is not disposed.
- the limiting portion 2046 is substantially parallel to the positioning portion 2040 and is slightly higher than the positioning portion 2040. .
- the vertical height of the limiting portion 2046 and the second connecting arm 2044 is greater than the diameter of the damping ball 202, so that the movable member 200 can be in the space defined by the limiting portion 2046 and the positioning portion 2040. Up and down activities.
- the shock absorbing ball 202 includes a ball portion 2020 , a first fixing portion 2022 , and a second fixing portion 2024 .
- the first through hole 2021 and the second through hole 2023 are formed in the first through hole 2021 and the second through hole 2023.
- the first through hole 2021 and the second through hole 2023 are substantially perpendicular to the opening direction, and the first through hole 2021 and the The center point of the second through hole 2023 coincides with the center point of the damper ball 202, and a plurality of through holes are formed in one ball portion 2020 to achieve a more shock absorbing effect.
- the ball portion 2020 is made of an elastic material.
- the first fixing portion 2022 is for connecting the first distal end portion 2005 or the second distal end portion 2006 of the first connecting arm 2004 of the movable member 200.
- the second fixing portion 2024 is for connecting the fixing member 204.
- the first fixing portion 2022 is a ring sleeve made of an elastic material, and can be sleeved on the first distal end portion 2005 or the second distal end portion 2006 to fix the shock absorbing ball 202 and the activity.
- the second fixing portion 2024 is similar to the first fixing portion 2022, and is also a ring sleeve made of an elastic material, which can be sleeved on the end 20440, thereby fixedly connecting the shock absorbing ball 202 and the fixing.
- Piece 204 is similar to the first fixing portion 2022, and is also a ring sleeve made of an elastic material, which can be sleeved on the end 20440, thereby fixedly connecting the shock absorbing ball 202 and the fixing.
- the sleeve fixing direction of the first fixing portion 2022 and the second fixing portion 2024 is substantially perpendicular.
- the sleeved directions of the first fixing portion 2022 and the second fixing portion 2024 are not limited to be perpendicular to each other, such as parallel to each other or other positional relationship, and the socket direction needs to cooperate with the first distal end.
- the extension direction of the portion 2005, the second distal end portion 2006, and the end portion 20440 is set. It can be understood that the first fixing portion 2022 and the second fixing portion 2024 are disposed in a loop shape for the purpose of illustration and ease of installation, and the elastic material is used for further shock absorption purposes.
- first fixing portion 2022 and the second fixing portion 2024 may be other materials and other structures as long as the damping ball 202 can be fixedly connected to the movable member 200 and the fixing member.
- the damper ball 202 and the movable member 200 and the fixing member 204 can also be fixed and fixed by means of snapping or the like.
- the first fixing portion 2022 and the second fixing portion 2024 of the damping ball 202 are respectively respectively respectively between the first neck portion 5050 and the second neck portion 6060 of the first connecting arm 2004 of the movable member 200 and the third neck portion 2044 of the second connecting arm 2044 of the fixing member 204, thereby The shock absorbing ball 202 is fixedly coupled between the movable member 200 and the fixing member 204.
- the fixing member 204 is then fixed to the inner bottom wall of the body 1 by a fixing device 2042.
- the connecting structure 21 is then fixedly connected to the connecting plate 2000 through the fitting hole 10 on the body 1, thereby assembling the pan/tilt assembly 2 on the body 1.
- the movable member 200 and the fixing member 204 are connected by the damping ball 202 , and the damping ball 202 is made of an elastic material, and the damping ball 202 is provided.
- the first through hole 2021 and the second through hole 2023 are provided so that the movable member 200 can move relative to the fixing member 204 and can return to the initial position under the elastic force of the shock absorbing ball 202.
- the distance between the two of the limiting portions 2046 is greater than the distance between the inner sides of the two first connecting arms 2004 (ie, the side of the first connecting arm 2004 near the connecting plate 2000) and less than two The distance between the outer side of the first connecting arm 2004 (ie, the side of the first connecting arm 2004 away from the connecting plate 2000), therefore, the limiting portion 2046 of the two fixing members 204 can be limited
- the shock absorbing ball 202 is excessively pulled to break the stretchability of the shock absorbing ball 202.
- FIG. 7 is a perspective view of a pan/tilt assembly 3 according to another embodiment of the present invention.
- the pan/tilt assembly 3 includes a shock absorbing structure 30, a connection structure 31, a pan/tilt head 32, and a load 33.
- the shock absorbing structure 30 is disposed inside the body 1, the connecting structure 31 is connected to the shock absorbing structure 30 and the platform 32, and the load 33 is disposed on the platform 32.
- the pan/tilt head 32 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head.
- the connecting structure 31 and the pan head 32 and the load 33 are disposed outside the body 1 .
- the load 33 can be any sensing device or imaging device that is suitably mounted on the pan/tilt.
- the load 33 is a camera device, such as a camera.
- the center point of the pan-tilt structure 20 coincides with the center point of the pan-tilt assembly 2.
- the damper structure 30 includes a damper ball 302 and a positioning mechanism 301 fixedly connected to the damper ball 302 to the body 1 .
- the positioning mechanism 301 includes a movable member 300 and a fixing member 304 .
- the fixing member 304 is fixedly disposed inside the body 1 , and the damping ball 302 connects the movable member 300 and the fixing member 304 .
- the movable member 300 is fixedly coupled to the connecting structure 31, and the movable member 300 is movable relative to the fixing member 304 to drive the load 32 to move together with respect to the body 1.
- the movable member 300 is similar in structure to the movable member 200, and includes a connecting plate 3000 and two first connecting arms 3004 respectively disposed on opposite sides of the connecting plate 3000. Each first connecting arm 3004 passes through an extending portion 3003. Connected to the connecting plate 3000. The two first connecting arms 3004 are integrally formed with the connecting plate 3000. The first connecting arm 3004 is substantially parallel to the connecting plate 2000. Each of the first connecting arms 3004 includes a first distal end portion 3005 and a second distal end portion 3006. Each of the first distal end portions 3005 and each of the second distal end portions 3006 is coupled to a shock absorbing ball 302.
- the distance between the first distal end portion 3005 of the first connecting arm 3004 and the second distal end portion 3006 gradually increases from a direction toward the connecting plate 3000 away from the connecting plate 3000.
- the two first distal end portions 3005 and the two second distal end portions 3006 are symmetrically disposed with respect to the center of the movable member 300 such that a plurality of the shock absorbing balls connected thereto are opposite to the pan/tilt head
- the center points of the assembly 3 are symmetrically arranged to equalize the vibrations caused by the movement of the pan/tilt head 32 and the load 33 to the fuselage 1.
- the two first distal end portions 3005 and the two second distal end portions 3006 are evenly distributed over a circumference that is centered on the center of the movable member 300 such that four shock absorbing balls are The circumference of the pan-tilt assembly 3 is uniformly distributed on the circumference of the circle, thereby achieving equalization and slowing down the impact of the movement of the platform 32 and the load 33 on the fuselage 1.
- the connecting plate 3000 is used for fixed connection with the connecting structure 31.
- the connecting plate 3000 is provided with a plurality of fixing holes 3001.
- the connecting structure 31 is provided with a plurality of corresponding locking holes 310, and the locking device 3002 is passed through the plurality of fixing holes. 3001 and a corresponding locking hole 310, thereby fixing the connecting plate 3000 to the connecting structure 31.
- the fixing manner of the connecting plate 3000 and the connecting structure 31 is not limited to the fixing manner in the embodiment, such as a snap fit or an interference fit, etc., as long as the The connecting plate 3000 is fixedly coupled to the connecting structure 31 without relative movement.
- the extending portion 3003 is formed to extend upward from opposite sides of the connecting plate 3000, and the first connecting arm 3004 is away from the connecting plate 3000 from the end of the connecting portion 3003 away from the connecting plate 3000. Extended formation.
- the first connecting arm 3004 is substantially parallel to the connecting plate 3000.
- Each first connecting arm 3004 is formed with a first neck portion 30050 near the first distal end portion 3005.
- the first neck portion 30050 correspondingly forms a notch at each end of the first distal end portion 3005, that is, the dimension of the first neck portion 30050 in a direction perpendicular to the first neck portion 30050 is smaller than The size of the first distal end portion 3005.
- Each of the first connecting arms 3004 is formed with a second neck portion 30060 near the second distal end portion 3006.
- the first neck portion 5050 correspondingly forms a notch at each end of the first distal end portion 2005, that is, the second neck portion 30060 is formed correspondingly at both ends of the second distal end portion 3006.
- a notch that is, a dimension of the second neck portion 30060 in a direction perpendicular to the second neck portion 30060 is smaller than a size of the second distal end portion 3006.
- the fixing member 304 includes a positioning portion 3040 , a connecting portion 3043 , two second connecting arms 3044 , and a limiting portion 3046 .
- the components of the fixing member 304 for example, the positioning portion 3040, the two connecting portions 3043, the two second connecting arms 3044, the limiting portion 3046, and the like may be integrally formed. It can be understood that the components of the fixing member can also be separately arranged and fixed together by various known fixing methods, such as screwing or snapping.
- the positioning portion 3040 is configured to be fixedly coupled to the inner side of the body 1, so that the fixing member 304 is fixedly disposed on the inner bottom wall of the body 1.
- a plurality of positioning holes 3041 are disposed on the positioning portion 3040, and a plurality of fixing devices 3042 are locked on the inner bottom wall of the fuselage through the plurality of positioning holes 3041.
- the positioning portion 3040 can be fixedly connected to the inner wall of the fuselage by other means, as long as the positioning portion 3040 can be fixedly connected to the inner bottom wall of the fuselage. There is no relative activity, such as a snap connection, an interference fit, and the like.
- the connecting portion 3043 is formed to extend from a side of the positioning portion 3040 toward a direction away from the positioning portion 3040.
- the connecting portion 3043 is substantially C-shaped for connecting the positioning portion 3040 and the limiting portion. 3046.
- the width of the connecting portion 3043 in the radial direction of the positioning portion 3040 is smaller than the positioning portion 3040, thereby facilitating the mounting of the fixing device 3042.
- Each of the second connecting arms 3044 extends from one end of the positioning portion 3040 in a direction away from the positioning portion 3040 and substantially parallel to the positioning portion 3040.
- the second connecting arm 3044 is disposed slightly lower than the positioning portion 3040.
- the distance between the two second connecting arms 3044 is away from the positioning portion 3040 away from the positioning portion 3040.
- the direction is gradually increasing.
- Each of the second connecting arms 3044 includes an end 30440 that is coupled to a shock absorbing ball 302.
- the second connecting arm 3044 is formed with a third neck portion 30442 near the end 30440.
- the third neck portion 30442 is formed with a notch at each end of the end portion 30440, that is, the dimension of the third neck portion 30442 in a direction perpendicular to the third neck portion 30442 is smaller than the end portion.
- the size of the 30440 is formed with a notch at each end of the end portion 30440, that is, the dimension of the third neck portion 30442 in a direction perpendicular to the third neck portion 30442 is smaller than the end portion. The size of the 30440.
- the limiting portion 3046 is formed to extend from a side of the connecting portion 3043 away from the positioning portion 3040 in a direction parallel to the second connecting arm 3044.
- the radial length of the limiting portion 3046 is greater than the width of the connecting portion 3043 along the radial direction, and the radial length of the limiting portion 3046 is greater than the spacing between the two first connecting arms 3004, thereby The range of motion of the movable member 200 in a direction perpendicular to the positioning portion 3040 can be restricted.
- the vertical distance between the limiting portion 3046 and the second connecting arm 3044 is greater than the diameter of the damping ball 302.
- the shock absorbing ball 302 includes a ball portion 3020 , a first fixing portion 3022 , and a second fixing portion 3024 .
- the ball portion 3020 is provided with a first through hole 3021, and a center point of the first through hole 3021 coincides with a center point of the shock absorbing ball 302.
- the ball portion 3020 is made of an elastic material.
- the first fixing portion 3022 is configured to connect the first distal end portion 3005 or the second distal end portion 3006 of the first connecting arm 3004 of the movable member 300.
- the second fixing portion 3024 is for connecting the fixing member 304.
- the first fixing portion 3022 is a ring sleeve made of an elastic material, and can be sleeved on the first neck portion 30050 or the second neck portion 30060 to fixably connect the shock absorbing ball 302 and the movable member 300.
- the second fixing portion 3024 is similar to the first fixing portion 3022, and is also a ring sleeve made of an elastic material, which can be sleeved on the third neck portion 30442, thereby fixedly connecting the shock absorbing ball 302 with The fixing member 304.
- the sleeve fixing direction of the first fixing portion 3022 and the second fixing portion 3024 is substantially perpendicular.
- the sleeved directions of the first fixing portion 3022 and the second fixing portion 3024 are not limited to be perpendicular to each other, for example, parallel to each other or other positional relationship, and the socket direction needs to cooperate with the first distal end.
- the extending direction of the portion 3005, the second distal end portion 3006, and the distal end 30440 is set. It can be understood that the first fixing portion 3022 and the second fixing portion 3024 are disposed in a loop shape for the purpose of illustration and ease of installation, and the elastic material is used for further shock absorption purposes.
- first fixing portion 3022 and the second fixing portion 3024 may be other materials and other structures, as long as the damping ball 302 can be fixedly connected to the movable member 300 and the fixing member.
- the damper ball 302 and the movable member 300 and the fixing member 304 can also be fixed and fixed by means of snapping or the like.
- the first fixing portion 3022 and the second fixing portion 3024 of the damping ball 302 are respectively sleeved. Attached to the first neck portion 30050 and the second neck portion 30060 of the first connecting arm 3004 of the movable member 300 and the third neck portion 3044 of the second connecting arm 3044 of the fixing member 304, thereby reducing the The seismic ball 302 is fixedly coupled between the movable member 300 and the fixing member 304.
- the fixing member 304 is fixed to the inner bottom wall of the body 1 by a fixing device 3042.
- the connecting structure 31 is then fixedly connected to the connecting plate 3000 through the fitting hole 10 on the body 1, so that the pan/tilt head 3 is assembled on the body 1.
- the movable member 300 and the fixing member 304 are connected by the damping ball 302 , because the damping ball 302 is made of an elastic material, and the damping ball 302 is provided with the first
- the through hole 3021 is such that the movable member 300 is movable relative to the fixing member 304.
- the distance between the two of the limiting portions 3046 is greater than the distance between the inner sides of the two first connecting arms 3004 (ie, the side of the first connecting arm 2004 near the connecting plate 2000) and less than two The distance between the outer side of the first connecting arm 3004 (ie, the side of the first connecting arm 2004 away from the connecting plate 2000), therefore, the limiting portion 3046 of the two fixing members 304 can be limited
- the shock absorbing ball 302 is excessively pulled to break the stretchability of the shock absorbing ball 302.
- FIG. 10 it is a schematic view of the opening direction of the ball portion 3020 of the damper ball 302 of the pan/tilt head 3 shown in FIG.
- the damper balls 302 are evenly distributed on a circle having the center point O of the gimbal 3 as a dot, so that the degree of vibration reduction of the gimbal 3 in all directions is more balanced.
- the ball portion 3020 is provided with a first through hole 3021, a line connecting the center point O 1 of the first through hole and the center point O of the pan head 3 and the first The center line of the direction of the opening of the hole is always perpendicular.
- the above arrangement of the position of the damping ball and the direction of the opening can provide a better damping effect.
- the opening direction of one of the through holes for example, the first through hole 2021
- the direction of the other through hole such as the second through hole 2023, may be set to be perpendicular to the opening direction of the first through hole 2021, so that the shock absorbing effect of the shock absorbing ball 202 is better.
- a plurality of damping balls can be symmetrically disposed with respect to a center point of the pan/tilt assembly 2, so that the damping balls can balance the pan/tilt 22 And the movement of the load 23 affects the vibration generated by the body 1.
- a plurality of said shock absorbing balls 202 are evenly distributed over a circumference centered on a center point of said pan tilt assembly 2 such that said shock absorbing balls are more evenly mitigating said clouds The movement of the table 22 and the load 23 affects the vibration generated by the body 1.
- the fixing member 204 in the embodiment shown in FIG. 2 to FIG. 6 is interchangeable with the fixing member 304 in the embodiment shown in FIGS. 7 to 9.
- the fixing member 204, The 304 may also be any other suitable structure as long as the shock absorbing balls 202, 302 can be fixed to the body 1, and the range of motion of the movable member 200 can be restricted in at least one direction.
- the limiting portions 2046, 3046 and/or the connecting portions 2043, 3043 can be fixed on the body 1 independently of the second connecting arms 2044, 3044.
- the manner of connecting the first fixing portions 2022, 3022 with the first connecting arms 2004, 3004, and the manner of connecting the second fixing portions 2024, 3024 with the second connecting arms 2044, 3044 may not be limited to the above embodiment.
- an elastic fixing member may be disposed on the first connecting arms 2004, 3004, and the first fixing portions 2022, 3022 are elastic sheets or non-elastic sheets, and the elastic fixing members and the elastic sheets are inelastic.
- the first fixing portions 2022, 3022 and the first connecting arms 2004, 3004 are fixed by the connection of the sheets.
- an engaging structure may be disposed on the first connecting arms 2004, 3004 or the second connecting arms 2044, 3044, and the first fixing portions 2022, 3022 or the second fixing portions 2024, 3024 are engaged in the Fixing members 204, 304.
Abstract
Description
无人机 | 1000 |
机身 | 1 |
装配孔 | 10 |
云台组件 | 2,3 |
减震结构 | 20,30 |
连接结构 | 21,31 |
锁固孔 | 210,310 |
云台 | 22,32 |
负载 | 23,33 |
定位机构 | 201,301 |
活动件 | 200,300 |
连接板 | 2000,3000 |
固定孔 | 2001,3001 |
锁固装置 | 2002,3002 |
第一连接臂 | 2004,3004 |
第一远端部 | 2005,3005 |
第一颈部 | 20050,30050 |
第二远端部 | 2006,3006 |
第二颈部 | 20060,30060 |
减震球 | 202,302 |
球部 | 2020,3020 |
第一贯孔 | 2021,3021 |
第二贯孔 | 2023,3023 |
第一固定部 | 2022,3022 |
第二固定部 | 2024,3024 |
固定件 | 204,304 |
定位部 | 2040,3040 |
定位孔 | 2041,3041 |
固定装置 | 2042,3042 |
连接部 | 2043,3043 |
第二连接臂 | 2044,3044 |
末端 | 20440,30440 |
第三颈部 | 20442,30442 |
限位部 | 2046,3046 |
Claims (96)
- 一种云台减震结构,用于连接机身与云台负载,所述云台减震结构包括减震球及固定连接减震球至机身的定位结构,其特征在于:所述云台减震结构设置在机身内。
- 如权利要求1所述的云台减震结构,其特征在于:所述定位结构包括活动件及固定件,所述固定件固定连接所述减震球的一端及所述机身,所述活动件固定于所述减震球的另一端,且与所述云台负载固定连接。
- 如权利要求2所述的云台减震结构,其特征在于:所述减震球开设有第一贯孔,所述第一贯孔中心与所述减震球中心重合。
- 如权利要求3所述的云台减震结构,其特征在于:所述第一贯孔的中心与所述云台减震结构的中心的连线与所述第一贯孔的开孔方向的中心线垂直。
- 如权利要求4所述的云台减震结构,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求3所述的云台减震结构,其特征在于:所述减震球的数量为多个,相对于所述云台减震结构的中心点对称分布。
- 如权利要求3所述的云台减震结构,其特征在于:所述减震球的数量为多个,在以所述云台减震结构的中心点为圆心的圆周上均匀分布。
- 如权利要求3所述的云台减震结构,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求8所述的云台减震结构,其特征在于:所述减震球的数量为多个,相对于所述云台减震结构的中心点对称分布。
- 如权利要求2~9任一项所述的云台减震结构,其特征在于:所述活动件包括连接板及自连接板两相对侧延伸的两第一连接臂,所述连接板固定连接于所述云台负载,每一所述第一连接臂包括两远端部,每一远端部连接一减震球。
- 如权利要求10所述的云台减震结构,其特征在于:所述两远端部分别设置有第一颈部和第二颈部,每一所述减震球上设有一第一弹性套环,所述第一弹性套环分别套设在所述第一颈部或所述第二颈部。
- 如权利要求10所述的云台减震结构,其特征在于:所述两第一连接臂与所述连接板大致平行。
- 如权利要求10所述的云台减震结构,其特征在于:所述连接板与所述云台负载通过一连接结构固定连接。
- 如权利要求13所述的云台减震结构,其特征在于:所述连接板上设置有固定孔,所述连接结构上设置有锁固孔,所述连接板与所述连接结构通过锁固装置穿过所述固定孔及所述锁固孔而锁固。
- 如权利要求10所述的云台减震结构,其特征在于:所述活动件一体成型。
- 如权利要求10所述的云台减震结构,其特征在于:所述固定件包括定位部、自所述定位部两相对端延伸的两连接部、两第二连接臂及限位部,其中所述定位部用于与所述机身固定连接,每一第二连接臂自相对应的连接部远离所述定位部的一端延伸,每一第二连接臂包括一末端,每一末端连接一减震球,所述限位部与所述定位部固定连接且与所述固定部大致平行。
- 如权利要求16所述的云台减震结构,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求16所述的云台减震结构,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求16所述的云台减震结构,其特征在于:所述固定件一体成型。
- 如权利要求16所述的云台减震结构,其特征在于:所述第二连接臂与所述定位部大致平行。
- 如权利要求16所述的云台减震结构,其特征在于:所述限位部与所述第二连接臂之间的垂直距离大于所述减震球的直径。
- 如权利要求16所述的云台减震结构,其特征在于:所述定位部上设置有定位孔,通过固定装置穿过所述定位孔将所述定位部固定至所述机身内侧底壁。
- 如权利要求10所述的云台减震结构,其特征在于:所述固定件包括定位部、自定位部两相对端延伸的两第二连接臂、连接部及自连接部远离所述定位部的一端延伸的限位部,其中所述定位部用于固定至所述机身,每一所述两第二连接臂分别包括一末端,所述末端连接一减震球。
- 如权利要求23所述的云台减震结构,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求23所述的云台减震结构,其特征在于:所述连接部大致呈C形。
- 如权利要求25所述的云台减震结构,其特征在于:所述连接部在垂直于其延伸方向上的宽度小于所述定位部。
- 如权利要求26所述的云台减震结构,其特征在于:所述限位部在垂直于所述连接部延伸方向上的长度大于所述连接部在其延伸方向上的宽度。
- 如权利要求23所述的云台减震结构,其特征在于:所述限位部与所述第二连接臂大致平行。
- 如权利要求23所述的云台减震结构,其特征在于:所述限位部相对所述第二连接臂的垂直距离大于所述减震球的直径。
- 如权利要求23所述的云台减震结构,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求23所述的云台减震结构,其特征在于:所述固定件一体成型。
- 如权利要求10所述的云台减震结构,其特征在于:每一所述第一连接臂两远端部之间的距离自所述连接板向远离所述连接板的方向逐渐增大。
- 一种云台组件,用于无人机,所述无人机包括机身,其特征在于:所述云台组件包括减震结构、连接结构及负载,所述减震结构设置在所述机身内,所述负载通过连接结构与所述减震结构固定连接,所述连接结构及所述负载设置在所述机身外侧。
- 如权利要求33所述的云台组件,其特征在于:所述云台减震结构包括减震球及固定连接减震球至机身的定位结构,所述定位结构包括活动件及固定件,所述固定件固定连接所述减震球的一端及所述机身,所述活动件固定于所述减震球的另一端,且与所述负载固定连接。
- 如权利要求34所述的云台组件,其特征在于:所述减震球开设有第一贯孔,所述第一贯孔中心与所述减震球中心重合。
- 如权利要求35所述的云台组件,其特征在于:所述第一贯孔的中心与所述云台组件的中心的连线与所述第一贯孔的开孔方向的中心线垂直。
- 如权利要求36所述的云台组件,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求35所述的云台组件,其特征在于:所述减震球的数量为多个,相对于所述云台组件的中心点对称分布。
- 如权利要求35所述的云台组件,其特征在于:所述减震球的数量为多个,在以所述云台组件的中心点为圆心的圆周上均匀分布。
- 如权利要求35所述的云台组件,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求40所述的云台组件,其特征在于:所述减震球的数量为多个,相对于所述云台组件的中心点对称分布。
- 如权利要求34~41任一项所述的云台组件,其特征在于:所述活动件包括连接板及自连接板两相对侧延伸的两第一连接臂,所述连接板固定连接于所述云台负载,每一所述第一连接臂包括两远端部,每一远端部连接一减震球。
- 如权利要求42所述的云台组件,其特征在于:所述两远端部分别设置有第一颈部和第二颈部,每一所述减震球上设有一第一弹性套环,所述第一弹性套环分别套设在所述第一颈部或所述第二颈部。
- 如权利要求42所述的云台组件,其特征在于:所述两第一连接臂与所述连接板大致平行。
- 如权利要求42所述的云台组件,其特征在于:所述连接板与所述云台负载通过一连接结构固定连接。
- 如权利要求45所述的云台组件,其特征在于:所述连接板上设置有固定孔,所述连接结构上设置有锁固孔,所述连接板与所述连接结构通过锁固装置穿过所述固定孔及所述锁固孔而锁固。
- 如权利要求42所述的云台组件,其特征在于:所述活动件一体成型。
- 如权利要求42所述的云台组件,其特征在于:所述固定件包括定位部、自所述定位部两相对端延伸的两连接部、两第二连接臂及限位部,其中所述定位部用于与所述机身固定连接,每一第二连接臂自相对应的连接部远离所述定位部的一端延伸,每一第二连接臂包括一末端,每一末端连接一减震球,所述限位部与所述定位部固定连接且与所述固定部大致平行。
- 如权利要求48所述的云台组件,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求48所述的云台组件,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求48所述的云台组件,其特征在于:所述固定件一体成型。
- 如权利要求48所述的云台组件,其特征在于:所述第二连接臂与所述定位部大致平行。
- 如权利要求48所述的云台组件,其特征在于:所述限位部与所述第二连接臂之间的垂直距离大于所述减震球的直径。
- 如权利要求48所述的云台组件,其特征在于:所述定位部上设置有定位孔,通过固定装置穿过所述定位孔将所述定位部固定至所述机身内侧底壁。
- 如权利要求48所述的云台组件,其特征在于:所述固定件包括定位部、自定位部两相对端延伸的两第二连接臂、连接部及自连接部远离所述定位部的一端延伸的限位部,其中所述定位部用于固定至所述机身,每一所述两第二连接臂分别包括一末端,所述末端连接一减震球。
- 如权利要求55所述的云台组件,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求55所述的云台组件,其特征在于:所述连接部大致呈C形。
- 如权利要求57所述的云台组件,其特征在于:所述连接部在垂直于其延伸方向上的宽度小于所述定位部。
- 如权利要求58所述的云台组件,其特征在于:所述限位部在垂直于所述连接部延伸方向上的长度大于所述连接部在其延伸方向上的宽度。
- 如权利要求55所述的云台组件,其特征在于:所述限位部与所述第二连接臂大致平行。
- 如权利要求55所述的云台组件,其特征在于:所述限位部相对所述第二连接臂的垂直距离大于所述减震球的直径。
- 如权利要求55所述的云台组件,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求55所述的云台组件,其特征在于:所述固定件一体成型。
- 如权利要求42所述的云台组件,其特征在于:每一所述第一连接臂两远端部之间的距离自所述连接板向远离所述连接板的方向逐渐增大。
- 一种无人机,所述无人机包括机身及设置在机身上的云台组件,其特征在于:所述云台组件包括减震结构、连接结构及负载,所述减震结构设置在所述机身内,所述负载通过连接结构与所述减震结构固定连接,所述连接结构及所述负载设置在所述机身外侧。
- 如权利要求65所述的无人机,其特征在于:所述云台减震结构包括减震球及固定连接所述减震球至所述机身的定位结构,所述定位结构包括活动件及固定件,所述固定件固定连接所述减震球的一端及所述机身,所述活动件固定于所述减震球的另一端,且与所述负载固定连接。
- 如权利要求66所述的无人机,其特征在于:所述减震球开设有第一贯孔,所述第一贯孔中心与所述减震球中心重合。
- 如权利要求67所述的无人机,其特征在于:所述第一贯孔的中心与所述云台组件的中心的连线与所述第一贯孔的开孔方向的中心线垂直。
- 如权利要求68所述的无人机,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求67所述的无人机,其特征在于:所述减震球的数量为多个,相对于所述云台组件的中心点对称分布。
- 如权利要求67所述的无人机,其特征在于:所述减震球的数量为多个,在以所述云台组件的中心点为圆心的圆周上均匀分布。
- 如权利要求67所述的无人机,其特征在于:所述减震球开设有第二贯孔,所述第二贯孔中心与所述减震球中心重合且所述第二贯孔的开孔方向与所述第一贯孔的开孔方向垂直。
- 如权利要求72所述的无人机,其特征在于:所述减震球的数量为多个,相对于所述云台组件的中心点对称分布。
- 如权利要求66~73任一项所述的无人机,其特征在于:所述活动件包括连接板及自连接板两相对侧延伸的两第一连接臂,所述连接板固定连接于所述云台负载,每一所述第一连接臂包括两远端部,每一远端部连接一减震球。
- 如权利要求74所述的无人机,其特征在于:所述两远端部分别设置有第一颈部和第二颈部,每一所述减震球上设有一第一弹性套环,所述第一弹性套环分别套设在所述第一颈部或所述第二颈部。
- 如权利要求74所述的无人机,其特征在于:所述两第一连接臂与所述连接板大致平行。
- 如权利要求74所述的无人机,其特征在于:所述连接板与所述云台负载通过一连接结构固定连接。
- 如权利要求77所述的无人机,其特征在于:所述连接板上设置有固定孔,所述连接结构上设置有锁固孔,所述连接板与所述连接结构通过锁固装置穿过所述固定孔及所述锁固孔而锁固。
- 如权利要求74所述的无人机,其特征在于:所述活动件一体成型。
- 如权利要求74所述的无人机,其特征在于:所述固定件包括定位部、自所述定位部两相对端延伸的两连接部、两第二连接臂及限位部,其中所述定位部用于与所述机身固定连接,每一第二连接臂自相对应的连接部远离所述定位部的一端延伸,每一第二连接臂包括一末端,每一末端连接一减震球,所述限位部与所述定位部固定连接且与所述固定部大致平行。
- 如权利要求80所述的无人机,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求80所述的无人机,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求80所述的无人机,其特征在于:所述固定件一体成型。
- 如权利要求80所述的无人机,其特征在于:所述第二连接臂与所述定位部大致平行。
- 如权利要求80所述的无人机,其特征在于:所述限位部与所述第二连接臂之间的垂直距离大于所述减震球的直径。
- 如权利要求80所述的无人机,其特征在于:所述定位部上设置有定位孔,通过固定装置穿过所述定位孔将所述定位部固定至所述机身内侧底壁。
- 如权利要求74所述的无人机,其特征在于:所述固定件包括定位部、自定位部两相对端延伸的两第二连接臂、连接部及自连接部远离所述定位部的一端延伸的限位部,其中所述定位部用于固定至所述机身,每一所述两第二连接臂分别包括一末端,所述末端连接一减震球。
- 如权利要求87所述的无人机,其特征在于:每一所述第二连接臂的长度大于两所述第一连接臂内侧之间的距离,而小于所述两所述第一连接臂外侧之间的距离。
- 如权利要求87所述的无人机,其特征在于:所述连接部大致呈C形。
- 如权利要求89所述的无人机,其特征在于:所述连接部在垂直于其延伸方向上的宽度小于所述定位部。
- 如权利要求90所述的无人机,其特征在于:所述限位部在垂直于所述连接部延伸方向上的长度大于所述连接部在其延伸方向上的宽度。
- 如权利要求87所述的无人机,其特征在于:所述限位部与所述第二连接臂大致平行。
- 如权利要求87所述的无人机,其特征在于:所述限位部相对所述第二连接臂的垂直距离大于所述减震球的直径。
- 如权利要求87所述的无人机,其特征在于:所述末端设置有第三颈部,每一所述减震球上设有一第二弹性套环,所述第二弹性套环套设在所述第三颈部。
- 如权利要求87所述的无人机,其特征在于:所述固定件一体成型。
- 如权利要求74所述的无人机,其特征在于:每一所述第一连接臂两远端部之间的距离自所述连接板向远离所述连接板的方向逐渐增大。
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US11001394B2 (en) | 2017-08-31 | 2021-05-11 | Sz Dji Osmo Technology Co., Ltd. | Gimbal and unmanned aerial vehicle provided with gimbal |
CN112074456A (zh) * | 2018-01-08 | 2020-12-11 | 深圳市道通智能航空技术有限公司 | 云台、拍摄组件、无人飞行器、减震件及安装座 |
CN108100283A (zh) * | 2018-02-05 | 2018-06-01 | 叶哲企 | 一种多功能无人机的航拍装置 |
CN111503440A (zh) * | 2020-03-17 | 2020-08-07 | 猫头鹰安防科技有限公司 | 一种森林防火监控巡查系统 |
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JP6715333B2 (ja) | 2020-07-01 |
CN107249982B (zh) | 2019-08-02 |
EP3409592A4 (en) | 2019-01-09 |
CN110282144B (zh) | 2021-01-08 |
EP3409592A1 (en) | 2018-12-05 |
JP2019510997A (ja) | 2019-04-18 |
US20210316880A1 (en) | 2021-10-14 |
US10919646B2 (en) | 2021-02-16 |
EP3409592B1 (en) | 2021-06-16 |
US20180346147A1 (en) | 2018-12-06 |
CN110282144A (zh) | 2019-09-27 |
CN107249982A (zh) | 2017-10-13 |
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