WO2017128074A1 - 驱动装置、云台、拍摄设备和无人飞行器以及可移动设备 - Google Patents

驱动装置、云台、拍摄设备和无人飞行器以及可移动设备 Download PDF

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Publication number
WO2017128074A1
WO2017128074A1 PCT/CN2016/072241 CN2016072241W WO2017128074A1 WO 2017128074 A1 WO2017128074 A1 WO 2017128074A1 CN 2016072241 W CN2016072241 W CN 2016072241W WO 2017128074 A1 WO2017128074 A1 WO 2017128074A1
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WO
WIPO (PCT)
Prior art keywords
transmission
pan
disposed
stator
driver
Prior art date
Application number
PCT/CN2016/072241
Other languages
English (en)
French (fr)
Inventor
潘大虎
陈子寒
Original Assignee
深圳市大疆灵眸科技有限公司
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 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2016/072241 priority Critical patent/WO2017128074A1/zh
Priority to CN201680006836.XA priority patent/CN107209441B/zh
Publication of WO2017128074A1 publication Critical patent/WO2017128074A1/zh

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Classifications

    • 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

Definitions

  • the present invention relates to a driving device and a pan/tilt head, a photographing apparatus, and an unmanned aerial vehicle using the same, and a movable device.
  • the pan/tilt head is usually a two-axis pan/tilt head or a three-axis pan/tilt head, and the electronic device is mounted on an end shaft of the pan/tilt head and driven by the pan/tilt head to change a shooting attitude.
  • a long connection line is required for connection.
  • the connecting wire Since the length of the connecting wire is long, it is necessary to provide a portion dedicated to the winding on the pan/tilt to prevent the connecting wire from being entangled during the rotation of the pan/tilt.
  • the portion dedicated to the winding takes up a large space, which makes the head of the cloud larger, which is not conducive to the miniaturization design of the pan/tilt.
  • a pan/tilt head includes a connecting member and a first driver, the first driver comprising a rotating member fixedly coupled to the connecting member, the rotating member capable of driving the connecting member to rotate about an axis.
  • the pan/tilt further includes a transport member extending from a side of the rotating member along an end surface of the rotating member to the connecting member.
  • the transmission component is a data line for transmitting power or transmitting data.
  • the transmission member is a flexible circuit board for transmitting power or transmitting data.
  • the first driver further includes a stator, the rotating member is rotatably coupled to the stator, one end of the transmitting member is fixed to the stator, and the other end extends along an end surface of the rotating member to On the connector.
  • the transmission member includes a first transmission portion and a second transmission portion that are connected to each other, the first transmission portion is fixed to the stator, and the second transmission portion is connected to the first transmission portion and An end surface of the rotating member extends to the connecting member.
  • the rotating member is disposed at one end of the stator, and one end of the first transmission portion is fixed to the stator and extends along an outer circumference of the stator to be adjacent to the rotating member.
  • the first transmission portion is disposed in parallel with the outer circumference of the stator.
  • the second conveying portion is disposed perpendicular to an end surface of the rotating member and extends along the end surface of the rotating member to the connecting member.
  • the transmission component further includes a third transmission portion connected to an end of the second transmission portion away from the first transmission portion, and the second transmission portion passes the third transmission portion The portion is connected to the connector.
  • a predetermined angle is formed between the second transmission portion and the third transmission portion, so that the transmission member is deformed by pre-bending.
  • pan/tilt head further includes an installation member disposed on the stator, and one end of the transmission member is fixedly disposed on the mounting member.
  • the connecting member is provided with a first limiting portion, and the first limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a first direction.
  • the connecting member is further provided with a second limiting portion, the second limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a second direction
  • the second direction is opposite to the first direction.
  • the other end of the transmission member is fixedly connected to the connecting member, and the first limiting portion and the second limiting portion are symmetrically disposed with respect to the other end of the transmission member.
  • first limiting portion and the second limiting portion are disposed at a predetermined angle.
  • the predetermined angle between the first limiting portion and the second limiting portion is less than or equal to 180 degrees
  • the predetermined angle between the first limiting portion and the second limiting portion is between 90 degrees and 135 degrees.
  • the mounting member is provided with a positioning portion
  • the transmission member is provided with an engaging portion that cooperates with the positioning portion, and the positioning portion is engaged with the engaging portion to The transmission member is positioned on the mounting member.
  • the mounting member includes a fixing portion and a guiding portion, the fixing portion is fixedly disposed on the stator, the guiding portion is connected to the fixing portion, and is disposed adjacent to an end surface of the rotating member
  • the transmission member extends along the fixing portion and the guiding portion to the connecting member.
  • the fixing portion extends along the outer circumference of the stator to be adjacent to the edge of the rotating member.
  • the guiding portion is disposed perpendicular to an end surface of the rotating member.
  • the pan/tilt further includes a reinforcing member disposed on the connecting member and corresponding to the guiding portion, and the other end of the transmitting member is fixed to the reinforcing member.
  • the reinforcing member is disposed perpendicular to an end surface of the rotating member, and the guiding portion and the reinforcing member are disposed at a predetermined angle.
  • the mounting member further includes a supporting portion disposed between the fixing portion and the guiding portion and parallel to an end surface of the rotating member.
  • the connector driver is a rotary electric machine, a rotary cylinder or a steering gear.
  • the rotation axis of the rotating member is a heading axis of the pan/tilt head.
  • the pan/tilt further includes a support member and a second driver, the second driver is disposed on the connector, and the support member is coupled to the second driver to allow the second driver to be driven
  • the support rotates relative to the connector.
  • the support member includes an adapter portion and a support arm disposed on the adapter portion, and the adapter portion is coupled to the second driver.
  • the number of the support arms is two, and the two support arms are respectively disposed at two sides of the adapter portion.
  • two of the support arms are symmetrically disposed on opposite sides of the adapter portion.
  • the axis of rotation of the support member is perpendicular to the axis of rotation of the rotating member.
  • the connecting member includes a connecting arm connected to the first driver and a connecting portion disposed on the connecting arm, and the second driver is disposed in the connecting portion.
  • the pan/tilt further includes a third driver disposed on the support member, the rotor of the third driver being rotatable relative to the support member.
  • the axis of rotation of the rotor of the third actuator is perpendicular to the axis of rotation of the support.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the rotor of the third driver, the rotation axis of the support member, and the rotation axis of the rotating member respectively correspond to the pitch axis of the three-axis pan/tilt head, Roller axis and heading axis.
  • pan/tilt further includes an assembly, and the first driver is disposed in the assembly.
  • the cloud platform further includes a receiving member, the receiving member is disposed at one end of the connecting member, and is rotatable relative to the fitting, and the fitting cooperates with the receiving member to collectively receive the first A drive.
  • the fitting is provided with a through hole for the transmission member to pass through, and the inner cavity of the fitting communicates with the outside through the through hole.
  • an electronic device is connected to the connecting member of the pan/tilt, and the transmitting member is electrically connected to the electronic device.
  • the transmission component is connected between the electronic device and the power supply device of the pan/tilt, and the transmission component is configured to transmit power of the power supply device to the electronic device.
  • one end of the transmission member is connected to a controller of the pan/tilt head, and the other end of the transmission member is connected to the electronic device, and the transmission component is configured to transmit a control command of the controller to The electronic device.
  • the electronic device is one of the following: a camera, a camera, a camera, an infrared camera or a portable communication device; the transmission component is further configured to transmit image data acquired by the electronic device to an image transmission Device.
  • a photographing apparatus includes a pan/tilt head and an image acquiring device mounted on the pan head; the pan head includes a connecting member and a first driver, and the first driver includes a rotating member fixedly coupled to the connecting member, The rotating member can drive the connecting member to rotate about an axis.
  • the pan/tilt further includes a transport member extending from a side of the rotating member along an end surface of the rotating member to the connecting member.
  • the transmission component is a data line for transmitting power or transmitting data.
  • the transmission member is a flexible circuit board for transmitting power or transmitting data.
  • the first driver further includes a stator, the rotating member is rotatably coupled to the stator, one end of the transmitting member is fixed to the stator, and the other end extends along an end surface of the rotating member to On the connector.
  • the transmission member includes a first transmission portion and a second transmission portion that are connected to each other, the first transmission portion is fixed to the stator, and the second transmission portion is connected to the first transmission portion and An end surface of the rotating member extends to the connecting member.
  • the rotating member is disposed at one end of the stator, and one end of the first transmission portion is fixed to the stator and extends along an outer circumference of the stator to be adjacent to the rotating member.
  • the first transmission portion is disposed in parallel with the outer circumference of the stator.
  • the second conveying portion is disposed perpendicular to an end surface of the rotating member and extends along the end surface of the rotating member to the connecting member.
  • the transmission component further includes a third transmission portion connected to an end of the second transmission portion away from the first transmission portion, and the second transmission portion passes the third transmission portion The portion is connected to the connector.
  • a predetermined angle is formed between the second transmission portion and the third transmission portion, so that the transmission member is deformed by pre-bending.
  • pan/tilt head further includes an installation member disposed on the stator, and one end of the transmission member is fixedly disposed on the mounting member.
  • the connecting member is provided with a first limiting portion, and the first limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a first direction.
  • the connecting member is further provided with a second limiting portion, the second limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a second direction
  • the second direction is opposite to the first direction.
  • the other end of the transmission member is fixedly connected to the connecting member, and the first limiting portion and the second limiting portion are symmetrically disposed with respect to the other end of the transmission member.
  • first limiting portion and the second limiting portion are disposed at a predetermined angle.
  • the predetermined angle between the first limiting portion and the second limiting portion is less than or equal to 180 degrees
  • the predetermined angle between the first limiting portion and the second limiting portion is between 90 degrees and 135 degrees.
  • the mounting member is provided with a positioning portion
  • the transmission member is provided with an engaging portion that cooperates with the positioning portion, and the positioning portion is engaged with the engaging portion to The transmission member is positioned on the mounting member.
  • the mounting member includes a fixing portion and a guiding portion, the fixing portion is fixedly disposed on the stator, the guiding portion is connected to the fixing portion, and is disposed adjacent to an end surface of the rotating member
  • the transmission member extends along the fixing portion and the guiding portion to the connecting member.
  • the fixing portion extends along the outer circumference of the stator to be adjacent to the edge of the rotating member.
  • the guiding portion is disposed perpendicular to an end surface of the rotating member.
  • the pan/tilt further includes a reinforcing member disposed on the connecting member and corresponding to the guiding portion, and the other end of the transmitting member is fixed to the reinforcing member.
  • the reinforcing member is disposed perpendicular to an end surface of the rotating member, and the guiding portion and the reinforcing member are disposed at a predetermined angle.
  • the mounting member further includes a supporting portion disposed between the fixing portion and the guiding portion and parallel to an end surface of the rotating member.
  • the connector driver is a rotary electric machine, a rotary cylinder or a steering gear.
  • the rotation axis of the rotating member is a heading axis of the pan/tilt head.
  • the pan/tilt further includes a support member and a second driver, the second driver is disposed on the connector, and the support member is coupled to the second driver to allow the second driver to be driven
  • the support rotates relative to the connector.
  • the support member includes an adapter portion and a support arm disposed on the adapter portion, and the adapter portion is coupled to the second driver.
  • the number of the support arms is two, and the two support arms are respectively disposed at two sides of the adapter portion.
  • two of the support arms are symmetrically disposed on opposite sides of the adapter portion.
  • the axis of rotation of the support member is perpendicular to the axis of rotation of the rotating member.
  • the connecting member includes a connecting arm connected to the first driver and a connecting portion disposed on the connecting arm, and the second driver is disposed in the connecting portion.
  • the pan/tilt further includes a third driver disposed on the support, the image acquisition device is disposed on the third driver, and the third driver is capable of driving the image acquisition device relative to the The support rotates.
  • the axis of rotation of the rotor of the third actuator is perpendicular to the axis of rotation of the support.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the rotor of the third driver, the rotation axis of the support member, and the rotation axis of the rotating member respectively correspond to the pitch axis of the three-axis pan/tilt head, Roller axis and heading axis.
  • pan/tilt further includes an assembly, and the first driver is disposed in the assembly.
  • the platform further includes a receiving member disposed at one end of the connecting member and engaged with the fitting and rotatable relative to the fitting, the fitting and the receiving The pieces collectively house the first driver.
  • the fitting is provided with a through hole for the transmission member to pass through, and the inner cavity of the fitting communicates with the outside through the through hole.
  • the electronic device is one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.
  • the photographing apparatus further includes an image transmitting device, the transmitting member is connected between the image transmitting device and the electronic device, and the transmitting member is configured to transmit the image data acquired by the electronic device to the The image transmission device is described.
  • the transmission component is connected between the electronic device and the power supply device of the pan/tilt, and the transmission component is configured to transmit power of the power supply device to the electronic device.
  • An unmanned aerial vehicle includes a cloud platform and an image capturing device mounted on the cloud platform, the cloud platform including a connecting member and a first driver, the first driver including a rotating member fixedly coupled to the connecting member
  • the rotating member can drive the connecting member to rotate about an axis.
  • the pan/tilt further includes a transport member extending from a side of the rotating member along an end surface of the rotating member to the connecting member.
  • the transmission component is a data line for transmitting power or transmitting data.
  • the transmission member is a flexible circuit board for transmitting power or transmitting data.
  • the first driver further includes a stator, the rotating member is rotatably coupled to the stator, one end of the transmitting member is fixed to the stator, and the other end extends along an end surface of the rotating member to On the connector.
  • the transmission member includes a first transmission portion and a second transmission portion that are connected to each other, the first transmission portion is fixed to the stator, and the second transmission portion is connected to the first transmission portion and An end surface of the rotating member extends to the connecting member.
  • the rotating member is disposed at one end of the stator, and one end of the first transmission portion is fixed to the stator and extends along an outer circumference of the stator to be adjacent to the rotating member.
  • the first transmission portion is disposed in parallel with the outer circumference of the stator.
  • the second conveying portion is disposed perpendicular to an end surface of the rotating member and extends along the end surface of the rotating member to the connecting member.
  • the transmission component further includes a third transmission portion connected to an end of the second transmission portion away from the first transmission portion, and the second transmission portion passes the third transmission portion The portion is connected to the connector.
  • a predetermined angle is formed between the second transmission portion and the third transmission portion, so that the transmission member is deformed by pre-bending.
  • the UAV further includes a flight controller and an inertial measurement unit electrically connected to the flight controller, the inertial measurement unit is configured to detect a posture of the UAV to allow the flight controller to The attitude controls the UAV flight.
  • the UAV further includes an electronic governor coupled to the first actuator, the electronic governor for controlling a rotational speed and a rotational direction of the first actuator.
  • pan/tilt head further includes an installation member disposed on the stator, and one end of the transmission member is fixedly disposed on the mounting member.
  • the connecting member is provided with a first limiting portion, and the first limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a first direction.
  • the connecting member is further provided with a second limiting portion, the second limiting portion cooperates with the mounting member to define a rotation angle of the connecting member relative to the stator in a second direction
  • the second direction is opposite to the first direction.
  • the other end of the transmission member is fixedly connected to the connecting member, and the first limiting portion and the second limiting portion are symmetrically disposed with respect to the other end of the transmission member.
  • first limiting portion and the second limiting portion are disposed at a predetermined angle.
  • the predetermined angle between the first limiting portion and the second limiting portion is less than or equal to 180 degrees
  • the predetermined angle between the first limiting portion and the second limiting portion is between 90 degrees and 135 degrees.
  • the mounting member is provided with a positioning portion
  • the transmission member is provided with an engaging portion that cooperates with the positioning portion, and the positioning portion is engaged with the engaging portion to The transmission member is positioned on the mounting member.
  • the mounting member includes a fixing portion and a guiding portion, the fixing portion is fixedly disposed on the stator, the guiding portion is connected to the fixing portion, and is disposed adjacent to an end surface of the rotating member
  • the transmission member extends along the fixing portion and the guiding portion to the connecting member.
  • the fixing portion extends along the outer circumference of the stator to be adjacent to the edge of the rotating member.
  • the guiding portion is disposed perpendicular to an end surface of the rotating member.
  • the pan/tilt further includes a reinforcing member disposed on the connecting member and corresponding to the guiding portion, and the other end of the transmitting member is fixed to the reinforcing member.
  • the reinforcing member is disposed perpendicular to an end surface of the rotating member, and the guiding portion and the reinforcing member are disposed at a predetermined angle.
  • the mounting member further includes a supporting portion disposed between the fixing portion and the guiding portion and parallel to an end surface of the rotating member.
  • the connector driver is a rotary electric machine, a rotary cylinder or a steering gear.
  • the rotation axis of the rotating member is a heading axis of the pan/tilt head.
  • the pan/tilt further includes a support member and a second driver, the second driver is disposed on the connector, and the support member is coupled to the second driver to allow the second driver to be driven
  • the support rotates relative to the connector.
  • the support member includes an adapter portion and a support arm disposed on the adapter portion, and the adapter portion is coupled to the second driver.
  • the number of the support arms is two, and the two support arms are respectively disposed at two sides of the adapter portion.
  • two of the support arms are symmetrically disposed on opposite sides of the adapter portion.
  • the axis of rotation of the support member is perpendicular to the axis of rotation of the rotating member.
  • the connecting member includes a connecting arm connected to the first driver and a connecting portion disposed on the connecting arm, and the second driver is disposed in the connecting portion.
  • the pan/tilt further includes a third driver disposed on the support, the image acquisition device is disposed on the third driver, and the third driver is capable of driving the image acquisition device relative to the The support rotates.
  • the axis of rotation of the rotor of the third actuator is perpendicular to the axis of rotation of the support.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the rotor of the third driver, the rotation axis of the support member, and the rotation axis of the rotating member respectively correspond to the pitch axis of the three-axis pan/tilt head, Roller axis and heading axis.
  • pan/tilt further includes an assembly, and the first driver is disposed in the assembly.
  • the platform further includes a receiving member disposed at one end of the connecting member and engaged with the fitting and rotatable relative to the fitting, the fitting and the receiving The pieces collectively house the first driver.
  • the fitting is provided with a through hole for the transmission member to pass through, and the inner cavity of the fitting communicates with the outside through the through hole.
  • the image acquisition device is one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.
  • the UAV further includes an image transmission device connected to the pan/tilt, the transmission member is connected between the image transmission device and the image acquisition device, and the transmission component is used for The image data acquired by the electronic device is transmitted to the image transmission device.
  • the transmission component is connected between the electronic device and the power supply device of the pan/tilt, and the transmission component is configured to transmit power of the power supply device to the electronic device.
  • the UAV further includes a flight controller and an inertial measurement unit electrically connected to the flight controller, the inertial measurement unit is configured to detect a posture of the UAV to allow the flight controller to The attitude controls the UAV flight.
  • the UAV further includes an electronic governor coupled to the first actuator, the electronic governor for controlling a rotational speed and a rotational direction of the first actuator.
  • a driving device includes a connecting member and a first driver, the first driver including a rotating member fixedly coupled to the connecting member, the rotating member capable of rotating the connecting member about an axis.
  • the pan/tilt further includes a transport member extending from a side of the rotating member along an end surface of the rotating member to the connecting member.
  • the transmission component is a data line for transmitting power or transmitting data.
  • the transmission member is a flexible circuit board for transmitting power or transmitting data.
  • the first driver further includes a stator, the rotating member is rotatably coupled to the stator, one end of the transmitting member is fixed to the stator, and the other end extends along an end surface of the rotating member to On the connector.
  • the transmission member includes a first transmission portion and a second transmission portion that are connected to each other, the first transmission portion is fixed to the stator, and the second transmission portion is connected to the first transmission portion and An end surface of the rotating member extends to the connecting member.
  • the rotating member is disposed at one end of the stator, and one end of the first transmission portion is fixed to the stator and extends along an outer circumference of the stator to be adjacent to the rotating member.
  • the first transmission portion is disposed in parallel with the outer circumference of the stator.
  • the second conveying portion is disposed perpendicular to an end surface of the rotating member and extends along the end surface of the rotating member to the connecting member.
  • the transmission component further includes a third transmission portion connected to an end of the second transmission portion away from the first transmission portion, and the second transmission portion passes the third transmission portion The portion is connected to the connector.
  • a predetermined angle is formed between the second transmission portion and the third transmission portion, so that the transmission member is deformed by pre-bending.
  • a movable device comprising a cloud platform and an image capturing device mounted on the cloud platform, the cloud platform comprising a connecting member and a first driver, the first driver comprising a rotating member fixedly connected to the connecting member
  • the rotating member can drive the connecting member to rotate about an axis.
  • the pan/tilt further includes a transport member extending from a side of the rotating member along an end surface of the rotating member to the connecting member.
  • the transmission component is a data line for transmitting power or transmitting data.
  • the transmission member is a flexible circuit board for transmitting power or transmitting data.
  • the first driver further includes a stator, the rotating member is rotatably coupled to the stator, one end of the transmitting member is fixed to the stator, and the other end extends along an end surface of the rotating member to On the connector.
  • the transmission member includes a first transmission portion and a second transmission portion that are connected to each other, the first transmission portion is fixed to the stator, and the second transmission portion is connected to the first transmission portion and An end surface of the rotating member extends to the connecting member.
  • the rotating member is disposed at one end of the stator, and one end of the first transmission portion is fixed to the stator and extends along an outer circumference of the stator to be adjacent to the rotating member.
  • the first transmission portion is disposed in parallel with the outer circumference of the stator.
  • the second conveying portion is disposed perpendicular to an end surface of the rotating member and extends along the end surface of the rotating member to the connecting member.
  • the transmission component further includes a third transmission portion connected to an end of the second transmission portion away from the first transmission portion, and the second transmission portion passes the third transmission portion The portion is connected to the connector.
  • a predetermined angle is formed between the second transmission portion and the third transmission portion, so that the transmission member is deformed by pre-bending.
  • the mobile device further includes a controller and an inertial measurement unit electrically connected to the controller, the inertial measurement unit is configured to detect a posture of the movable device to allow the controller to control according to the attitude The mobile device travels.
  • the movable device further includes an electronic governor coupled to the first driver, the electronic governor for controlling a rotational speed and a rotational direction of the first actuator.
  • a transmission member extends from a side portion of the rotating member along an end surface of the rotating member to the connecting member, and is connectable to an electronic component in the connecting member, so that the transmitting member has a certain length margin to accommodate the change in the relative position or/and the relative distance between the electronic component in the connector and the first driver when the connector is rotated, and the pan-tilt is reasonably utilized.
  • the space avoids the fact that the transport member is wound into a mass, and there is no need to additionally provide a portion for the transmission member to be wound, so that the overall volume of the pan/tilt is relatively small.
  • FIG. 1 is an assembled perspective view of a photographing apparatus according to an embodiment of the present invention.
  • FIG. 2 is a perspective exploded view of the first viewing angle of the photographing apparatus shown in FIG. 1.
  • FIG. 2 is a perspective exploded view of the first viewing angle of the photographing apparatus shown in FIG. 1.
  • FIG. 3 is a perspective exploded view of a second perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 4 is a perspective exploded view of a third perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 5 is a perspective exploded view of a fourth perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 5 is a perspective exploded view of a fourth perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 6 is an assembled perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • 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 imaging device 300 is used for performing photographing, video recording, and the like.
  • the photographing apparatus 300 includes a cloud platform 100 and an image acquisition device 200 disposed on the cloud platform 100.
  • the photographing apparatus 300 can be applied to an unmanned aerial vehicle 500 (see FIG. 6) for aerial photography work.
  • the photographing apparatus 300 can also be applied to a handle as a handheld photographing apparatus to allow a user to manually operate the photographing apparatus 300 to perform photographing, video recording, and the like.
  • the pan/tilt head 100 is a three-axis pan/tilt head that includes a first bracket assembly 10 and a second bracket assembly 30.
  • the second bracket assembly 30 is rotatably mounted on the first bracket assembly 10.
  • the first bracket assembly 10 includes a fitting 12, a first driver 13 and a connector 16.
  • the first driver 13 is disposed on the assembly 12, and the connector 16 is coupled to the first driver 13.
  • the first driver 13 is used to drive the connecting member 16 to rotate about a first axis.
  • the assembly 12 is configured to integrally mount the platform 100 on an application platform, which may be an unmanned aerial vehicle or a handle.
  • the fitting 12 is substantially in the shape of a cylindrical cylinder having a bottom wall.
  • the fitting 12 is provided with a through hole 123 that penetrates the fitting 12 and communicates with the inner cavity of the fitting 12 .
  • the through hole 123 is used for the passage of electronic components such as data lines and power lines.
  • the through hole 123 is further configured to receive a connector, so that the platform 100 is electrically connected to the application platform through the connector.
  • the first driver 13 is configured to drive the connector 16 to rotate relative to the assembly 12 about the first axis.
  • the first driver 13 is a motor, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the first driver 13 is a brushless motor, which serves as a heading driving member of the platform 100 for driving the connecting member 16 to rotate about the first axis, the first axis It is the heading axis of the pan/tilt head 100.
  • the first driver 13 can serve as a roll driving or pitching driving member of the pan/tilt head 100 for driving the connecting member 16 to rotate about the first axis.
  • the first axis may be a roll axis or a pitch axis of the pan/tilt head 100.
  • the assembly 12 or/and the application platform may be provided with a controller, an electronic governor or other electronic components.
  • the electronic component is electrically connected to the first driver 13.
  • the first driver 13 is an inner rotor motor including a stator 131, a rotating shaft 133, a rotor (not shown), and a rotating member 135.
  • the stator 131 is fixedly disposed on the assembly 12 , and the rotating shaft 133 is rotatably disposed through the stator 131 and protrudes from the through hole 123 of the stator 131 away from the assembly 12 .
  • the rotor is coupled to the rotating shaft 133 and housed in the stator 131.
  • the rotating member 135 is disposed at an end of the rotating shaft 133 away from the through hole 123, and the rotating member 135 is configured to mount the connecting member 16.
  • the rotating member 135 is rotatable relative to the stator 131 to drive the connecting member 16 to rotate relative to the assembly 12.
  • the first bracket assembly 10 further includes a mounting member 15.
  • the mounting member 15 is disposed within the fitting 12.
  • the mounting member 15 includes a fixing portion 152 , a supporting portion 154 , and a guiding portion 156 .
  • the mounting member 15 is substantially in the form of a bent sheet, and the supporting portion 154 is connected between the fixing portion 152 and the guiding portion 156.
  • the fixing portion 152 is disposed on an outer circumference of the stator 131. One end of the fixing portion 152 is connected to one end of the stator 131 away from the rotating member 135, and the other end of the fixing portion 152 is along the stator 131. The axial direction extends toward the rotating member 135 until it is adjacent to the side of the rotating member 135 and protrudes from the side of the rotating member 135 away from the stator 131.
  • the support portion 154 is disposed at an end of the fixing portion 152 adjacent to the rotating member 135, and the supporting portion 154 is disposed substantially parallel to an end surface of the rotating member 135.
  • the support portion 154 extends from the edge of the rotating member 135 toward the inside of the rotating member 135.
  • the guiding portion 156 is disposed at an end of the supporting portion 154 away from the fixing portion 152 , and the guiding portion 156 is disposed substantially perpendicular to the supporting portion 154 . At the same time, the guiding portion 156 extends substantially along the diameter direction of the rotating member 135, that is, the guiding portion 156 is disposed substantially coplanar with the rotation axis of the rotating member 135, so that the guiding portion 156 One side of the side is substantially parallel to the axis of rotation of the rotating member 135.
  • the connecting member 16 is disposed on the rotating member 135 and is rotatable relative to the assembly 12 under the driving of the first driver 13.
  • the connecting member 16 includes a mounting portion 161 , a connecting arm 163 , and a connecting portion 165 .
  • the mounting portion 161 and the connecting portion 165 are respectively disposed at two ends of the connecting arm 163 .
  • the mounting portion 161 is fixedly coupled to the rotating member 135.
  • the mounting portion 161 is disposed on a side of the rotating member 135 facing away from the stator 131 and between the rotating member 135 and the supporting portion 154.
  • a fan-shaped recess 1610 is defined in the mounting portion 161, and the supporting portion 154 is rotatable within the scalloped recess 1610.
  • the mounting portion 161 is rotatable relative to the stator 131 and the mounting member 15 by the rotating member 135.
  • the mounting portion 161 is provided with a first limiting portion 1611 and a second limiting portion 1613.
  • the first limiting portion 1611 and the second limiting portion 1613 are used to limit the The angle of rotation of the connector 16 relative to the stator 131 is described.
  • the first limiting portion 1611 is disposed adjacent to the supporting portion 154
  • the second limiting portion 1613 is disposed adjacent to the guiding portion 156
  • the first limiting portion 1611 and the The second limiting portion 1613 is connected to form the fan-shaped recess 1610.
  • the first limiting portion 1611 and the second limiting portion 1613 are respectively two of the fan-shaped recesses 1610. Side wall.
  • the first limiting portion 1611 is abutted against the supporting portion 154 when the rotating member 135 drives the connecting member 16 to rotate in a first direction to a first limit angle in the fan-shaped recess 1610. On the side of the side, thereby defining the angle of rotation of the connector 16 relative to the stator 131 in the first direction.
  • the rotating member 135 drives the connecting member 16 to rotate to a limit angle in a second direction opposite to the first direction
  • the second limiting portion 1613 is abutted on the guiding portion 156. Thereby the angle of rotation of the connecting member 16 relative to the stator 131 in the second direction is defined.
  • the first limiting portion 1611 and the second limiting portion 1613 are disposed substantially along a radial direction of the rotating member 135 to jointly form the fan-shaped recess 1610.
  • the angle between the first limiting portion 1611 and the second limiting portion 1613 is less than or equal to 180 degrees.
  • an angle formed between the first limiting portion 1611 and the second limiting portion 1613 is 90 degrees to 135 degrees. It can be understood that the angle formed between the first limiting portion 1611 and the second limiting portion 1613 can be set according to the angular range in which the connecting member 16 needs to be rotated.
  • the first limiting portion 1611 when the pan/tilt head 100 is in an inactive initial state, the first limiting portion 1611 is formed between the first limiting portion 1611 and the side of the supporting portion 154 disposed adjacent thereto.
  • the angle formed by the second limiting portion 1613 and the guiding portion 156 is such that the connecting member 16 rotates in the first direction or along the first portion when rotating.
  • the rotational angles of the two directions are symmetrically equal, and the required rotational torques are also symmetrically equal.
  • One end of the connecting arm 163 is disposed on one side of the mounting portion 161, and the other end is bent and extended in a direction away from the rotating member 135.
  • the connecting portion 165 is disposed at an end of the connecting arm 163 away from the mounting portion 161 for connecting the second bracket assembly 30 .
  • the first bracket assembly 10 further includes a receiving member 14 , and the receiving member 14 is disposed on the connecting member 16 .
  • the receiving member 14 cooperates with the assembly 12 to collectively receive the first driver 13 and the mounting member 15 .
  • the receiving member 14 is fixedly disposed on the mounting portion 161 and is rotatable relative to the fitting 12 along the connecting member 16 .
  • the first bracket assembly 10 further includes a reinforcing member 17.
  • the reinforcing member 17 is disposed on the connecting member 16 and extends along an extending direction of the connecting member 16.
  • the reinforcing member 17 is disposed on the mounting portion 161 of the connecting member 16 and the connecting arm 163, and is substantially perpendicular to the mounting portion 161 and the connecting portion.
  • the reinforcing member 17 is for supporting a portion of the data element, the flexible circuit board, and the like extending along the connecting member 16 to strengthen the mounting structure of the electronic component.
  • One end of the reinforcing member 17 is disposed opposite to a side of the guiding portion 156, wherein the side of the guiding portion 156 is adjacent to the rotation axis of the rotating member 135, the reinforcing member 17 One end simultaneously extends substantially along an extension of the diameter of the rotating member 135 such that one end of the reinforcing member 17 forms a predetermined angle with the guiding portion 156 when the platform 100 is in an inactive initial state. Settings.
  • the reinforcing member 17 extends along the extension line of the diameter of the rotating member 135, and continues to extend along the mounting portion 161 and the connecting arm 163 to make the first limiting portion 1611 and the
  • the second limiting portion 1613 is substantially symmetrically disposed about one end of the reinforcing member 17.
  • the second bracket assembly 30 is rotatably disposed on the connecting member 16 and includes a second driver 32 and a support member 34.
  • the second driver 32 is connected to the connecting portion 165
  • the support member 34 is disposed at a driving end of the second driver 32 .
  • the second driver 32 is configured to drive the support member 34 to rotate about a second axis relative to the connector member 16, the second axis being substantially perpendicular to the first axis.
  • the second driver 32 is a motor, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the second driver 32 is a brushless motor as a roll driving member of the pan/tilt head 100 for driving the connecting member 16 to rotate about the second axis
  • the second The axis is the roll axis of the pan/tilt head 100.
  • the second driver 32 can serve as a heading or pitching drive of the platform 100 for driving the support member 34 to rotate about the second axis.
  • the second axis may be a heading axis or a pitch axis of the platform 100.
  • a controller an electronic governor or other electronic components may be disposed in the connecting portion 165, and the electronic component and the second component The driver 32 is electrically connected.
  • the second driver 32 can be electrically connected to the assembly 12 or/and the electronic components in the application platform to allow the assembly 12 or/and the application platform to be The electronic component adjusts the rotational speed and the rotational direction of the second actuator 32.
  • the support member 34 is coupled to the second driver 32 and is rotatable relative to the connecting portion 165 by the second driver 32.
  • the support member 34 includes an adapter portion 341, a support arm 343, and a mounting portion 345.
  • the support arm 343 is disposed on the adapter portion 341
  • the mounting portion 345 is disposed on the support arm 343 .
  • the adapter portion 341, the first support arm 343, and the mounting portion 345 are integrally formed. It can be understood that in other embodiments, the adapter portion 341, the first support arm 343, and the mounting portion 345 can be assembled together.
  • the adapter portion 341 is coupled to the driving end of the second driver 32 and is rotatable relative to the connecting portion 165 under the driving of the second driver 32. It can be understood that in other embodiments, the adapter portion 341 can also be integrally formed with the driving end of the second driver 32.
  • the support member 34 is a dual-arm support member, and the number of the support arm 343 and the mounting portion 345 is two.
  • Two of the support arms 343 are disposed substantially symmetrically on opposite sides of the adapter portion 341.
  • Each of the support arms 343 has a substantially curved arm shape, one end of which is connected to the adapter portion 341 and the other end of which extends in a direction away from the connection portion 165.
  • Each of the mounting portions 345 is disposed at an end of the support arm 343 away from the adapter portion 341, and the mounting portion 345 is configured to mount the image acquiring device 345.
  • the two mounting portions 345 and the two supporting arms 343 are used to jointly support the image acquiring device 200, so that the whole of the pan/tilt head 100 is relatively rigid, and the two mounting portions 345 and The two support arms 343 are disposed substantially symmetrically, so that the center of gravity of the platform 100 and the image acquisition device 200 are easier to adjust, and the rotational movement of the image acquisition device 200 relative to the second bracket assembly 30 is also easier to control. ,Adjustment.
  • the support member 34 can be a single-arm support.
  • the number of the support arm 343 and the mounting portion 345 is one.
  • the platform 100 further includes a third driver 50.
  • the third driver 50 is disposed on one of the mounting portions 345 and is configured to drive the image capturing device 200 to rotate relative to the platform 100 to adjust a shooting angle of the image capturing device 200.
  • the third driver 50 is configured to drive the image capturing device 200 to rotate about a third axis relative to the support member 34, the third axis being substantially perpendicular to the second axis.
  • the third driver 50 is a motor, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the third driver 50 is a brushless motor as a pitch driving member of the pan/tilt head 100 for driving the image capturing device 200 to rotate about the third axis, the third The axis is the pitch axis of the pan/tilt head 100.
  • the third driver 50 can serve as a heading drive or a roll driving member of the platform 100 for driving the support member 34 to rotate about the third axis.
  • the third axis may be a heading axis or a roll axis of the platform 100.
  • a controller in order to adjust the rotation speed and the rotation direction of the third driver 50, a controller, an electronic governor or other electronic components may be disposed in the connecting portion 165, and the electronic component and the third component The driver 50 is electrically connected.
  • the third driver 50 can be electrically connected to the assembly 12 or/and the electronic components in the application platform to allow the assembly 12 or/and the application platform to be The electronic component adjusts the rotational speed and the rotational direction of the third actuator 50.
  • the image acquisition device 200 is connected to the driving end of the third driver 50, and the image acquisition device 200 is used for performing photographing, video recording, and the like.
  • the image acquisition device 200 is an infrared camera for infrared imaging or thermal imaging.
  • the pan/tilt head 100 further includes a main controller (not shown), an auxiliary controller (not shown), and a transmission. Item 70.
  • the main controller is configured to control the pan/tilt head 100 to adjust to a desired working posture
  • the auxiliary controller is configured to control the operation of the image obtaining device 200
  • the auxiliary controller passes the transmission member 70 and the main The controller is electrically connected.
  • the main controller is configured to control the first driver 13, the second driver 32, and the third driver 50 to rotate and cooperate to drive the image acquisition device 200 to adjust to work required for shooting. attitude.
  • the main controller may be a control chip or a control circuit board.
  • the main controller is disposed on the application platform of the photographing device 300. It can be understood that the main controller can also be disposed in the assembly 12 or/and the receiving member 14, or in the support member 34 or the connecting member 16.
  • the auxiliary controller is configured to control the image acquisition device 200 to perform a photographing operation and to store and/or transmit an image or a picture captured by the image acquisition device 200.
  • the auxiliary controller can be a control chip or a control circuit board.
  • the auxiliary controller is a control circuit board that is electrically connected to the image acquisition device 200.
  • the transmission member 70 is a flexible circuit board for transmitting an image or a picture captured by the image acquisition device 200 in the auxiliary controller to the main controller, or directly An image or a picture taken by the image acquisition device 200 is transmitted to the main controller to allow the main controller to transmit the image or picture to a user through an image transmission device.
  • the transmission component 70 can also be a power line or a data line or the like, which can also be used to transmit power or transmit data such as control commands.
  • the photographing apparatus 300 may include an image transmission device.
  • the image transmission device is connected to the cloud platform 100, and is electrically connected to the image acquisition device 200 through the transmission member 70.
  • the image transmission device is configured to read and store an image captured by the image acquisition device 200.
  • the transmission member 70 is configured to transmit back the image data acquired by the image acquisition device 200 to the image transmission device.
  • one end of the transmission member 70 is connected to the main controller (not shown) in the application platform (not shown), and One end extends through the fitting 12 and the receiving member 14 and extends along the connecting member 16, and is divided into two parts and extends into the connecting member 16 and the supporting member 34 respectively to respectively The electronic components in the connector 16 and in the support member 34 are electrically connected.
  • the transport member 70 enters the through hole 123.
  • the inside of the assembly 12 is stacked on the mounting member 15 and sequentially extends along the fixing portion 152, the supporting portion 154 and the guiding portion 156 of the mounting member 15, and then passes through
  • the accommodating member 14 extends and overlaps the reinforcing member 17 and continues to extend along the reinforcing member 17 and is electrically connected to the electronic components in the connecting member 16 and the supporting member 34. .
  • the transmission member 70 includes a first transmission portion 72, a second transmission portion 74, and a third transmission portion 76 that are sequentially connected, and the first transmission portion 72 is disposed on the fixing portion 152, and the second transmission portion 74 is disposed on the guiding portion 156, and the third conveying portion 76 is disposed on the reinforcing member 17 (refer to FIG. 2).
  • the transmitting member 70 is guided by the mounting member 15 and extends from the side of the rotating member 135 along the end surface of the rotating member 135 to the reinforcing member 17 to connect with the connecting member. 16 connections.
  • the third transmission portion 76 is bent relative to the second transmission portion 74 by the predetermined angle, that is, the third transmission portion 76 and the second transmission portion 74.
  • the transmission member 70 is deformed in a pre-bending manner.
  • the first limiting portion 1611 and the second limiting portion 1613 are substantially symmetrically disposed about the third transmitting portion 76.
  • the connecting member 16 When the connecting member 16 rotates relative to the assembly 12, the relative position and/or relative distance between the main controller and the electronic components in the connecting member 16 may change, in order to ensure the main control.
  • a reliable electrical connection can be maintained between the device and the electronic component, and the transmission member 70 needs to have a certain length margin to accommodate the relative position or/and relative position between the main controller and the component. The amount of change in distance.
  • the transmission member 70 is disposed in the fitting 12 in a pre-bent state, and continues from the side of the rotating member 135 along the end surface of the rotating member 135 to the reinforcing member. 17 , the third transport portion 76 can be bent or rotated relative to the second transport portion 74 such that the connector 16 is in an initial state along the first direction relative to the assembly 12 or In the process of rotating the second direction to the maximum limit angle, the flexibility and freedom of rotation of the connecting member 16 are not limited by the length of the transport member 70, and the transport member 70 is not due to the connecting member 16 The rotation is tightened and broken, and does not accumulate in the assembly 12 or become entangled.
  • the arrangement of the transmission member 70 described above does not require the transmission member 70 to be wound around other components of the platform 100, and there is no need to provide additional use in the assembly 12 or/and the housing member 14.
  • the portion of the transport member 70 is arranged to be relatively short, and the overall volume of the platform 100 is also reduced.
  • the first driver 13 drives the maximum rotation angle of the connecting member 16 relative to the assembly 12 to not exceed one week.
  • the first driver 13 drives the connecting member 16 to the opposite side.
  • the maximum rotation angle of the rotation of the fitting 12 is not more than 180 degrees.
  • the first driver 13 drives the maximum rotation angle of the connecting member 16 relative to the assembly 12 to be 90 degrees to 135 degrees.
  • the mounting member 15 is provided with a positioning portion, and the transmitting member 70 is provided with an engaging portion corresponding to the positioning portion.
  • the positioning portion is in engagement with the engaging portion.
  • the edge of the supporting portion 154 of the mounting member 15 is provided with a positioning portion 1541
  • the edge of the guiding portion 156 is provided with a positioning portion 1561
  • the positioning portion 1541 and the positioning The portion 1561 is a positioning protrusion
  • the positioning portion 1541 and the positioning portion 1561 of the transmission member 70 are respectively provided with positioning grooves, and the positioning protrusions are engaged into the corresponding positioning grooves to The transmission member 70 is positioned and fixed to the mounting member 15.
  • an angle formed between the first limiting portion 1611 and a side edge of the supporting portion 154 disposed adjacent thereto is equal to
  • An angle formed between the second limiting portion 1613 and the guiding portion 156, the first limiting portion 1611 and the second limiting portion 1613 are symmetrically disposed about the third transmitting portion 76 a limit angle at which the third transport portion 76 rotates in the first direction in the initial state when the connecting member 16 drives the third transport portion 76 to rotate relative to the second transport portion 74.
  • the symmetrical state avoids the fatigue damage caused by the asymmetric bending of the transmission member 70 or the excessive bending in a certain direction, and is advantageous for extending the service life of the transmission member 70.
  • the transmission member 70 extends from the side of the rotating member 135 along the end surface of the rotating member 135 to the reinforcing member 17 to be connected with the connecting member 16, the length of the transmitting member 70 is made
  • the relatively short elastic shape variable generated when the bending is relatively small is relatively small when the third conveying portion 76 is reset relative to the second conveying portion 74, and the resilience of the connecting member 16 is relatively small.
  • the pan/tilt head of the present invention has a transmission member extending from the side of the rotating member 135 along the end surface of the rotating member 135 to the reinforcing member 17, and is connected to the connecting member 16
  • An electronic component, and the third transport portion 76 is rotatable relative to the second transport portion 74 such that the transport member 70 has a certain length margin to accommodate rotation of the connector 16 relative to the assembly 12.
  • the internal space of the receiving portion is reasonably utilized, and the transmission member is prevented from being wound into
  • the overall volume of the platform 100 is reduced, and the overall length of the transmission member is reduced, so that the resistance of the transmission member 70 is reduced, thereby reducing the overall work of the platform 100.
  • the consumption extends the life time of the pan/tilt head 100.
  • the bending and rotation of the transmission member 70 are in a substantially symmetrical state, which avoids the asymmetric bending of the transmission member 70 or the excessive bending in a certain direction.
  • the fatigue damage is advantageous for extending the service life of the transmission member 70.
  • the elastic deformation variable generated when the transmission member 70 is bent is relatively small, and when the third transmission portion 76 drives the connecting member 16 to be reset, the resilience force thereof is relatively small.
  • the structure of the transmission member 70 is not limited to the above-described bent structure, and may be provided as other structures to connect the electronic component and the connector on the application platform. 16.
  • an angle between the second transmission portion 74 of the transmission member 70 and the third transmission portion 76 may be 180 degrees, that is, the second transmission portion 74 and the third transmission portion 76 Along the same diameter of the rotating member 135, the transmitting member 70 extends from the stator 131 to a side of the rotating member 135, and the side of the rotating member 135 is along the side The end face of the rotating member 135 continues to extend to the reinforcing member 17.
  • the structure of the mounting member 15 is adapted to the transmission member 70, and the description is not described herein.
  • the second transmission portion 74 and the third transmission portion 76 do not have to be Along the diameter of the rotating member 135, the second conveying portion 74 and the third conveying portion 76 extend along an end surface of the rotating member 135, and the second conveying portion 74 and the first portion
  • the three transmission portion 76 is substantially perpendicular to the end surface of the rotating member 135 such that one end of the transmission member 70 is fixed to the stator 131, and the other end extends along the end surface of the rotating member 135 to the connecting member 16, that is, can.
  • the mounting member 15 can be fixed on the fitting 12.
  • the structure of the mounting member 15 is not limited to the structure described above, and may be other fixing structures and used to fix the transmitting member 70.
  • the mounting member 15 is a clamping structure disposed on the stator 131, and the transmitting member 70 is retained on the clamping structure.
  • the mounting member 15 can be omitted, and the transmitting member 70 is disposed on the first bracket assembly 10 by other means.
  • one end of the transmission member 70 is fixedly disposed on the stator 131 by bonding or welding, or one end of the transmission member 70 is fastened to the stator 131 by a rivet.
  • reinforcing member 17 can also be omitted, and the transmitting member 70 is directly connected to the connecting member 16 directly.
  • the present invention further provides an unmanned aerial vehicle 500 including a body 510 and a power mechanism 530 disposed on the body 510 and the pan/tilt head 100, the pan/tilt head 100 is mounted on the body 510 by the fitting 12.
  • the UAV 500 is used to mount the image acquisition device 200 to perform an aerial photography operation.
  • the UAV 500 is a rotary-wing UAV
  • the power mechanism 530 includes a motor and a propeller that drives the propeller to rotate to provide travel for the UAV 500 power.
  • the UAV 500 further includes a control board, an Inertial Measurement Unit (IMU), an electronic governor, and an image transmission device.
  • IMU Inertial Measurement Unit
  • the control board may be a flight controller for controlling flight operations of the UAV 500, including flight speed, flight attitude, etc., and for controlling the movement of the platform 100 to adjust the image acquisition.
  • the flight controller is disposed on the body 510 and connected to the platform 100 through the transmission member 70.
  • the inertial measurement module is disposed on the platform 100 and electrically connected to the control board through the transmission member 70.
  • the inertial measurement module includes a plurality of inertial measurement units, and the plurality of inertial measurement units are respectively connected to the first driver 13, the second driver 32, and the third driver 50 of the platform 100, and The rotation speed and the rotation direction of the first driver 13, the second driver 32, and the third driver 50 are respectively detected to detect the posture of the platform 100.
  • the transmitting component 70 is configured to transmit the control command of the control board to the inertial measurement module, and transmit the data detected by the inertial measurement module to the control board.
  • the electronic governor is disposed on the body and electrically connected to the control board.
  • the electronic governor can adjust the rotational speed and the rotational direction of the motor under the control of the control main board, and can adjust the rotational speed and the rotational direction of the pan-tilt 100.
  • the electronic governor may be a plurality, and one or more of the plurality of electronic governors are connected to the pan/tilt head 100 through the transmission member 70, and the one or more
  • the electronic governor is coupled to the motor of the power mechanism 530 and configured to adjust a rotational speed and a rotational direction of the motor to adjust a flight speed and a flight attitude of the unmanned aerial vehicle 500.
  • One or more other ones of the plurality of electronic governors are connected to the first driver 13, the second driver 32, and the third driver 50, and are used to adjust the The rotational speed and the rotational direction of the first driver 13, the second driver 32, and the third driver 50.
  • the transmission component 70 is configured to transmit the control command of the control board to the pan/tilt head 100.
  • the transmission component 70 controls the control board and the electronic governor. The commands are transmitted to the rotational speed and rotational direction of the first driver 13, the second driver 32, and the third driver 50.
  • electronic governors for adjusting the first driver 13, the second driver 32, and the third driver 50 may be directly disposed on the first driver 13, respectively.
  • the second driver 32 and the third driver 50 are connected to each other, and the electronic governor is connected to the control board through the transmission member 70, and the transmission member 70 transmits the control command of the control board to the
  • the electronic governor is configured to control the rotational speed and the rotational direction of the first driver 13, the second driver 32, and the third driver 50.
  • the image transmission device is disposed on the body and electrically connected to the image acquisition device 200 through the transmission member 70.
  • the image transmission device is configured to read and store an image captured by the image acquisition device 200 under the control of the control mainboard, and also to transmit the image to a ground end of the UAV 500, so that The user of the UAV 500 can perform acquisition of an image taken by the image acquisition device 200.
  • the transmission component 70 is configured to transmit a control instruction of the control mainboard to the image acquisition apparatus 200, and transmit the image data acquired by the image acquisition apparatus 200 to the image transmission apparatus.
  • the UAV 500 further includes a power supply device disposed in the body 510 and configured to provide power to the PTZ 100 and the image acquisition device 200.
  • One end of the transmission member 70 is connected to the power supply device, and the other end is connected to the cloud platform 100 and the image acquisition device 200, respectively, to transmit power of the power supply device to the cloud platform 100 and The image acquisition device 200.
  • the power supply device may simultaneously provide an energy source for the power mechanism 530; or the power supply device may be a dedicated power supply device of the pan/tilt head 100, and the transmission member 70 is The cloud platform 100 provides an energy source, or the dedicated power supply device of the pan/tilt head 100 can also transmit power to the image acquisition device 200 through the transmission member 70.
  • the main controller can be a separate control chip, a control circuit board and other electronic components, and can even be an image transmission device.
  • the main controller may be disposed in the assembly 12 or/and the receiving member 14, or may be disposed on an application platform of the photographing device 300, and the application platform may be the aforementioned unmanned unmanned aerial vehicle or Handle, etc.
  • the auxiliary controller can be omitted, and the main controller is directly electrically connected to the image acquisition device 200 through the transmission member 70 to allow the main controller to control the image acquisition device 200.
  • the photographing work is performed, and the main controller is allowed to store or/and transmit an image or a picture taken by the image acquisition device 200.
  • the image acquisition device described above is an electronic device, which may be a camera, a camera, a camera, a portable communication device, or the like.
  • the above-mentioned winding structure of the transmission member is not limited to the rotatable structure applied to the pan/tilt described above, and can be applied to other relatively rotatable driving devices.
  • the winding structure of the above-described transmission member can be applied to a driving device of a robot arm for driving the robot arm to operate.
  • the driving device may include an assembly, a connecting member, and a first driver, the first driver is disposed on the assembly, and the connecting member is connected to the first driver, the first The driver can drive the connecting member to rotate relative to the assembly; the first driver includes a stator and a rotating member disposed on the stator, and the assembly and the connecting member are respectively provided with a first electronic component and a second electronic component electrically connected to the second electronic component via a transmission member.
  • the transmission member is coupled to the first electronic component, and is fixed on the stator and extends along an outer circumference of the stator to adjacent to the rotating member, and the other end of the transmitting member rotates from the rotating member a side portion of the piece extends along the end surface of the rotating member to the connecting member and is electrically connected to the second electronic component, so that the connecting member is along an initial state with respect to the fitting
  • the flexibility and freedom of rotation of the connecting member are not caused by the transmission member
  • the length is limited, the transmission member does not break due to the rotation of the connecting member, and does not accumulate in the receiving portion or wrap.
  • the transmission member may be a wire, a data line, an optical fiber or a flexible circuit board, etc.; the connector driver may be a rotating electric machine, a rotating cylinder or a steering gear or the like.
  • the unmanned aerial vehicle is a rotor unmanned aerial vehicle, and is used for carrying an aerial photography operation by a camera, a camera, or the like. It can be understood that the UAV can also be used for map mapping, disaster investigation and rescue, air monitoring, transmission line inspection and the like. It will also be appreciated that the UAV may also be a fixed wing unmanned aerial vehicle.
  • pan/tilt is not limited to being applied in the unmanned aerial vehicle, and can also be applied to other mobile devices or remote-controlled mobile devices such as unmanned vehicles and unmanned ships. Narration.
  • the application platform of the pan/tilt is not limited to the above-mentioned UAV, and it can also be mounted on a handle such that the photographing device is used as a handheld photographing device.

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Abstract

一种驱动装置及使用该驱动装置的云台（100）、拍摄设备（300）、无人飞行器（500）以及可移动设备。所述云台（100）包括连接件（16）以及第一驱动器（13），所述第一驱动器（13）包括与所述连接件（16）固定相连的转动件（135），所述转动件（135）能够带动所述连接件（16）绕一轴线转动，所述云台（100）还包括传输件（70），所述传输件（70）自所述转动件（135）的侧部沿所述转动件（135）的端面延伸至所述连接件（16）上。

Description

驱动装置、云台、拍摄设备和无人飞行器以及可移动设备 技术领域
本发明涉及一种驱动装置及使用该驱动装置的云台、拍摄设备和无人飞行器，以及可移动设备。
背景技术
在使用电动云台架设摄影机、照相机等电子装置拍摄的过程中，常需要在将设置于云台上的电子元件与所述电子装置电性连接，以传输数据或传输电力。所述云台通常为两轴云台或三轴云台，所述电子装置装设于所述云台的末端轴上，并由所述云台驱动以改变拍摄姿态。为了给云台末端轴的转动预留足够的转动角度，当将所述电子元件与所述电子装置电性连接时，需要采用较长的连接线进行连接。由于所述连接线长度较长，需在云台上设置专门用于绕线的部位，以防止所述连接线在所述云台的转动过程中发生缠绕。然而，所述专门用于绕线的部位占用较大的空间，使云台体积较大，不利于云台的小型化设计。
发明内容
鉴于上述状况，有必要提供一种体积相对较小的云台及该云台采用的驱动装置，还有必要提供一种使用该云台的拍摄设备和无人飞行器，以及可移动设备。
一种云台，包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动。所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件为数据线，其用于传输电力或传输数据。
进一步地，所述传输件为柔性电路板，其用于传输电力或传输数据。
进一步地，所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
进一步地，所述第一传输部与所述定子外周相平行设置。
进一步地，所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
进一步地，所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
进一步地，所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
进一步地，所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
进一步地，所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
进一步地，所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
进一步地，所述第一限位部与所述第二限位部之间呈一预定夹角设置。
进一步地，所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
进一步地，所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
进一步地，所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
进一步地，所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
进一步地，所述导引部垂直于所述转动件的端面设置。
进一步地，所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
进一步地，所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
进一步地，所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
进一步地，所述连接件驱动器为旋转电机、旋转气缸或舵机。
进一步地，所述转动件的转动轴线为所述云台的航向轴。
进一步地，所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
进一步地，所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
进一步地，所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
进一步地，两个所述支撑臂对称地设置在所述转接部的相对两侧。
进一步地，所述支撑件的转动轴线垂直于所述转动件的转动轴线。
进一步地，所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
进一步地，所述云台还包括设置于所述支撑件上的第三驱动器，所述第三驱动器的转子能够相对所述支撑件转动。
进一步地，所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
进一步地，所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
进一步地，所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
进一步地，所云台还包括收容件，所述收容件设置于所述连接件的一端，并能够相对所述装配件转动，所述装配件与所述收容件相配合以共同收容所述第一驱动器。
进一步地，所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
进一步地，所述云台的连接件上连接有电子装置，所述传输件与所述电子装置电性连接。
进一步地，所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
进一步地，所述传输件的一端与所述云台的控制器相连接，所述传输件的另一端与所述电子装置连接，所述传输件用于将所述控制器的控制指令传输至所述电子装置。
进一步地，所述电子装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置；所述传输件还用于将所述电子装置获取的图像数据传送至一图像传输装置。
一种拍摄设备，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动。所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件为数据线，其用于传输电力或传输数据。
进一步地，所述传输件为柔性电路板，其用于传输电力或传输数据。
进一步地，所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
进一步地，所述第一传输部与所述定子外周相平行设置。
进一步地，所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
进一步地，所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
进一步地，所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
进一步地，所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
进一步地，所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
进一步地，所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
进一步地，所述第一限位部与所述第二限位部之间呈一预定夹角设置。
进一步地，所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
进一步地，所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
进一步地，所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
进一步地，所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
进一步地，所述导引部垂直于所述转动件的端面设置。
进一步地，所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
进一步地，所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
进一步地，所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
进一步地，所述连接件驱动器为旋转电机、旋转气缸或舵机。
进一步地，所述转动件的转动轴线为所述云台的航向轴。
进一步地，所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
进一步地，所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
进一步地，所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
进一步地，两个所述支撑臂对称地设置在所述转接部的相对两侧。
进一步地，所述支撑件的转动轴线垂直于所述转动件的转动轴线。
进一步地，所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
进一步地，所述云台还包括设置于所述支撑件上的第三驱动器，所述图像获取装置设置在所述第三驱动器上，所述第三驱动器能够驱动所述图像获取装置相对所述支撑件转动。
进一步地，所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
进一步地，所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
进一步地，所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
进一步地，所云台还包括收容件，所述收容件设置于所述连接件的一端，并与所述装配件相扣合且能够相对所述装配件转动，所述装配件与所述收容件共同收容所述第一驱动器。
进一步地，所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
进一步地，所述电子装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
进一步地，所述拍摄设备还包括图像传输装置，所述传输件连接于所述图像传输装置与所述电子装置之间，所述传输件用于将所述电子装置获取的图像数据传送至所述图像传输装置。
进一步地，所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
一种无人飞行器，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动。所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件为数据线，其用于传输电力或传输数据。
进一步地，所述传输件为柔性电路板，其用于传输电力或传输数据。
进一步地，所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
进一步地，所述第一传输部与所述定子外周相平行设置。
进一步地，所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
进一步地，所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
进一步地，所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
进一步地，所述无人飞行器还包括连接在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
进一步地，所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
进一步地，所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
进一步地，所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
进一步地，所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
进一步地，所述第一限位部与所述第二限位部之间呈一预定夹角设置。
进一步地，所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
进一步地，所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
进一步地，所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
进一步地，所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
进一步地，所述导引部垂直于所述转动件的端面设置。
进一步地，所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
进一步地，所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
进一步地，所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
进一步地，所述连接件驱动器为旋转电机、旋转气缸或舵机。
进一步地，所述转动件的转动轴线为所述云台的航向轴。
进一步地，所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
进一步地，所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
进一步地，所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
进一步地，两个所述支撑臂对称地设置在所述转接部的相对两侧。
进一步地，所述支撑件的转动轴线垂直于所述转动件的转动轴线。
进一步地，所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
进一步地，所述云台还包括设置于所述支撑件上的第三驱动器，所述图像获取装置设置在所述第三驱动器上，所述第三驱动器能够驱动所述图像获取装置相对所述支撑件转动。
进一步地，所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
进一步地，所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
进一步地，所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
进一步地，所云台还包括收容件，所述收容件设置于所述连接件的一端，并与所述装配件相扣合且能够相对所述装配件转动，所述装配件与所述收容件共同收容所述第一驱动器。
进一步地，所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
进一步地，所述图像获取装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
进一步地，所述无人飞行器还包括连接于所述云台上的图像传输装置，所述传输件连接于所述图像传输装置及所述图像获取装置之间，所述传输件用于将所述电子装置获取的图像数据传送至所述图像传输装置。
进一步地，所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
进一步地，所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
进一步地，所述无人飞行器还包括连接在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
一种驱动装置，包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动。所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件为数据线，其用于传输电力或传输数据。
进一步地，所述传输件为柔性电路板，其用于传输电力或传输数据。
进一步地，所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
进一步地，所述第一传输部与所述定子外周相平行设置。
进一步地，所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
进一步地，所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
一种可移动设备，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动。所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件为数据线，其用于传输电力或传输数据。
进一步地，所述传输件为柔性电路板，其用于传输电力或传输数据。
进一步地，所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
进一步地，所述第一传输部与所述定子外周相平行设置。
进一步地，所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
进一步地，所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
进一步地，所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
进一步地，所述可移动设备还包括控制器以及与所述控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述可移动设备的姿态以允许该控制器根据该姿态控制所述可移动设备行进。
进一步地，所述可移动设备还包括连接在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
上述的云台，其传输件从所述转动件的侧部沿所述转动件的端面延伸至所述连接件上，并能够连接至所述连接件内的电子元件，使所述传输件具有一定的长度余量，以适应所述连接件在转动时，所述连接件内的电子元件与所述第一驱动器的相对位置或/及相对距离的改变量，合理利用了所述云台的空间，避免了所述传输件缠绕成团的同时，无需额外设置供所述传输件绕设的部位，使所述云台的整体体积相对较小。
 附图说明
图1为本发明实施例提供的拍摄设备的组装立体图。
图2为图1所示的拍摄设备的第一视角的立体分解示意图。
图3为图1所示的拍摄设备的第二视角的立体分解示意图。
图4为图1所示的拍摄设备的第三视角的立体分解示意图。
图5为图1所示的拍摄设备的第四视角的立体分解示意图。
图6为本发明实施例提供的无人飞行器的组装立体图。
主要元件符号说明
拍摄设备 300
云台 100
第一支架组件 10
装配件 12
穿设孔 123
第一驱动器 13
定子 131
转轴 133
转动件 135
收容件 14
装设件 15
固定部 152
支撑部 154
定位部 1541,1561
导引部 156
连接件 16
装设部 161
第一限位部 1611
第二限位部 1613
连接臂 163
连接部 165
加强件 17
第二支架组件 30
第二驱动器 32
支撑件 34
转接部 341
支撑臂 343
安装部 345
第三驱动器 50
传输件 70
第一传输部 72
第二传输部 74
第三传输部 76
图像获取装置 200
无人飞行器 500
机身 510
动力机构 530
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，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
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“或／及”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。
请一并参阅图1-3，本发明的一实施方式提供的拍摄设备300，用于进行拍照、录像等工作。所述拍摄设备300包括云台100及设置于所述云台100上的图像获取装置200。所述拍摄设备300可以应用于一无人飞行器500（请参阅图6）上，以进行航拍工作。所述拍摄设备300也可以应用于一手柄上作为手持式拍摄设备，以允许用户手动操作所述拍摄设备300进行拍照、录像等工作。
在本实施方式中，所述云台100为三轴云台，其包括第一支架组件10及第二支架组件30。所述第二支架组件30可转动地装设于所述第一支架组件10上。
所述第一支架组件10包括装配件12、第一驱动器13及连接件16。在本实施方式中，所述第一驱动器13设置于所述装配件12上，所述连接件16连接于所述第一驱动器13上。所述第一驱动器13用于驱动所述连接件16绕一第一轴线转动。
所述装配件12用于将所述云台100整体装设在一应用平台上，所述应用平台可以为无人飞行器或手柄。在本实施方式中，所述装配件12大致呈具有底壁的圆柱筒状。所述装配件12开设有穿设孔123，所述穿设孔123贯通所述装配件12并与所述装配件12的内腔连通。所述穿设孔123用于供数据线、电力线等电子元件穿设。在本实施方式中，所述穿设孔123还用于收容一连接器，以使所述云台100通过该连接器与所述应用平台电性连接。
所述第一驱动器13用于驱动所述连接件16相对于所述装配件12绕所述第一轴线转动。所述第一驱动器13为电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第一驱动器13为无刷电机，其作为所述云台100的航向驱动件，用以驱动所述连接件16绕所述第一轴线转动，所述第一轴线为所述云台100的航向轴。可以理解，在其他的一些实施例中，所述第一驱动器13可以作为所述云台100的横滚驱动件或俯仰驱动件，用以驱动所述连接件16绕所述第一轴线转动，对应地，所述第一轴线可以为所述云台100的横滚轴或俯仰轴。
进一步地，为了调节所述第一驱动器13的转动速度及转动方向，所述装配件12或/及所述应用平台内还可设置有控制器、电子调速器或其他的电子元件，所述电子元件与所述第一驱动器13电性连接。
请同时参阅图2至图4，在本实施方式中，所述第一驱动器13为内转子电机，其包括定子131、转轴133、转子（图中未示出）以及转动件135。
所述定子131固定设置于所述装配件12上，所述转轴133可转动地穿设于所述定子131，并凸伸出所述定子131背离所述装配件12的所述穿设孔123的一侧。所述转子与所述转轴133相连接，并收容于所述定子131内。所述转动件135设置在所述转轴133远离所述穿设孔123的一端，所述转动件135用于装设所述连接件16。所述转动件135能够相对所述定子131转动，以带动所述连接件16相对所述装配件12转动。
进一步地，请同时参阅图5，为了固定设置在所述装配件12内的数据线、柔性电路板等电子元件，所述第一支架组件10还包括装设件15。所述装设件15设置在所述装配件12内。
所述装设件15包括固定部152、支撑部154以及导引部156。具体在图示的实施例中，所述装设件15大致呈弯折的片状，所述支撑部154连接在所述固定部152与所述导引部156之间。
所述固定部152设置于所述定子131的外周，所述固定部152的一端连接在所述定子131远离所述转动件135的一端，所述固定部152的另一端沿着所述定子131的轴线方向向所述转动件135延伸，直至邻近所述转动件135的侧部，并凸伸出所述转动件135背离所述定子131的一侧。
所述支撑部154设置在所述固定部152邻近所述转动件135的一端，且所述支撑部154大致平行于所述转动件135的端面设置。所述支撑部154自所述转动件135的边缘向所述转动件135的内部延伸。
所述导引部156设置在所述支撑部154远离所述固定部152的一端，且所述导引部156大致垂直于所述支撑部154设置。同时，所述导引部156大致沿着所述转动件135的直径方向延伸，即，所述导引部156与所述转动件135的转动轴线大致共面设置，使所述导引部156的一个侧边大致平行于所述转动件135的转动轴线。
所述连接件16设置于所述转动件135上，并能够在所述第一驱动器13的驱动下相对所述装配件12转动。所述连接件16包括装设部161、连接臂163以及连接部165，所述装设部161及所述连接部165分别设置于所述连接臂163的两端。
请再次参阅图2，所述装设部161与所述转动件135固定连接。在本实施方式中，所述装设部161叠置在所述转动件135背离所述定子131的一侧，并位于所述转动件135与所述支撑部154之间。所述装设部161上开设有一扇形凹槽1610，所述支撑部154可以在所述扇形凹槽1610内转动。所述装设部161能够在所述转动件135的带动下相对所述定子131及所述装设件15转动。
请再次参阅图4，所述装设部161上设置有第一限位部1611及第二限位部1613，所述第一限位部1611及所述第二限位部1613用于限制所述连接件16相对所述定子131的转动角度。在本实施方式中，所述第一限位部1611邻近所述支撑部154设置，所述第二限位部1613邻近所述导引部156设置，且所述第一限位部1611与所述第二限位部1613相接，二者共同形成所述扇形凹槽1610，所述第一限位部1611及所述第二限位部1613即分别为所述扇形凹槽1610的两个侧壁。当所述转动件135带动所述连接件16在所述扇形凹槽1610内沿一第一方向转动至一第一极限角度时，所述第一限位部1611抵持在所述支撑部154的侧边上，从而限定所述连接件16沿所述第一方向相对所述定子131的转动角度。当所述转动件135带动所述连接件16沿一与所述第一方向相反的第二方向转动至极限角度时，所述第二限位部1613抵持在所述导引部156上，从而限定所述连接件16沿所述第二方向相对所述定子131的转动角度。
具体在图示的实施例中，所述第一限位部1611及所述第二限位部1613均大致沿着所述转动件135的半径方向设置，以共同形成所述扇形凹槽1610，且所述第一限位部1611与所述第二限位部1613之间所成的夹角小于或等于180度。优选地，所述第一限位部1611与所述第二限位部1613之间所成的夹角为90度至135度。可以理解的是，所述第一限位部1611与所述第二限位部1613之间所成的夹角可以根据所述连接件16需转动的角度范围来设置。进一步地，在本实施方式中，当所述云台100在非工作的初始状态下，所述第一限位部1611与和其相邻设置的所述支撑部154的侧边之间所成的夹角等于所述第二限位部1613与所述导引部156之间所成的夹角，以使所述连接件16在转动时，沿所述第一方向转动或沿所述第二方向的转动角度对称相等，所需的转动扭矩也对称相等。
所述连接臂163的一端设置于所述装设部161的一侧，另一端朝背离转动件135的方向弯折延伸。
所述连接部165设置于所述连接臂163远离所述装设部161的一端，其用于连接所述第二支架组件30。
进一步地，所述第一支架组件10还包括收容件14，所述收容件14设置于所述连接件16上。所述收容件14与所述装配件12相配合以共同收容所述第一驱动器13及所述装设件15。具体在图示的实施例中，所述收容件14固定设置于所述装设部161上，并可随着所述连接件16相对所述装配件12转动。
进一步地，请同时参阅图5，为了固定设置在所述第一支架组件10上的数据线、柔性电路板等电子元件，所述第一支架组件10还包括加强件17。所述加强件17设置在所述连接件16上，并沿着所述连接件16的延伸方向延伸。
具体在图示的实施例中，所述加强件17设置在所述连接件16的所述装设部161及所述连接臂163上，并大致垂直于所述装设部161及所述连接臂163的外表面。所述加强件17用于支撑所述数据线、柔性电路板等电子元件沿着所述连接件16延伸的部分，以加强所述电子元件的安装结构。
所述加强件17的一端与所述导引部156的一个侧边相对设置，其中，所述导引部156的所述侧边邻近所述转动件135的转动轴线，所述加强件17的一端同时大致沿所述转动件135的直径的延伸线延伸，使得当所述云台100在非工作的初始状态下时，所述加强件17的一端与所述导引部156呈一预定角度设置。且所述加强件17沿着所述转动件135的直径的延伸线延伸后，沿着所述装设部161及所述连接臂163继续延伸设置，使所述第一限位部1611及所述第二限位部1613大致关于所述加强件17的一端对称设置。
请再次参阅图2，所述第二支架组件30可转动地设置于所述连接件16上，其包括第二驱动器32及支撑件34。所述第二驱动器32连接于所述连接部165上，所述支撑件34设置于所述第二驱动器32的驱动端。
所述第二驱动器32用于驱动所述支撑件34相对于所述连接件16绕一第二轴线转动，所述第二轴线大致垂直于所述第一轴线。所述第二驱动器32为电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第二驱动器32为无刷电机，其作为所述云台100的横滚驱动件，用以驱动所述连接件16绕所述第二轴线转动，所述第二轴线为所述云台100的横滚轴。可以理解，在其他的一些实施例中，所述第二驱动器32可以作为所述云台100的航向驱动件或俯仰驱动件，用以驱动所述支撑件34绕所述第二轴线转动，对应地，所述第二轴线可以为所述云台100的航向轴或俯仰轴。
进一步地，为了调节所述第二驱动器32的转动速度及转动方向，所述连接部165内还可设置有控制器、电子调速器或其他的电子元件，所述电子元件与所述第二驱动器32电性连接。或者，所述第二驱动器32可以与所述装配件12或/及所述应用平台内的所述电子元件电性连接，以允许所述装配件12或/及所述应用平台内的所述电子元件调节所述第二驱动器32的转动速度及转动方向。
所述支撑件34连接于所述第二驱动器32上，并可在所述第二驱动器32的驱动下相对所述连接部165转动。所述支撑件34包括转接部341、支撑臂343、以及安装部345。具体在图示的实施例中，所述支撑臂343设置于所述转接部341，所述安装部345设置于所述支撑臂343。在本实施方式中，所述转接部341、所述第一支撑臂343、所述安装部345之间一体成型。可以理解，在其他的实施方式中，所述转接部341、所述第一支撑臂343、所述安装部345之间可以组装于一起。所述转接部341连接于所述第二驱动器32的驱动端，并可在所述第二驱动器32的驱动下相对所述连接部165转动。可以理解的是，在其他实施例中，所述转接部341也可以与所述第二驱动器32的驱动端一体成型。
在本实施方式中，所述支撑件34为双臂支撑件，所述支撑臂343及所述安装部345的数量均为两个。两个所述支撑臂343大致对称地设置在所述转接部341的相对两侧。每个所述支撑臂343大致呈弯曲的臂状，其一端连接于所述转接部341上，另一端朝远离所述连接部165的方向延伸。每个所述安装部345设置于一个所述支撑臂343远离所述转接部341的一端，所述安装部345用于装设所述图像获取装置345。具体而言，两个所述安装部345及两个所述支撑臂343用于共同支撑所述图像获取装置200，使所述云台100整体刚度较大，且两个所述安装部345及两个所述支撑臂343大致对称设置，使得云台100及所述图像获取装置200的重心更易于调节，且所述图像获取装置200相对所述第二支架组件30的转动运动也更易于控制、调整。
可以理解的是，在其他的一些实施方式中，所述支撑件34可以为单臂支撑件，此时，所述支撑臂343及所述安装部345的数量均为一个。
进一步地，请参阅图3，所述云台100还包括第三驱动器50。所述第三驱动器50设置在其中一个所述安装部345上，并用于驱动所述图像获取装置200相对所述云台100转动，以调整所述图像获取装置200的拍摄角度。
具体地，所述第三驱动器50用于驱动所述图像获取装置200相对于所述支撑件34绕一第三轴线转动，所述第三轴线大致垂直于所述第二轴线。所述第三驱动器50为电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第三驱动器50为无刷电机，其作为所述云台100的俯仰驱动件，用以驱动所述图像获取装置200绕所述第三轴线转动，所述第三轴线为所述云台100的俯仰轴。可以理解，在其他的一些实施例中，所述第三驱动器50可以作为所述云台100的航向驱动件或横滚驱动件，用以驱动所述支撑件34绕所述第三轴线转动，对应地，所述第三轴线可以为所述云台100的航向轴或横滚轴。
进一步地，为了调节所述第三驱动器50的转动速度及转动方向，所述连接部165内还可设置有控制器、电子调速器或其他的电子元件，所述电子元件与所述第三驱动器50电性连接。或者，所述第三驱动器50可以与所述装配件12或/及所述应用平台内的所述电子元件电性连接，以允许所述装配件12或/及所述应用平台内的所述电子元件调节所述第三驱动器50的转动速度及转动方向。
所述图像获取装置200连接于所述第三驱动器50的驱动端，所述图像获取装置200用于进行拍照、录像等工作。在本实施方式中，所述图像获取装置200为红外相机，其用于红外成像或热成像。
请再次参阅图4及图5，为了控制所述图像获取装置200进行拍摄工作，所述云台100进一步地包括主控制器（图未示出）、辅助控制器（图未示出）以及传输件70。所述主控制器用于控制所述云台100调整至所需的工作姿态，所述辅助控制器用于控制所述图像获取装置200工作，所述辅助控制器通过所述传输件70与所述主控制器电性连接。
具体地，所述主控制器用于控制所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50转动并协同工作，以驱动所述图像获取装置200调整至拍摄所需的工作姿态。所述主控制器可以为控制芯片或者控制电路板。在本实施方式中，所述主控制器设置于所述拍摄设备300的所述应用平台上。可以理解的是，所述主控制器还可以设置在所述装配件12或/及所述收容件14内，也可以设置在所述支撑件34或所述连接件16内。
所述辅助控制器用于控制所述图像获取装置200执行拍摄工作，并用于存储或/及传输所述图像获取装置200所拍摄的图像或画面。所述辅助控制器可以为控制芯片或者控制电路板。在本实施方式中，所述辅助控制器为控制电路板，其与所述图像获取装置200电性连接。
在本实施方式中，所述传输件70为柔性电路板，其用于将所述辅助控制器中的所述图像获取装置200所拍摄的图像或画面传送至所述主控制器中，或者直接将所述图像获取装置200所拍摄的图像或画面传送至所述主控制器中，以允许所述主控制器通过一图像传输装置将所述图像或画面传送至用户处。可以理解的是，所述传输件70还可以为电力线或数据线等，其也可以用于传输电力或传输控制指令等数据。
进一步地，所述拍摄设备300可以包括图像传输装置。所述图像传输装置与所述云台100相连，并通过所述传输件70与所述图像获取装置200电性连接。所述图像传输装置用于读取并存储所述图像获取装置200所拍摄的图像。此时，所述传输件70用于将所述图像获取装置200所获取的图像数据回传至所述图像传输装置。
请再次参阅图1及图2，在本实施方式中，所述传输件70的一端连接于所述应用平台（图未示出）内的所述主控制器（图未示出）上，另一端穿过所述装配件12及所述收容件14后沿着所述连接件16延伸，分为两部分并分别延伸入所述连接件16内及所述支撑件34内，以分别与所述连接件16内及所述支撑件34内的电子元件电性连接。
请同时参阅图4及图5，具体在图示的实施例中，所述传输件70从所述云台100的所述应用平台中延伸出来后，穿过所述穿设孔123进入所述装配件12内部，并叠置在所述装设件15上，依次沿着所述装设件15的所述固定部152、所述支撑部154及所述导引部156延伸后，穿出所述收容件14，再延伸并叠置在所述加强件17上后，沿着所述加强件17继续延伸并与所述连接件16内及所述支撑件34内的电子元件电性连接。
由于所述云台100处于非工作状态时，所述加强件17的一端与所述导引部156之间成一预定角度设置，在所述导引部156及所述加强件17的导引作用下，所述传输件70在邻近所述转动件135的转动轴线处弯折一预定角度。记所述传输件70包括依次连接的第一传输部72、第二传输部74以及第三传输部76，所述第一传输部72设置在所述固定部152上，所述第二传输部74设置在所述导引部156上，所述第三传输部76设置在所述加强件17上（请参阅图2）。则：所述传输件70在所述装设件15导引下，自所述转动件135的侧部沿所述转动件135的端面延伸至所述加强件17上，以与所述连接件16连接。所述云台100处于非工作状态时，所述第三传输部76相对所述第二传输部74弯折所述预定角度，即，所述第三传输部76及所述第二传输部74呈一预定夹角设置，使所述传输件70产生预弯折的形变。所述第一限位部1611及所述第二限位部1613关于所述第三传输部76大致对称设置。
当所述连接件16相对所述装配件12转动时，所述主控制器与所述连接件16内的电子元件之间的相对位置或/及相对距离会发生改变，为了保证所述主控制器与所述电子元件之间能够保持可靠的电性连接，需要使所述传输件70具有一定的长度余量，以适应所述主控制器与所述元件之间的相对位置或/及相对距离的改变量。
在本实施方式中，所述传输件70呈预弯折状态设置在所述装配件12内，并从所述转动件135的侧部沿所述转动件135的端面继续延伸至所述加强件17上，所述第三传输部76可相对所述第二传输部74弯折或转动，使所述连接件16相对于所述装配件12由一初始状态沿所述第一方向或所述第二方向转动至最大极限角度的过程中，所述连接件16的转动的灵活性以及自由度不会被所述传输件70的长度限制，所述传输件70不会由于所述连接件16的转动绷紧而断裂，也不会在所述装配件12内堆积成团或发生缠绕。上述的传输件70的设置结构，无需将所述传输件70绕设在所述云台100的其他部件上，也无需在所述装配件12或/及所述收容件14内设置额外的用于绕设整理所述传输件70的部位，使所述传输件70的长度相对较短，也减小了所述云台100的整体体积。
在本实施方式中，所述第一驱动器13驱动所述连接件16相对所述装配件12转动的最大转动角度不超过一周，优选地，所述第一驱动器13驱动所述连接件16相对所述装配件12转动的最大转动角度不超过180度。优选地，第一驱动器13驱动所述连接件16相对所述装配件12转动的最大转动角度为90度至135度。
进一步地，为了将所述传输件70定位并固定于所述装设件15上，所述装设件15上设置有定位部，所述传输件70上对应所述定位部设置有卡合部，所述定位部与所述卡合部相卡持配合。具体在图示的实施例中，所述装设件15的所述支撑部154的边缘设置有定位部1541、所述导引部156的边缘设置有定位部1561，所述定位部1541及定位部1561为定位凸起，所述传输件70上对应所述定位部1541及定位部1561分别设置有定位凹槽，所述定位凸起卡合至对应的所述定位凹槽中，以将所述传输件70定位并固定于所述装设件15上。
在本实施方式中，当所述云台100在非工作的初始状态下，所述第一限位部1611和与其相邻设置的所述支撑部154的侧边之间所成的夹角等于所述第二限位部1613与所述导引部156之间所成的夹角，所述第一限位部1611及所述第二限位部1613关于所述第三传输部76对称设置，使得当所述连接件16带动所述第三传输部76相对所述第二传输部74转动时，所述第三传输部76在所述初始状态下沿所述第一方向转动的极限角度等于所述第三传输部76在所述初始状态下沿所述第二方向转动的极限角度，这就使得当所述云台100在工作时，所述传输件70的弯折及转动呈大致对称状态，避免了所述传输件70不对称弯折或者沿着某一个方向的弯折度过大造成的疲劳损害，有利于延长所述传输件70的使用寿命。
由于所述传输件70从所述转动件135的侧部沿所述转动件135的端面延伸至所述加强件17上，以与所述连接件16相连接，使所述传输件70的长度相对较短，其弯折时产生的弹性形变量相对较小，则所述第三传输部76相对所述第二传输部74复位时，其带动所述连接件16的回弹力相对较小。
综上所述，本发明的云台，其传输件从所述转动件135的侧部沿所述转动件135的端面延伸至所述加强件17上，并连接至所述连接件16内的电子元件，且所述第三传输部76可相对所述第二传输部74转动，使所述传输件70具有一定的长度余量，以适应所述连接件16在相对所述装配件12转动时，所述连接件16内的电子元件与所述装配件12之间的相对位置或/及相对距离的改变量，合理利用了所述收容部的内部空间，避免了所述传输件缠绕成团的同时，减小了所述云台100的整体体积，且减小了所述传输件的总体长度，使所述传输件70的电阻减小，从而降低了所述云台100整体的功耗，延长了所述云台100的续航时间。另外，所述云台100在工作时，所述传输件70的弯折及转动呈大致对称状态，避免了所述传输件70不对称弯折或者沿着某一个方向的弯折度过大造成的疲劳损害，有利于延长所述传输件70的使用寿命。并且，所述传输件70在弯折时产生的弹性形变量相对较小，使所述第三传输部76带动所述连接件16复位时，其回弹力相对较小。
可以理解的是，所述传输件70的结构不局限于上文所描述的弯折结构，其还可以设置为其他的结构，以连接所述应用平台上的所述电子元件及所述连接件16。例如，所述传输件70的所述第二传输部74与所述第三传输部76之间的夹角可以为180度，即，所述第二传输部74与所述第三传输部76沿着所述转动件135的同一条直径设置，而使所述传输件70自所述定子131上延伸至所述转动件135的侧部，并由所述转动件135的侧部沿所述转动件135的端面继续延伸至所述加强件17上即可。此时，所述装设件15的结构作出与所述传输件70相适应的变通，本说明书不作一一赘述。
甚至，当所述传输件70的所述第二传输部74与所述第三传输部76之间的夹角为180度时，所述第二传输部74与所述第三传输部76不必沿着所述转动件135的直径设置，而使所述第二传输部74与所述第三传输部76沿所述转动件135的端面延伸，且所述第二传输部74与所述第三传输部76大致垂直于所述转动件135的端面，使得所述传输件70的一端固定于所述定子131上，另一端沿所述转动件135的端面延伸至所述连接件16上即可。
可以理解的是，所述装设件15可以固定在所述装配件12上。
可以理解的是，所述装设件15的结构不局限于上文所描述的结构，其还可以为其他的固定结构，并用于固定所述传输件70。例如，所述装设件15为设置在所述定子131上的夹持结构，所述传输件70卡持于所述夹持结构上。
可以理解的是，所述装设件15可以省略，而通过其他方式将所述传输件70设置在所述第一支架组件10上。例如，通过粘结或者焊接的方式将所述传输件70的一端固定设置在所述定子131上，或者，通过铆针将所述传输件70的一端钉紧在所述定子131上。
可以理解的是，所述加强件17也可以省略，而直接将所述传输件70部分地连接于所述连接件16。
请参阅图6，本发明还提供一种无人飞行器500，所述无人飞行器500包括机身510以及设置于所述机身510上的动力机构530和上述的云台100，所述云台100通过所述装配件12装设于所述机身510上。所述无人飞行器500用于搭载所述图像获取装置200进行航拍作业。
在本发明实施方式中，所述无人飞行器500为旋翼式的无人飞行器，所述动力机构530包括电机以及螺旋桨，所述电机驱动所述螺旋桨转动，以为所述无人飞行器500提供行进的动力。
所述无人飞行器500还包括控制主板、惯性测量模组（IMU，Inertial measurement unit）、电子调速器以及图像传输装置。
所述控制主板可以为飞行控制器，其用于控制所述无人飞行器500整体的飞行作业，包括飞行速度、飞行姿态等，还用于控制所述云台100运动，以调整所述图像获取装置200的拍摄角度。所述飞行控制器设置于所述机身510上，并通过所述传输件70连接至所述云台100上。
所述惯性测量模组设置于所述云台100上，并通过所述传输件70与所述控制主板电性连接。所述惯性测量模组包括多个惯性测量单元，多个所述惯性测量单元分别连接于所述云台100的所述第一驱动器13、第二驱动器32及所述第三驱动器50上，并分别用于检测所述第一驱动器13、第二驱动器32及所述第三驱动器50的转动速度及转动方向，以检测所述云台100的姿态。此时，所述传输件70用于将所述控制主板的控制指令传输至所述惯性测量模组，并将所述惯性测量模组所检测的数据回传至所述控制主板。
所述电子调速器设置在所述机身上，并与所述控制主板电性连接。所述电子调速器在所述控制主板的控制下，能够调节所述电机的转动速度及转动方向，并能够调节所述云台100的转动速度及转动方向。具体而言，所述电子调速器可以为多个，多个所述电子调速器中的一个或多个通过所述传输件70连接至所述云台100上，且该一个或多个所述电子调速器分与所述动力机构530的电机相连接，并用于调节所述电机的转动速度及转动方向，以调节所述无人飞行器500的飞行速度、飞行姿态。多个所述电子调速器中的其他的一个或多个电子调速器别与所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50相连接，并用于调节所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50的转动速度和转动方向。此时，所述传输件70用于将所述控制主板的控制指令传输至所述云台100上，具体而言，所述传输件70将所述控制主板及所述电子调速器的控制指令传输至所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50的转动速度和转动方向。
在其他的实施方式中，用于调节所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50的电子调速器可以分别直接地设置在所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50上，而上述的电子调速器均通过所述传输件70与所述控制主板连接，所述传输件70将所述控制主板的控制指令传输至所述电子调速器，以控制所述第一驱动器13、所述第二驱动器32以及所述第三驱动器50的转动速度和转动方向。
所述图像传输装置设置于所述机身上，并通过所述传输件70与所述图像获取装置200电性连接。所述图像传输装置用于在所述控制主板的控制下读取并存储所述图像获取装置200所拍摄的图像，还用于将该图像传输至所述无人飞行器500的地面端，以使该无人飞行器500的用户能够实施获取所述图像获取装置200所拍摄的图像。此时，所述传输件70用于将所述控制主板的控制指令传输至所述图像获取装置200上，并将所述图像获取装置200所获取的图像数据回传至所述图像传输装置。
进一步地，所述无人飞行器500还包括供电装置，所述供电装置设置于所述机身510内，并用于为所述云台100及所述图像获取装置200提供电力。所述传输件70的一端连接于所述供电装置上，另一端分别连接于所述云台100及所述图像获取装置200上，以将所述供电装置的电力传输至所述云台100及所述图像获取装置200。在其他的实施例中，所述供电装置同时可以为所述动力机构530提供能量来源；或者，所述供电装置可以为所述云台100的专用供电装置，且通过所述传输件70为所述云台100提供能量来源，或者，所述云台100的专用供电装置还可以通过所述传输件70将电力传送至所述图像获取装置200。
可以理解，所述主控制器可以为一个单独的控制芯片、控制电路板等电子元件，甚至还可以为一个图像传输装置。所述主控制器可以设置在所述装配件12或/及所述收容件14内，也可以设置在所述拍摄设备300的应用平台上，该应用平台可以为前述的无人无人飞行器或手柄等。
可以理解，所述辅助控制器可以省略，而直接使所述主控制器通过所述传输件70与所述图像获取装置200电性连接，以允许所述主控制器控制所述图像获取装置200执行拍摄工作，并允许所述主控制器存储或/及传输所述图像获取装置200所拍摄的图像或画面。
可以理解，上述的图像获取装置为电子装置，其可以为摄像头、摄影机、照相机或者便携式通讯装置等。
可以理解，上述的传输件的绕设结构，并不局限于应用在上文所描述的云台的可转动结构上，其还可以应用在其他的能够相对转动的驱动装置上。例如，上述的传输件的绕设结构可以应用在机械臂的驱动装置上，所述驱动装置用于驱动所述机械臂运转。
具体而言，所述驱动装置可以包括装配件、连接件以及第一驱动器，所述第一驱动器设置在所述装配件上，所述连接件连接在所述第一驱动器上，所述第一驱动器能够驱动所述连接件相对所述装配件转动；所述第一驱动器包括定子及设置于所述定子上的转动件，所述装配件及所述连接件上分别设置有第一电子元件及第二电子元件，所述第一电子元件通过一传输件与所述第二电子元件电性连接。所述传输件的一端连接在所述第一电子元件上，并固定在所述定子上且沿着所述定子的外周延伸至邻近所述转动件，所述传输件的另一端自所述转动件的侧部沿着所述转动件的端面延伸至所述连接件上并与所述第二电子元件电性连接，以使所述连接件相对于所述装配件由一初始状态沿一第一方向转动至最大极限角度的过程中，或沿与所述第一方向相反的方向转动至最大极限角度的过程中，所述连接件的转动的灵活性以及自由度不会被所述传输件的长度限制，所述传输件不会由于所述连接件的转动绷紧而断裂，也不会在所述收容部内堆积成团或发生缠绕。所述传输件可以为电线、数据线、光纤或柔性电路板等；所述连接件驱动器可以为旋转电机、旋转气缸或者舵机等。
在本发明实施方式中，所述无人飞行器为旋翼无人飞行器，其用于搭载照相机、摄像机等拍摄装置进行航拍作业。可以理解，所述无人飞行器还可以用于地图测绘、灾情调查和救援、空中监控、输电线路巡检等工作。同样可以理解的是，所述无人飞行器还可以为固定翼无人飞行器。
可以理解，所述云台不局限于在所述无人飞行器中应用，其还可以应用于其他的可移动设备或遥控移动装置如无人驾驶车辆、无人驾驶船舶中，本说明书不作一一赘述。
可以理解，所述云台的应用平台不局限于上述的无人飞行器，其还可装设在一手柄上，以使得所述拍摄设备作为一手持式拍摄设备使用。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (147)

  1. 一种云台，包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动，其特征在于：所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
  2. 如权利要求1所述的云台，其特征在于：所述传输件为数据线，其用于传输电力或传输数据。
  3. 如权利要求1所述的云台，其特征在于：所述传输件为柔性电路板，其用于传输电力或传输数据。
  4. 如权利要求1所述的云台，其特征在于：所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
  5. 如权利要求4所述的云台，其特征在于：所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
  6. 如权利要求5所述的云台，其特征在于：所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
  7. 如权利要求6所述的云台，其特征在于：所述第一传输部与所述定子外周相平行设置。
  8. 如权利要求5所述的云台，其特征在于：所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
  9. 如权利要求8所述的云台，其特征在于：所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
  10. 如权利要求9所述的云台，其特征在于：所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
  11. 如权利要求4所述的云台，其特征在于：所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
  12. 如权利要求11所述的云台，其特征在于：所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
  13. 如权利要求12所述的云台，其特征在于：所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
  14. 如权利要求13所述的云台，其特征在于：所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
  15. 如权利要求13所述的云台，其特征在于：所述第一限位部与所述第二限位部之间呈一预定夹角设置。
  16. 如权利要求15所述的云台，其特征在于：所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
    或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
  17. 如权利要求11所述的云台，其特征在于：所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
  18. 如权利要求11所述的云台，其特征在于：所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
  19. 如权利要求18所述的云台，其特征在于：所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
  20. 如权利要求18所述的云台，其特征在于：所述导引部垂直于所述转动件的端面设置。
  21. 如权利要求18所述的云台，其特征在于：所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
  22. 如权利要求21所述的云台，其特征在于：所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
  23. 如权利要求18所述的云台，其特征在于：所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
  24. 如权利要求4所述的云台，其特征在于：所述连接件驱动器为旋转电机、旋转气缸或舵机。
  25. 如权利要求1所述的云台，其特征在于：所述转动件的转动轴线为所述云台的航向轴。
  26. 如权利要求1所述的云台，其特征在于：所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
  27. 如权利要求26所述的云台，其特征在于：所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
  28. 如权利要求27所述的云台，其特征在于：所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
  29. 如权利要求28所述的云台，其特征在于：两个所述支撑臂对称地设置在所述转接部的相对两侧。
  30. 如权利要求26所述的云台，其特征在于：所述支撑件的转动轴线垂直于所述转动件的转动轴线。
  31. 如权利要求26所述的云台，其特征在于：所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
  32. 如权利要求26所述的云台，其特征在于：所述云台还包括设置于所述支撑件上的第三驱动器，所述第三驱动器的转子能够相对所述支撑件转动。
  33. 如权利要求32所述的云台，其特征在于：所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
  34. 如权利要求32所述的云台，其特征在于：所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
  35. 如权利要求1所述的云台，其特征在于：所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
  36. 如权利要求35所述的云台，其特征在于：所云台还包括收容件，所述收容件设置于所述连接件的一端，并能够相对所述装配件转动，所述装配件与所述收容件相配合以共同收容所述第一驱动器。
  37. 如权利要求35所述的云台，其特征在于：所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
  38. 如权利要求1所述的云台，其特征在于：所述云台的连接件上连接有电子装置，所述传输件与所述电子装置电性连接。
  39. 如权利要求38所述的云台，其特征在于：所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
  40. 如权利要求38所述的云台，其特征在于：所述传输件的一端与所述云台的控制器相连接，所述传输件的另一端与所述电子装置连接，所述传输件用于将所述控制器的控制指令传输至所述电子装置。
  41. 如权利要求40所述的云台，其特征在于：所述电子装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置；所述传输件还用于将所述电子装置获取的图像数据传送至一图像传输装置。
  42. 一种拍摄设备，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动，其特征在于：所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
  43. 如权利要求42所述的拍摄设备，其特征在于：所述传输件为数据线，其用于传输电力或传输数据。
  44. 如权利要求42所述的拍摄设备，其特征在于：所述传输件为柔性电路板，其用于传输电力或传输数据。
  45. 如权利要求42所述的拍摄设备，其特征在于：所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
  46. 如权利要求45所述的拍摄设备，其特征在于：所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
  47. 如权利要求46所述的拍摄设备，其特征在于：所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
  48. 如权利要求47所述的拍摄设备，其特征在于：所述第一传输部与所述定子外周相平行设置。
  49. 如权利要求46所述的拍摄设备，其特征在于：所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
  50. 如权利要求49所述的拍摄设备，其特征在于：所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
  51. 如权利要求50所述的拍摄设备，其特征在于：所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
  52. 如权利要求45所述的拍摄设备，其特征在于：所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
  53. 如权利要求52所述的拍摄设备，其特征在于：所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
  54. 如权利要求53所述的拍摄设备，其特征在于：所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
  55. 如权利要求54所述的拍摄设备，其特征在于：所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
  56. 如权利要求54所述的拍摄设备，其特征在于：所述第一限位部与所述第二限位部之间呈一预定夹角设置。
  57. 如权利要求56所述的拍摄设备，其特征在于：所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
    或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
  58. 如权利要求52所述的拍摄设备，其特征在于：所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
  59. 如权利要求52所述的拍摄设备，其特征在于：所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
  60. 如权利要求59所述的拍摄设备，其特征在于：所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
  61. 如权利要求59所述的拍摄设备，其特征在于：所述导引部垂直于所述转动件的端面设置。
  62. 如权利要求59所述的拍摄设备，其特征在于：所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
  63. 如权利要求62所述的拍摄设备，其特征在于：所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
  64. 如权利要求59所述的拍摄设备，其特征在于：所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
  65. 如权利要求45所述的拍摄设备，其特征在于：所述连接件驱动器为旋转电机、旋转气缸或舵机。
  66. 如权利要求42所述的拍摄设备，其特征在于：所述转动件的转动轴线为所述云台的航向轴。
  67. 如权利要求42所述的拍摄设备，其特征在于：所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
  68. 如权利要求67所述的拍摄设备，其特征在于：所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
  69. 如权利要求68所述的拍摄设备，其特征在于：所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
  70. 如权利要求69所述的拍摄设备，其特征在于：两个所述支撑臂对称地设置在所述转接部的相对两侧。
  71. 如权利要求67所述的拍摄设备，其特征在于：所述支撑件的转动轴线垂直于所述转动件的转动轴线。
  72. 如权利要求67所述的拍摄设备，其特征在于：所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
  73. 如权利要求67所述的拍摄设备，其特征在于：所述云台还包括设置于所述支撑件上的第三驱动器，所述图像获取装置设置在所述第三驱动器上，所述第三驱动器能够驱动所述图像获取装置相对所述支撑件转动。
  74. 如权利要求73所述的拍摄设备，其特征在于：所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
  75. 如权利要求73所述的拍摄设备，其特征在于：所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
  76. 如权利要求42所述的拍摄设备，其特征在于：所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
  77. 如权利要求76所述的拍摄设备，其特征在于：所云台还包括收容件，所述收容件设置于所述连接件的一端，并与所述装配件相扣合且能够相对所述装配件转动，所述装配件与所述收容件共同收容所述第一驱动器。
  78. 如权利要求76所述的拍摄设备，其特征在于：所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
  79. 如权利要求42所述的拍摄设备，其特征在于：所述电子装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
  80. 如权利要求79所述的拍摄设备，其特征在于：所述拍摄设备还包括图像传输装置，所述传输件连接于所述图像传输装置与所述电子装置之间，所述传输件用于将所述电子装置获取的图像数据传送至所述图像传输装置。
  81. 如权利要求79所述的拍摄设备，其特征在于：所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
  82. 一种无人飞行器，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动，其特征在于：所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
  83. 如权利要求82所述的无人飞行器，其特征在于：所述传输件为数据线，其用于传输电力或传输数据。
  84. 如权利要求82所述的无人飞行器，其特征在于：所述传输件为柔性电路板，其用于传输电力或传输数据。
  85. 如权利要求82所述的无人飞行器，其特征在于：所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
  86. 如权利要求85所述的无人飞行器，其特征在于：所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
  87. 如权利要求86所述的无人飞行器，其特征在于：所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
  88. 如权利要求87所述的无人飞行器，其特征在于：所述第一传输部与所述定子外周相平行设置。
  89. 如权利要求86所述的无人飞行器，其特征在于：所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
  90. 如权利要求89所述的无人飞行器，其特征在于：所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
  91. 如权利要求90所述的无人飞行器，其特征在于：所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
  92. 如权利要求91所述的无人飞行器，其特征在于：所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
  93. 如权利要求91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在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
  94. 如权利要求85所述的无人飞行器，其特征在于：所述云台还包括设置在所述定子上的装设件，所述传输件的一端固定设置在所述装设件上。
  95. 如权利要求94所述的无人飞行器，其特征在于：所述连接件上设置有第一限位部，所述第一限位部与所述装设件相配合以限定所述连接件沿一第一方向相对所述定子的转动角度。
  96. 如权利要求95所述的无人飞行器，其特征在于：所述连接件上还设置有第二限位部，所述第二限位部与所述装设件相配合以限定所述连接件沿一第二方向相对所述定子的转动角度，所述第二方向与所述第一方向相反。
  97. 如权利要求96所述的无人飞行器，其特征在于：所述传输件的另一端与所述连接件固定连接，所述第一限位部及所述第二限位部关于所述传输件的另一端对称设置。
  98. 如权利要求96所述的无人飞行器，其特征在于：所述第一限位部与所述第二限位部之间呈一预定夹角设置。
  99. 如权利要求98所述的无人飞行器，其特征在于：所述第一限位部与所述第二限位部之间的所述预定夹角小于或等于180度；
    或者，所述第一限位部与所述第二限位部之间的所述预定夹角为90度~135度。
  100. 如权利要求94所述的无人飞行器，其特征在于：所述装设件上设置有定位部，所述传输件上设置有与所述定位部相配合的卡合部，所述定位部与所述卡合部相卡持配合以将所述传输件定位于所述装设件上。
  101. 如权利要求94所述的无人飞行器，其特征在于：所述装设件包括固定部及导引部，所述固定部固定设置于所述定子上，所述导引部连接于所述固定部上，并邻近所述转动件的端面设置，所述传输件沿着所述固定部及所述导引部延伸至所述连接件上。
  102. 如权利要求101所述的无人飞行器，其特征在于：所述固定部沿所述定子外周延伸至邻近所述转动件边缘。
  103. 如权利要求101所述的无人飞行器，其特征在于：所述导引部垂直于所述转动件的端面设置。
  104. 如权利要求101所述的无人飞行器，其特征在于：所述云台还包括加强件，所述加强件设置在所述连接件上并与所述导引部相对应，所述传输件的另一端固定于所述加强件上。
  105. 如权利要求104所述的无人飞行器，其特征在于：所述加强件垂直于所述转动件的端面设置，所述导引部与所述加强件之间呈一预定夹角设置。
  106. 如权利要求101所述的无人飞行器，其特征在于：所述装设件还包括支撑部，所述支撑部设置在所述固定部与所述导引部之间，且平行于所述转动件的端面。
  107. 如权利要求85所述的无人飞行器，其特征在于：所述连接件驱动器为旋转电机、旋转气缸或舵机。
  108. 如权利要求82所述的无人飞行器，其特征在于：所述转动件的转动轴线为所述云台的航向轴。
  109. 如权利要求82所述的无人飞行器，其特征在于：所述云台还包括支撑件及第二驱动器，所述第二驱动器设置于所述连接件上，所述支撑件连接于所述第二驱动器上，以允许所述第二驱动器驱动所述支撑件相对所述连接件转动。
  110. 如权利要求109所述的无人飞行器，其特征在于：所述支撑件包括转接部以及设置于所述转接部上的支撑臂，所述转接部连接于所述第二驱动器上。
  111. 如权利要求110所述的无人飞行器，其特征在于：所述支撑臂的数量为两个，两个所述支撑臂分别设置于所述转接部的两侧。
  112. 如权利要求111所述的无人飞行器，其特征在于：两个所述支撑臂对称地设置在所述转接部的相对两侧。
  113. 如权利要求109所述的无人飞行器，其特征在于：所述支撑件的转动轴线垂直于所述转动件的转动轴线。
  114. 如权利要求109所述的无人飞行器，其特征在于：所述连接件包括连接于所述第一驱动器上的连接臂以及设置于所述连接臂上的连接部，所述第二驱动器设置于所述连接部内。
  115. 如权利要求109所述的无人飞行器，其特征在于：所述云台还包括设置于所述支撑件上的第三驱动器，所述图像获取装置设置在所述第三驱动器上，所述第三驱动器能够驱动所述图像获取装置相对所述支撑件转动。
  116. 如权利要求115所述的无人飞行器，其特征在于：所述第三驱动器的转子的转动轴线垂直于所述支撑件的转动轴线。
  117. 如权利要求115所述的无人飞行器，其特征在于：所述云台为三轴云台，所述第三驱动器的转子的转动轴线、所述支撑件的转动轴线及所述转动件的转动轴线分别对应于三轴云台的俯仰轴、横滚轴以及航向轴。
  118. 如权利要求82所述的无人飞行器，其特征在于：所述云台还包括装配件，所述第一驱动器设置在所述装配件内。
  119. 如权利要求118所述的无人飞行器，其特征在于：所云台还包括收容件，所述收容件设置于所述连接件的一端，并与所述装配件相扣合且能够相对所述装配件转动，所述装配件与所述收容件共同收容所述第一驱动器。
  120. 如权利要求118所述的无人飞行器，其特征在于：所述装配件上设置有穿设孔，以供所述传输件穿设，所述装配件的内腔通过所述穿设孔与外界相连通。
  121. 如权利要求82所述的无人飞行器，其特征在于：所述图像获取装置为以下几种中的一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
  122. 如权利要求121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于所述云台上的图像传输装置，所述传输件连接于所述图像传输装置及所述图像获取装置之间，所述传输件用于将所述电子装置获取的图像数据传送至所述图像传输装置。
  123. 如权利要求121所述的无人飞行器，其特征在于：所述传输件连接在所述电子装置以及所述云台的供电装置之间，所述传输件用于将所述供电装置的电力传输至所述电子装置上。
  124. 如权利要求82所述的无人飞行器，其特征在于：所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
  125. 如权利要求124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在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
  126. 一种驱动装置，包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动，其特征在于：所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
  127. 如权利要求126所述的驱动装置，其特征在于：所述传输件为数据线，其用于传输电力或传输数据。
  128. 如权利要求126所述的驱动装置，其特征在于：所述传输件为柔性电路板，其用于传输电力或传输数据。
  129. 如权利要求126所述的驱动装置，其特征在于：所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
  130. 如权利要求129所述的驱动装置，其特征在于：所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
  131. 如权利要求130所述的驱动装置，其特征在于：所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
  132. 如权利要求131所述的驱动装置，其特征在于：所述第一传输部与所述定子外周相平行设置。
  133. 如权利要求130所述的驱动装置，其特征在于：所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
  134. 如权利要求133所述的驱动装置，其特征在于：所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
  135. 如权利要求134所述的驱动装置，其特征在于：所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
  136. 一种可移动设备，包括云台及搭载于所述云台上的图像获取装置，所述云台包括连接件以及第一驱动器，所述第一驱动器包括与所述连接件固定相连的转动件，所述转动件能够带动所述连接件绕一轴线转动，其特征在于：所述云台还包括传输件，所述传输件自所述转动件的侧部沿所述转动件的端面延伸至所述连接件上。
  137. 如权利要求136所述的可移动设备，其特征在于：所述传输件为数据线，其用于传输电力或传输数据。
  138. 如权利要求136所述的可移动设备，其特征在于：所述传输件为柔性电路板，其用于传输电力或传输数据。
  139. 如权利要求136所述的可移动设备，其特征在于：所述第一驱动器还包括定子，所述转动件能够转动地连接于所述定子上，所述传输件的一端固定于所述定子上，另一端沿所述转动件的端面延伸至所述连接件上。
  140. 如权利要求139所述的可移动设备，其特征在于：所述传输件包括相连接的第一传输部及第二传输部，所述第一传输部固定于所述定子上，所述第二传输部连接于所述第一传输部上并沿所述转动件的端面延伸至所述连接件上。
  141. 如权利要求140所述的可移动设备，其特征在于：所述转动件设置于所述定子一端，所述第一传输部的一端固定于所述定子上，沿所述定子外周延伸至邻近所述转动件。
  142. 如权利要求141所述的可移动设备，其特征在于：所述第一传输部与所述定子外周相平行设置。
  143. 如权利要求140所述的可移动设备，其特征在于：所述第二传输部垂直所述转动件的端面设置，并沿所述转动件的端面延伸至所述连接件上。
  144. 如权利要求143所述的可移动设备，其特征在于：所述传输件还包括第三传输部，所述第三传输部连接于所述第二传输部远离所述第一传输部的一端，所述第二传输部通过所述第三传输部连接至所述连接件上。
  145. 如权利要求144所述的可移动设备，其特征在于：所述第二传输部及所述第三传输部之间呈预定夹角，使所述传输件产生预弯折的形变。
  146. 如权利要求145所述的可移动设备，其特征在于：所述可移动设备还包括控制器以及与所述控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述可移动设备的姿态以允许该控制器根据该姿态控制所述可移动设备行进。
  147. 如权利要求146所述的可移动设备，其特征在于：所述可移动设备还包括连接在所述第一驱动器上的电子调速器，所述电子调速器用于控制所述第一驱动器的转动速度及转动方向。
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