WO2017129137A1 - 无人飞行器云台及其承载支架 - Google Patents

无人飞行器云台及其承载支架 Download PDF

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Publication number
WO2017129137A1
WO2017129137A1 PCT/CN2017/072648 CN2017072648W WO2017129137A1 WO 2017129137 A1 WO2017129137 A1 WO 2017129137A1 CN 2017072648 W CN2017072648 W CN 2017072648W WO 2017129137 A1 WO2017129137 A1 WO 2017129137A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating
motor
unmanned aerial
aerial vehicle
housing
Prior art date
Application number
PCT/CN2017/072648
Other languages
English (en)
French (fr)
Inventor
杨容涛
伍沧浪
蔡炜
叶华林
Original Assignee
北京小米移动软件有限公司
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 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Publication of WO2017129137A1 publication Critical patent/WO2017129137A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs

Definitions

  • the present disclosure relates to the field of drones, and more particularly to an unmanned aerial vehicle head and its carrying bracket.
  • UAV unmanned aerial vehicles
  • a pan/tilt for mounting an imaging device is usually disposed on the unmanned aerial vehicle.
  • the pan/tilt usually includes a connecting device for connecting the unmanned aerial vehicle, a rotating device for adjusting the shooting angle of the camera device, and a carrying bracket for fixing the camera device.
  • the method of fixing the camera device by the support bracket is usually fixed by a screw lock on the market or directly fixed by a fast fixing method such as a cable tie.
  • the screw lock fixing method although the reliability is high, but the installation process is more complicated, it needs to be fixed by means of a screwdriver and a screw, and the user experience is not good; the fast fixing method such as a cable tie is used, the fixing property is extremely poor, and the vibration is easy to be generated during use. It affects the camera effect, and even when it is serious, it may cause the camera to slip.
  • the present disclosure provides an unmanned aerial vehicle head and its carrying bracket.
  • a carrier bracket for an unmanned aerial vehicle head comprising:
  • the fixing base includes a base, a first rotating support and a second rotating support, and the first rotating support and the second rotating support are oppositely disposed on the base, and the base is further provided with a connection structure connected to the rotating device of the unmanned aerial vehicle head;
  • One end of the pressure plate is rotatably coupled to the first rotating support, and the second rotating support is provided with a card for pressing the other end of the pressure plate against the second rotating support Buckle structure.
  • the first rotating support and the second rotating support are oppositely disposed on both sides of the bottom plate, and then one end of the pressure plate is rotatably connected to the first rotating support, and the pressing plate is disposed on the second rotating support. The other end is pressed against the buckle structure on the second rotating support.
  • the camera device is first placed between the first rotating support and the second rotating support, and then the other end of the pressure plate is passed through the buckle structure. Pressing on the second rotating support causes the pressure plate to be pressed against the camera.
  • the pressure plate is a U-shaped member, and one end of the U-shaped member is provided a first shaft hole, the U-shaped member is rotatably mounted on the first rotating support through the first shaft hole and the rotating shaft, and the other end of the U-shaped member is provided with the buckle structure Matching card slots.
  • the card slot is matched with the buckle structure to realize the pressing and loosening of the pressure plate, and the structure is simple.
  • the buckle structure includes a buckle and a pull-down ring, and one end of the buckle is rotatably coupled to the second rotating support, and the buckle a middle portion is rotatably connected to one end of the pull-down ring, and the other end of the buckle is a handle for controlling rotation of the buckle around the second rotating support, and the other end of the pull-down ring is used for the pressure plate The other end is snapped; when the other end of the pull-down ring is engaged with the other end of the pressure plate, and the handle is located close to the bottom plate, the pull-down ring presses the pressure plate to the first Two rotating bearings.
  • the buckle structure is realized by a buckle ring and a pull-down ring, and the entire buckle structure is simple in structure, easy to operate, and has a good fixing effect.
  • the second rotating support includes a support body and a boss extending from the support body to a periphery of the bottom plate, and the boss is provided with a first a two-axis hole, one end of the buckle being mounted on the boss by a rotating shaft passing through the second shaft hole.
  • the buckle is a U-shaped buckle, and one end of the opening of the U-shaped buckle is provided with a third shaft hole, and the U-shaped buckle passes the A third shaft hole and a rotating shaft are mounted on the boss.
  • a third shaft hole is provided at one end of the opening of the U-shaped buckle to realize a rotatable connection between the buckle and the second rotating support, and the structure is simple and the fixing effect is good.
  • a middle portion of the U-shaped buckle is correspondingly provided with a fourth shaft hole
  • the pull-down ring includes a cross bar, two connecting rods connected at two ends of the cross bar, Two rotating rods respectively connected to the two connecting rods, the rotating rods are arranged in parallel with the horizontal rods, and the two rotating rods are inserted into the fourth shaft hole of the U-shaped buckle.
  • the pull-down ring is a metal piece.
  • the metal is used as the pull-down ring material, which is convenient for the production process and ensures the strength requirement of the pull-down ring.
  • a top of the second rotating support is provided with a slot
  • the pressing plate further has a locking portion that cooperates with the slot.
  • the slot and the engaging portion cooperate to increase the bonding force between the two, thereby improving the fixing effect of the supporting bracket.
  • a side of the pressure plate opposite to the base is provided with a first a gasket.
  • the carrier bracket further includes a first spacer fixed on a side of the pressure plate opposite to the bottom plate, when the camera device is mounted, the camera device and the pressure plate It acts as a buffer to reduce the wear of the camera.
  • the carrier bracket further includes a second gasket, the second gasket is fixed on the second rotating support, when the pressure plate is pressed on the The second spacer is interposed between the pressure plate and the second rotating support when the second rotating support is mounted.
  • the pulling force generated by the pull-down ring on the handle can be increased, thereby further tightening the handle on the bracket body.
  • the first gasket and the second gasket are soft rubber gaskets.
  • the first gasket and the second gasket are fixed by glue.
  • the base includes a bottom plate and a plurality of side plates vertically connected to sides of the bottom plate, the plurality of side plates are connected end to end, and the connection structure is configured On the outer side wall of one of the plurality of side plates, the first rotating support and the second rotating support are respectively disposed on adjacent side plates of the side plates provided with the connecting structure on.
  • the side plate is disposed on the bottom plate, which can limit and fix the camera device installed in the carrier bracket, and the safety performance of the carrier bracket is increased.
  • the base is provided with a universal serial bus USB connector for connecting to the camera.
  • the camera device is connected to the master control device of the unmanned aerial vehicle by providing a USB interface on the bottom plate, and the ground station can control the camera device because the master control device can communicate with the ground station by using a wireless signal.
  • the base is provided with a sensor for detecting an angle of the current roll angle, a pitch angle, a heading angle, and an angular velocity of the base.
  • the sensor can be a gyroscope or an accelerometer.
  • the sensor is connected with the main control device of the unmanned aerial vehicle.
  • the master control device calculates the angle and speed at which the three motor shafts need to be rotated according to the change amount of the posture, and A corresponding command is issued to the corresponding circuit board of each motor, so that the controller on the circuit board controls the rotation of the motor, and the posture of the base is corrected to return to the set posture.
  • the connecting structure is a cylindrical structure vertically disposed on an outer sidewall of the side plate, and a sidewall of the cylindrical structure is provided with a side hole.
  • the mount is made of a 40% carbon fiber reinforced polyphthalamide material.
  • the 40% carbon fiber reinforced polyphthalamide material can meet the requirements of high rigidity of the fixed seat.
  • the structure has a small weight and can realize the requirements of one injection molding and rapid mass production.
  • the pressure plate and the buckle are made of polycarbonate or a 50% glass fiber reinforced polyphthalamide material.
  • the press plate and the buckle are made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding, and the weight is small and the price is low.
  • an unmanned aerial vehicle head including:
  • the carrier bracket is the carrier bracket of any of the first aspects.
  • the shock absorbing assembly includes a fixed frame coupled to the UAV body, a shock mount coupled to the mount, and mounted on the shock absorber a plurality of shock absorbing members on the frame, the shock absorbing members being disposed between the rotating device and the shock absorbing frame.
  • the shock mount includes a first connecting arm and a plurality of first mounting brackets disposed on the first connecting arm, and the plurality of the first mounting brackets Arranged around the first connecting arm, the first mounting frame is a cylindrical structure, and the bottom of the cylindrical structure is formed with an inner flange.
  • the shock absorbing member is made of an elastic material.
  • the shock absorbing member includes a shock absorbing ball and a snap structure connected to opposite sides of the shock absorbing ball, and the shock absorbing member passes through the snap structure Connected to the rotating device and the shock mount respectively.
  • the ball-shaped structure is used to realize the shock absorbing function, and the spherical structure has good tensile resilience performance, and can fully filter the vibration above.
  • the mount and the shock mount are made of polycarbonate or a 50% glass fiber reinforced polyphthalamide material.
  • the fixing frame and the shock absorbing frame are made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding, and the weight is small and the price is low.
  • the rotating device includes a first driving unit, a second driving unit, and a third driving unit
  • the first driving unit includes a first connection with the shock absorbing component a connecting frame, a first rotating component mounted on the first connecting frame
  • the second driving unit comprising a second connecting frame connected to an output shaft of the first rotating component, mounted on the second connection a second rotating component on the shelf
  • the third driving unit includes a third connecting frame connected to the output shaft of the second rotating component, and a third rotating component mounted on the third connecting frame, the first The output shaft of one rotating assembly, the output shaft of the second rotating assembly, and the output shaft of the third rotating assembly are perpendicular to each other in the axial direction.
  • the rotating device is composed of three driving units, each of which controls the camera device separately Rotating in one direction, on the one hand, can realize shooting of the camera at various angles, or realize that the camera changes at a set angle, independent of the angle of the UAV itself; on the other hand, when the UAV occurs When tilting, the three driving units control the rotation of the camera, keeping the shooting angle of the camera unchanged, and enhancing the shooting stability.
  • the first connecting frame includes a mounting housing and a plurality of second mounting brackets disposed on the mounting housing, and the plurality of the second mounting brackets are spaced apart Arranged around the mounting housing, the second mounting frame is a cylindrical structure, and the bottom of the cylindrical structure is formed with an inner flange.
  • the first connecting frame includes a plurality of mounting brackets for connecting with the shock absorbing member to realize the vibration damping function of the pan/tilt.
  • the first rotating component includes a first motor, a first housing, a first circuit board, and a first end cover, and the first motor is fixed in the first
  • the mounting housing and the first housing are fixedly connected to form an accommodating space on one side of the housing, and the first circuit board is disposed in the accommodating space, and the output shaft of the first motor Passing through the first housing, the first circuit board, and the mounting housing in sequence, the first end cover is mounted on the mounting housing, the motor shaft of the first motor and the first Two connecting brackets are connected, and the second connecting bracket is located between the mounting housing and the first end cover.
  • the mounting housing is provided with a slot
  • the first end cover includes a first bottom plate and a curved first sidewall
  • the first sidewall One side of the first side is fixedly connected to the first bottom
  • the other side of the first side wall is provided with a tab
  • the tab is fixedly coupled with the slot.
  • the first end cover is mounted on the first connecting frame by a tab, which is convenient to install and easy to disassemble.
  • the mounting housing is further provided with an opening, and the other side of the first sidewall is further provided with a mounting plate parallel to the first bottom plate. The mounting plate is snapped into the opening.
  • the first end cap further ensures the firmness of the first end cap installation by providing a mounting plate.
  • the first rotating component further includes a card board, the card board is disposed in the opening adjacent to the mounting board, and the card board and the A gap is formed between the mounting portions.
  • the mounting portion of the first end cover is pressed by the card board, thereby ensuring the firmness of the first end cover.
  • a side surface of the card board is provided with a wiring board, and the wiring board forms an accommodation space with the first side wall.
  • a wiring board is disposed on one side of the card board, so that the control line of the UAV master control device passes through the third connecting frame, and the capacity formed by the wiring board and the first side wall is formed. Space is set to avoid contact with the motor output shaft, which ensures the safety of the control line.
  • a positioning post is further disposed on the first sidewall of the first end cover, and the intermediate plate is provided with a positioning hole matched with the positioning post. The positioning post passes through the positioning hole.
  • the positioning post and the positioning hole are also positioned.
  • the first circuit board includes a first potentiometer for detecting a rotation angle of a motor shaft of the first motor.
  • the rotation angle of the first motor is detected by setting a potentiometer, so that the overall control device can control the motor according to the measured angle to adjust the shooting angle.
  • the first rotating component further includes a first bearing, and the first bearing is disposed between the first connecting frame and the first end cover, A motor shaft of the first motor passes through the first bearing.
  • the output shaft of the first motor is passed through the first bearing to ensure that the output shaft of the motor does not shift, thereby
  • the motor is protective.
  • the first housing, the first connecting frame and the first end cover are made of polycarbonate or 50% glass fiber reinforced polyphthalamide material. production.
  • the first housing, the first connecting frame and the first end cover are made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding and weight Small, low price.
  • the second connecting frame includes a first body and a second connecting arm vertically connected to a side of the first body, and the second rotating component is mounted on On the first body, the second connecting arm is fixed on an output shaft of the first rotating component.
  • the second rotating component includes a second motor, a second housing, a second circuit board, and a second end cover, wherein the second motor is fixed in the The first body and the second housing are fixedly connected to form an accommodating space on one side of the second housing, and the second circuit board is disposed in the accommodating space, and the output shaft of the second motor Passing through the second housing, the second circuit board, the first body in sequence, the second end cover is mounted on the first body, the motor shaft of the second motor and the first a third connecting frame is connected, and the third connecting frame is located between the first body and the second end cover, and the second end cover and the second connecting arm are located in the same side.
  • the first end cover includes a second bottom portion and an arcuate second side wall, and one side of the second side wall is fixedly coupled to the second bottom portion.
  • the second circuit board includes a second potentiometer for detecting a rotation angle of a motor shaft of the second motor.
  • the second rotating component further includes a second bearing, and the second bearing is disposed between the second connecting frame and the second end cover. A motor shaft of the second motor passes through the second bearing.
  • the second housing and the second connector are made of a 40% carbon fiber reinforced polyphthalamide material.
  • the 40% carbon fiber reinforced polyphthalamide material can meet the high rigidity requirements of the second casing and the second connecting frame, and the manufactured structure has a small weight, and can realize one injection molding and rapid mass production. Demand.
  • the second end cap is made of polycarbonate or 50% glass fiber. Made of reinforced polyphthalamide material.
  • the second end cap is made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding, and has small weight and low price.
  • the third connecting frame includes a second body and a third connecting arm vertically connected to a side of the second body, and the third rotating component is installed at the The second connecting arm is fixed to the output shaft of the second rotating component.
  • the third rotating component includes a third motor, a third housing, a third circuit board, and a third end cover, wherein the third motor is fixed in the The second body and the third casing are fixedly connected to form an accommodating space on one side of the three casings, and the third circuit board is disposed in the accommodating space, and the output shaft of the third motor Passing through the third casing, the third circuit board, and the second body in sequence, the third end cover is mounted on the second body, the motor shaft of the third motor and the bearing The bracket is connected, and the third end cover and the third connecting arm are located on the same side of the second body.
  • the third circuit board includes a third potentiometer for detecting a rotation angle of a motor shaft of the third motor.
  • the third rotating component further includes a third bearing, and the third bearing is disposed between the third connecting frame and the third end cover. A motor shaft of the third motor passes through the third bearing.
  • the third housing and the third connector are made of a 40% carbon fiber reinforced polyphthalamide material.
  • the 40% carbon fiber reinforced polyphthalamide material can meet the high rigidity requirements of the third casing and the third connecting frame, and the manufactured structure has a small weight, and can realize one injection molding and rapid mass production. Demand.
  • the third end cap is made of polycarbonate or a 50% glass fiber reinforced polyphthalamide material.
  • the third end cap is made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding, and has small weight and low price.
  • the present disclosure provides a first rotating support and a second rotating support on opposite sides of the bottom plate, and then one end of the pressure plate is rotatably connected to the first rotating support, and the second rotating support is provided with another pressing plate
  • the buckle structure is pressed on the second rotating support at one end.
  • the camera device is first placed between the first rotating support and the second rotating support, and then the other end of the pressure plate is pressed by the snap structure.
  • the manner of fixing the camera device does not require a complicated installation process, and only needs to control the buckle structure; at the same time, the other end of the pressure plate can be pressed against the second through the buckle structure.
  • Rotating the support so that the pressure plate is pressed against the camera device, the fixing effect is good, and the camera device is not easily loosened or slipped.
  • FIG. 1 is a schematic structural view of a carrier bracket according to an exemplary embodiment
  • FIG. 2 is an exploded perspective view of a carrier bracket according to an exemplary embodiment
  • FIG. 3a is a schematic structural view of a fixing base according to an exemplary embodiment
  • FIG. 3b is an exploded perspective view of a fixing base according to an exemplary embodiment
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle head according to an exemplary embodiment
  • FIG. 5 is a schematic structural view of a shock absorbing assembly according to an exemplary embodiment
  • FIG. 6a is an exploded perspective view of a shock absorbing assembly according to an exemplary embodiment
  • FIG. 6b is a schematic structural view of a fixing plate according to an exemplary embodiment
  • FIG. 7 is a schematic structural diagram of a first driving unit according to an exemplary embodiment
  • FIG. 8 is an exploded perspective view of a first driving unit according to an exemplary embodiment
  • FIG. 9 is a partial schematic view of a first connecting frame according to an exemplary embodiment
  • FIG. 10 is a schematic structural diagram of a second driving unit according to an exemplary embodiment
  • FIG. 11 is an exploded perspective view of a second driving unit according to an exemplary embodiment
  • FIG. 12 is a schematic structural diagram of a third driving unit according to an exemplary embodiment
  • FIG. 13 is an exploded perspective view of a third driving unit according to an exemplary embodiment
  • 14a to 14c are schematic diagrams showing an adjustment of an unmanned aerial vehicle head tilt angle according to an exemplary embodiment
  • 15a-15c are schematic diagrams showing the adjustment of the roll angle of the unmanned aerial vehicle head according to an exemplary embodiment.
  • FIG. 1 is a schematic structural view of a carrying bracket of an unmanned aerial vehicle head according to an exemplary embodiment.
  • the carrying bracket 5 includes a fixing base 50 and a pressing plate 51 .
  • the fixing base 50 includes a base 501, a first rotating support 502 and a second rotating support 503.
  • the first rotating support 502 and the second rotating support 503 are oppositely disposed on the base 501.
  • a space between the rotating support 502 and the second rotating support 503 is used to mount the camera.
  • the first rotating support 502 and the second rotating support 503 are located on both sides of the base 501.
  • a connection structure 54 for connection to the rotating device of the UAV pan/tilt is also provided on the base 501.
  • One end of the pressure plate 51 is rotatably coupled to the first rotating support 502, and the second rotating support 503 is provided with The other end of the pressure plate 51 is pressed against the snap structure 500 on the second rotating support 503.
  • the camera device is first placed between the first rotating support 502 and the second rotating support 503, and then the other end of the pressure plate 51 is pressed against the second rotating support 503 by the snap structure 500, thereby The pressure plate 51 presses the image pickup device.
  • the manner of fixing the image pickup device does not require a complicated installation process, and only needs to control the buckle structure 500.
  • the other end of the pressure plate 51 can be pressed against the second rotation support 503 by the buckle structure 500. Therefore, the pressure plate 51 is pressed against the image pickup device, and the fixing effect is good, and the image pickup device is less likely to be loosened or slipped.
  • the pressing plate 51 is a U-shaped member, and one end of the U-shaped member is provided with a first shaft hole 511, and the U-shaped member is rotatably mounted on the first rotation through the first shaft hole 511 and the rotating shaft 5A.
  • the other end of the U-shaped member is provided with a card slot 512 that cooperates with the buckle structure 500.
  • the buckle structure 500 includes a buckle 52 and a pull-down ring 53.
  • One end of the buckle 52 is rotatably connected to the second rotating support 503, and one end of the buckle 52 and one end of the pull-down ring 53 can be Rotating connection, the other end of the buckle 52 is a handle 52A for controlling the rotation of the buckle around the second rotation support 503, and the other end of the pull-down ring 53 is for engaging with the other end of the pressure plate 51; when the other end of the pull-down ring 53 and the pressure plate When the other end of the 51 is engaged and the handle 52A is located close to the base 501, the pull-down ring 53 presses the pressure plate 51 against the second rotating support 503.
  • the buckle structure 500 can also be implemented by other components, such as a resilient locking device, which is not limited in this embodiment.
  • the handle of the buckle 52 When the handle is moved to the position closest to the base 501, the pressure plate 51 comes into contact with the second rotating support 503.
  • the handle of the buckle 52 is first pulled, the buckle 52 is rotated about the second rotating support 503 toward the pressing plate 51, the camera device is mounted on the base 501, and then the handle of the buckle 52 is pulled to make the buckle 52 around the first
  • the two rotating supports 503 are rotated away from the pressing plate 51.
  • the buckle 52 is rotated to the bottom, it is at the position closest to the base 501.
  • the pressing plate 51 is in contact with the second rotating support 503, and the fixing of the imaging device is completed.
  • the first rotating support 502 includes a boss 5021 and two oppositely disposed ears 5022 disposed on the boss 5021.
  • the two ears 5022 are provided with a matching shaft hole 5023.
  • the first shaft hole 511 of the pressure plate 51 is mounted on the boss 5021 by a rotating shaft 5A passing through the shaft hole 5023.
  • the second rotating support 503 includes a support body 5030 and a boss 5031 extending from the support body 5030 to the periphery of the base 501.
  • the boss 5031 is provided with a second shaft hole 5032, and one end of the buckle 52 passes through the second shaft.
  • the rotating shaft 5A of the hole 5032 is mounted on the boss 5031.
  • first rotating support 502 and the second rotating support 503 are interchangeable.
  • the buckle 52 is a U-shaped buckle, and one end of the opening of the U-shaped buckle is mounted on the boss 5031 through the rotating shaft 5A.
  • the two sides of the opening of the U-shaped buckle 52 are respectively provided with opposite third shaft holes 521, and the rotating shaft 5A simultaneously passes through the third shaft hole 521 and the second shaft hole 5032, thereby realizing the second rotating support 503 and the buckle 52 rotatable connection.
  • the middle portion of the U-shaped buckle 52 is also correspondingly provided with a fourth shaft hole 522 for connecting with the pull-down ring 53.
  • the pull-down ring 53 includes a cross bar 531, two connecting rods 532 connected to the two ends of the cross bar 531, two rotating rods 533 respectively connected to the two connecting rods 532, and a rotating rod 533 and a cross bar
  • the 531 is arranged in parallel, and the two rotating rods 533 are inserted into the fourth shaft hole 522 provided in the middle of the U-shaped buckle 52, thereby realizing the pull-down ring 53 and the buckle 52 rotatable connection.
  • the pull-down ring 53 is a metal piece, which can be realized by one-time forming, which can ensure strength and can be easily processed.
  • the top of the second rotating support 503 is provided with a slot 502A.
  • the pressing plate 51 is provided with a locking portion 513 for engaging with the slot 502A, and the engaging portion 513 is for engaging in the slot 502A.
  • the engaging portion 513 and the card slot 512 are provided at the same end of the U-shaped pressure plate 51.
  • the carrier bracket 5 further includes a first gasket 551 fixed on a side of the pressure plate 51 opposite to the base 501 for fastening and protecting when the pressure plate 51 is pressed against the camera device. effect.
  • the pressing plate 51 may be in the form of a narrow central portion and a wide width at both ends.
  • the number of the first spacers 551 is two, which are respectively disposed at a wide portion on both sides of the pressing plate 51, and the shape of the first spacer 551 and the pressing plate. 51 matches.
  • the number and shape of the first spacers 551 may be set as needed, and the number may be one or two.
  • the shape of the first spacer 551 may be other than the pentagon in FIG. 2 . It can also be other polygons, such as quadrilaterals, hexagons, and so on.
  • the carrying bracket 5 further includes a second spacer 552 fixed to the second rotating support 503.
  • the second spacer 552 is clamped to the pressing plate 51.
  • the second spacer 552 can form a buffer between the pressure plate 51 and the second rotating support 503 on the one hand to avoid collision wear and, on the other hand, increase the degree of compression between the two. It is avoided that the contact is not tight when the camera device is not mounted, causing wear and tear.
  • the shape of the second spacer 552 includes, but is not limited to, a rectangle.
  • first gasket 551 and the second gasket 552 are both soft rubber gaskets.
  • the first spacer 551 and the second spacer 552 may be fixed at a specified position by glue.
  • the base 501 includes a bottom plate 5010 and a plurality of side plates 504 vertically connected to the side edges of the bottom plate 5010.
  • the plurality of side plates 504 are connected end to end, and the connecting structure 54 is connected.
  • the first rotating support 502 and the second rotating support 503 are respectively disposed on the adjacent side plates 504 of the side plates 504 provided with the connecting structure 54. on.
  • the bottom plate 5010 is a rectangular plate, and four side plates 504 are respectively disposed around the rectangular plate.
  • the outer side of one of the side plates is provided with a connecting structure 54.
  • the connecting structure 54 is connected with the rotating device of the unmanned aerial vehicle head, thereby realizing the rotation of the carrying bracket 5 to adjust the shooting angle of the camera; the first rotating branch
  • the seat 502 and the second rotating support 503 are respectively disposed on adjacent side plates of the side plates provided with the connecting structure 54, and the camera device can be better protected by providing the side plates.
  • the shape of the bottom plate 5010 and the number of the side plates 504 are not limited thereto, and the shape of the bottom plate 5010 may also be other polygons, such as a pentagon, and the side plates may be set to 5 or other numbers accordingly.
  • the side panels provided with the attachment structure 54 may be semi-circular for mounting the attachment structure 54, and the other side panels may be rectangular.
  • the shape of each side panel may have other settings, such as an irregular pattern, which is not limited in this embodiment.
  • the base 501 is provided with a USB (Universal Serial Bus) connector 55 for connecting with the camera device, and the USB connector 55 is connected to the USB socket of the camera device, thereby implementing control of the camera device.
  • Camera devices include, but are not limited to, small ant cameras with such USB jacks.
  • the USB connector 55 includes a data line 5051, and the USB connector 55 is electrically connected to the main control device of the UAV through the data line 5051, thereby implementing control of the imaging device.
  • the data line 5051 includes, but is not limited to, an FPC (Flexible Printed Circuit) flexible cable.
  • the FPC flexible cable is also connected to the motor in the rotating device of the UAV pan/tilt.
  • the base 501 is provided with a sensor 56 for detecting the current roll angle, pitch angle, heading angle and angular velocity of the base 501.
  • the sensor 56 can be a gyroscope or an accelerometer.
  • the sensor 56 is connected to the main control device of the UAV.
  • the master control device calculates the angle and speed at which the three motor shafts need to be rotated according to the change amount of the posture. And send corresponding instructions to the corresponding circuit board of each motor, so that the controller on the circuit board controls the rotation of the motor, and corrects the attitude of the base back to the set posture.
  • the base 501 further includes a camera main control board 5011 and a protection board 5012 disposed on the bottom plate 5010.
  • the protection board 5012 is fixed on the bottom board 5010, and the camera main control board 5011 is disposed. Between the protective plate 5012 and the bottom plate 5010.
  • the protection plate 5012 is mounted on the bottom plate 5010 through the screw hole 501A and the bolt 501B. Accordingly, the bottom plate 5010 and the camera main control plate 5011 are respectively provided with studs 501C and screw holes 501D for the bolts 501B to pass through.
  • the aforementioned USB connector 55 and the aforementioned sensor 56 are mounted on the camera main control board 5011. Accordingly, the protection board 5012 is provided with a hole 501E through which the USB connector 55 passes. The data line 5051 is connected to the camera main control board 5011.
  • the connecting structure 54 is a cylindrical structure vertically disposed on an outer sidewall of the side plate 504, and side walls of the cylindrical structure are provided with side holes.
  • a routing hole 504A is defined in the side plate 504 of the connecting structure 54 for the data line 5051 to pass through, and the data line 5051 can be disposed outside the connecting structure 54 from the routing hole 504A, and then connected to the motor and
  • the UAV master control device prevents the data lines from being disordered inside the carrier.
  • the holder 50 is made of a 40% carbon fiber reinforced polyphthalamide (PPA + 40% CF) material.
  • the 40% carbon fiber reinforced polyphthalamide material can meet the high rigidity requirements of the fixed seat 50, and the structure weight is small, and at the same time, the requirements of one injection molding and rapid mass production are realized.
  • the platen 51 and the retaining ring 52 are made of polycarbonate (PC) or 50% glass fiber reinforced polyphthalamide (PPA + 50% GF) material.
  • the pressure plate 51 and the buckle 52 are made of polycarbonate or 50% glass fiber reinforced polyphthalamide material, which can realize one injection molding, and the weight is small and the price is low.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle head according to an exemplary embodiment. As shown in FIG. 4, the unmanned aerial vehicle head includes:
  • the carrier bracket 5 may be a carrier bracket as shown in FIG.
  • the shock absorbing assembly 1 includes a mounting bracket 10 coupled to the UAV body, a shock mount 11 coupled to the mount 10, and a shock mount mounted thereon. a plurality of shock absorbing members 12 on the frame 11, The damper member 12 is provided between the rotating device 10 and the damper frame 11.
  • the holder 10 includes a fixing plate 101 connecting the body of the UAV and a communication connector 102, and the communication connector 102 is fixed to the fixing plate 101.
  • the communication connector 102 is fixed to the fixing plate 101 by screws 103.
  • the communication connector 102 includes a seat plate 1021 and a plug 1022 disposed on the seat plate 1021.
  • the seat plate 1021 is further provided with a screw hole 102A.
  • the screw hole 102A is fixed to the fixed plate 101 by screws 103.
  • the fixing plate 101 is provided with an opening 1011 through which the plug 1022 passes, and the plug 1022 of the communication connector 102 passes through the opening 1011 from the inside of the fixing plate 101, and is then fixed by the screw 103.
  • One end of the communication connector 102 is connected to a communication interface on the body of the UAV, and the other end of the communication connector 102 is connected to the motor of the PTZ, the circuit board, and the main control board 5011 of the camera to realize control of the motor and the imaging device.
  • the fixing plate 101 is provided with a drawing rib 1012 and a locking hole 1013.
  • the fixing plate 101 cooperates with the locking tongue on the fuselage of the UAV through the drawing rib 1012 and the locking hole 1013 to realize quick installation of the gimbal.
  • the shock mount 11 includes a first connecting arm 111 and a plurality of first mounting brackets 112 disposed on the first connecting arm 111.
  • the plurality of first mounting brackets 112 are spaced apart from each other at the first connection.
  • the first mounting frame 112 is a cylindrical structure 1122, and the bottom of the cylindrical structure 1122 is formed with an inner flange 1123.
  • the number of first mounts 112 may be four.
  • the number of the damper members 12 may be four.
  • the shock absorbing member 12 is made of an elastic material such as rubber or silicone.
  • the damper member 12 includes a damper ball 121 and a snap-fit structure 122 connected to opposite sides of the damper ball 121.
  • the damper member 12 is coupled to the rotating device 10 and the damper frame 11 via the snap-fit structure 122, respectively.
  • the snap-fit structure 122 is an annular structure, and the damping ball 121 is coupled to the inner ring of the snap-fit structure 122.
  • the latching structure 122 is provided with a step 1221 matching the inner flange 1123 of the cylindrical structure 1122.
  • the shock absorbing member 12 has elasticity, the one side snap structure 122 and the shock absorbing ball 121 can pass through the circular hole 1121, and the other snap structure 122 is in the cylindrical structure 1122, and the snap structure 122
  • the step 1221 is matched with the inner flange 1123 of the cylindrical structure 1122, and the engaging structure 122 is just seated in the inner flange 1123 of the cylindrical structure 1122. At this time, the rotating device is mounted under the damper member 12.
  • the 10 and the support bracket 5 can achieve shock absorption without slipping. It is easy to know that the number of the damper member 12 and the first mounting bracket 112 in this embodiment can be set as needed, for example, three, five or more.
  • the material of the shock absorbing member 12 may also be other high strength materials having elasticity.
  • shock absorbing ball 121 may also be replaced with a columnar structure or other structure.
  • the snap-fit structure 122 can have other shapes, such as a square shape, and the shape of the first mount 112 corresponds to the snap-fit structure 122.
  • the rotating device 10 is configured to control the camera to rotate in three directions perpendicular to each other, including the first driving unit 2, the second driving unit 3, and the third driving unit 4.
  • the first driving unit 2 includes a first connecting frame 23 connected to the shock absorbing assembly 1, a first rotating assembly 200 mounted on the first connecting frame 23, and the second driving unit 3 includes an output shaft connected to the first rotating assembly 200.
  • a second connecting frame 33, a second rotating assembly 300 mounted on the second connecting frame 33, the third driving unit 4 includes a third connecting frame 43 connected to the output shaft of the second rotating assembly 300, and is mounted on the third connection
  • the third rotating component 400 on the frame 43, the first turn The output shaft of the movable assembly 200, the output shaft of the second rotating assembly 300, and the output shaft of the third rotating assembly 400 are perpendicular to each other in the axial direction.
  • the structure of the first connecting frame 23 is similar to that of the foregoing shock absorbing frame 11 , and includes a mounting shell 231 and a plurality of the first mounting brackets 231 .
  • the second mounting bracket 232 is spaced apart from the mounting housing 231, and the second mounting bracket 232 is identical in structure to the first mounting bracket 112.
  • the first rotating assembly 200 includes a first motor 20, a first housing 21, a first circuit board 22, and a first end cover 24.
  • the first housing 21, the first circuit board 22, and the first connecting frame 23 are each provided with a first through hole 202 through which the motor shaft 201 of the first motor 20 passes.
  • the first motor 20 is fixed on one side of the first housing 21, and the mounting housing 231 is fixedly connected to the first housing 21 to form an accommodating space.
  • the first circuit board 22 is disposed in the accommodating space, and the first motor 20 is disposed.
  • the output shaft 201 passes through the first housing 21, the first circuit board 22, and the mounting housing 231 in sequence.
  • the first end cover 24 is mounted on the mounting housing 231, and the motor shaft 201 and the second connecting frame of the first motor 20 are mounted. 33 is connected, and the second connecting bracket 33 is located between the mounting housing 231 and the first end cover 24.
  • the first housing 21 is provided with a screw hole 21A, and the first motor 20 is fixed to the first housing 21 by the bolt 20B and the screw hole 21A.
  • the first housing 21 is further provided with a stud hole (not shown) for fixing the first circuit board 22 to the first housing 21 by bolts 22B, and the first connecting frame 23 is fixed by the bolt 23B at the first position.
  • the first circuit board 22 is provided with a screw hole 22A
  • the first connecting frame 23 is provided with a screw hole 23A.
  • the four corners of the first circuit board 22 are further provided with a screw hole or a notch 22C.
  • the screw hole or the notch 22C is used for both the bolt 23B for fixing the first connecting frame 23 and the first circuit board 22 for carding. It is disposed between the first connecting frame 23 and the first housing 21.
  • the mounting bracket 231 of the first connecting frame 23 defines a slot 2311.
  • the first end cover 24 includes a first bottom plate 240 and a curved first side wall 241. One side of the first side wall 241 and the first bottom plate The other portion of the first bottom plate 240 is not provided with a side wall for connecting the motor shaft 201 of the first motor 20 with the second connecting frame 33. The other side of the first side wall 241 is provided with a tab 242, and the tab 242 is fixedly coupled to the slot 2311.
  • the mounting housing 231 is further provided with an opening 2312.
  • the other side of the first side wall 241 is further provided with a mounting plate 243 parallel to the first bottom plate 240.
  • the mounting plate 243 is engaged in the opening 2312.
  • the mounting plate 243 is fixedly coupled to the opening 2312.
  • a first card slot 2312A is disposed around the opening 2312, and a corresponding connecting portion 243A is disposed on the mounting plate 243, and the connecting portion 243A is engaged in the first card slot 2312A.
  • the mounting plate 243 has an area smaller than the opening 2312
  • the first rotating assembly 200 further includes a card plate 25 disposed adjacent to the mounting plate 243 in the opening 2312.
  • the mounting plate 243 is provided with a step 24A on the side of the card plate 25, and the opening 2312 is provided with a second card slot 2312B.
  • the connecting portion 25A of the card 25 is simultaneously clamped on the step 24A and the second. In the card slot 2312B.
  • one side of the card board 25 is provided with a wiring board 251, and an accommodating space is formed between the wiring board 251 and the first side wall 241.
  • a gap is formed between the two connecting portions 25A of the card board 25 and the mounting plate 243, and a wiring board 251 is disposed under the notch.
  • the accommodating space is formed between the wiring board 251 and the first side wall 241.
  • Master control unit for unmanned aerial vehicles The control line passes.
  • the first side wall 241 of the first end cover 24 is further provided with a positioning post 244.
  • the mounting housing 231 is provided with a matching positioning hole 2313, and the positioning post 244 passes through the positioning hole 2313. Play a further fixed role.
  • the first circuit board 22 includes a first potentiometer 221 for detecting rotation of the motor shaft 201 of the first motor 20 to determine the angle of rotation of the first motor 20.
  • the motor shaft output shaft of the first motor 20 has a rectangular cross section or a semicircular shape to facilitate the angle detection of the first potentiometer 221 .
  • the first circuit board 22 is further provided with a first connection interface 222.
  • the first connection interface 222 is connected to the control line outputted by the bus control device, and the corresponding first housing 21 is provided with an opening 211 for The first connection interface 222 passes.
  • the first potentiometer 221 and the first connection interface 222 are both disposed on the first printed circuit board 220 of the first circuit board 22, and the first potentiometer 221 and the first connection interface 222 are electrically connected to the first printed circuit board 220.
  • the first rotating component 200 further includes a first bearing 26, the first bearing 26 is clamped between the first connecting frame 23 and the first end cover 24, and the motor shaft 201 of the first motor 20 passes through the first bearing 26, the first bearing 26 can limit the lateral offset of the motor shaft 201 to protect the first motor 20.
  • the second connecting frame 33 includes a first body 331 and a second connecting arm 332 vertically connected to a side of the first body 331 .
  • the second rotating component 300 is mounted.
  • the second connecting arm 332 is fixed to the output shaft of the first rotating assembly 200.
  • the protruding second connecting arm 332 is integrally parallel with the second rotating assembly 300 and extends to one end of the second end cover 34.
  • the first connecting end of the second connecting arm 332 is provided with a first connecting hole 332A, the first connection
  • the side of the hole 332A is provided with a side hole 332B communicating with it.
  • the first connecting hole 332A is rectangular or semi-circular, the motor shaft 201 of the first motor 20 is inserted in the first connecting hole 332A, and the side hole 332B is used for the bolt passing through to insert the motor shaft 201 of the first motor 20.
  • the motor shaft 201 of the first motor 20 is provided with a hole 2011 perpendicular to the axial direction.
  • the second rotating assembly 300 includes a second motor 30, a second housing 31, a second circuit board 32, and a second end cover 34.
  • the second housing 31, the second circuit board 32, and the bracket 33 are each provided with a second through hole 302 through which the motor shaft 301 of the second motor 30 passes.
  • the second motor 30 is fixed on one side of the second housing 31.
  • the first body 331 and the second housing 31 are fixedly connected to form an accommodating space.
  • the second circuit board 32 is disposed in the accommodating space, and the second motor is disposed.
  • the output shaft 301 of the 30 is sequentially passed through the second housing 31, the second circuit board 32, and the first body 331, the second end cover 34 is mounted on the first body 331, and the motor shaft 301 of the second motor 30 is connected to the third.
  • the frame 43 is connected, and the third connecting frame 43 is located between the first body 331 and the second end cover 34, and the second end cover 34 and the second connecting arm 332 are located on the same side of the first body 331.
  • the second housing 31 is provided with a screw hole 31A
  • the second motor 30 is provided with a screw hole 30A.
  • the bolt 30B sequentially passes through the screw hole 31A and the screw hole 30A to connect the second motor 30 and the second housing 31.
  • the second housing 31 is further provided with a stud hole 31B for fixing the second circuit board 32 to the second housing 31 by bolts 32B
  • the second connecting frame 33 is fixed to the second housing 31 by bolts 33B. Stud hole 31C.
  • the second circuit board 32 is provided with a screw hole 32A
  • the second connecting frame 33 is provided with a screw hole 33A.
  • a screw hole or a notch 32C is further disposed on the four corners of the second circuit board 32.
  • the screw hole or the notch 32C is used for both the bolt 33B for fixing the second connecting frame 33 and the second circuit board 32.
  • the card is disposed between the second connecting frame 33 and the second housing 31.
  • the second end cover 34 includes a second bottom portion 341 and a second curved side wall 342. One side of the second side wall 342 is fixedly coupled to the second bottom portion 341. The other portion of the second bottom portion 341 is not provided with a side wall for connecting the motor shaft 301 of the second motor 30 with the third connecting frame 43.
  • the second connecting frame 33 is further provided with a bolt column 33C.
  • the second bottom portion 341 of the second end cover 34 is provided with a screw hole 341A, and the bolt 34B is passed through the screw hole 341A and the bolt column 33C to realize the second end.
  • the cover 34 is fixed to the second connecting frame 33.
  • the second connecting frame 33 is provided with a notch 333 for the passage of the master control line on the UAV.
  • the second circuit board 32 includes a second potentiometer (not shown) for detecting the rotation of the motor shaft 301 of the second motor 30 to determine the angle of rotation of the second motor 30.
  • the second circuit board 32 is further provided with a second connection interface (not shown), and the second housing 31 corresponding thereto is provided with an opening for the second connection interface and the overall control device on the UAV Connection, specifically using the aforementioned control device to control the line connection.
  • the second potentiometer and the second connection interface are both disposed on the second printed circuit board 320 of the second circuit board 32, and the second potentiometer and the second connection interface are electrically connected to the second printed circuit board 320.
  • the second rotating assembly 300 further includes a second bearing 36, the second bearing 36 is interposed between the second connecting frame 33 and the second end cover 34, and the motor shaft 301 of the second motor 30 passes through the second bearing 36.
  • the second bearing 36 can limit the lateral offset of the motor shaft 301 to protect the motor.
  • the third connecting frame 43 includes a second body 431 and a third connecting arm 432 vertically connected to a side of the second body 431 , the third rotating component A 400 is mounted on the second body 431, and the third connecting arm 432 is fixed to an output shaft of the second rotating assembly 400.
  • the extended third connecting arm 432 is integrally parallel with the third rotating component 400 and extends to one end of the third end cover 44.
  • the first connecting end of the third connecting arm 432 is provided with a first connecting hole 432A, the first connection The side of the hole 432A is provided with a side hole 432B communicating with it.
  • the first connecting hole 432A is rectangular or semi-circular
  • the motor shaft 301 of the second motor 30 is inserted in the first connecting hole 432A
  • the side hole 432B is used for the bolt passing through to insert the motor shaft 301 of the second motor 30.
  • the motor shaft 301 of the second motor 30 is provided with a hole 3011 perpendicular to the axial direction.
  • the third rotating assembly 400 includes a third motor 40, a third housing 41, a third circuit board 42, and a third end cover 44.
  • the third housing 41, the third circuit board 42, and the middle portion of the bracket 43 are each provided with a third through hole 402 through which the motor shaft 401 of the third motor 40 passes.
  • the third motor 40 is fixed on one side of the third housing 41, and the second body 431 and the third housing 41 are fixedly connected to form an accommodating space, and the third circuit board 42 is disposed on the accommodating space.
  • the output shaft 401 of the third motor 40 sequentially passes through the third housing 41, the third circuit board 42, and the second body 431, and the third end cover 44 is mounted on the On the second body 431, the motor shaft 401 of the third motor 40 is connected to the carrier bracket 5, and the third end cover 44 and the third connecting arm 432 are located on the same side of the second body 431. .
  • the third housing 41 is provided with a screw hole 41A, and the third motor 40 is provided with a screw hole 40A.
  • the bolt 40B sequentially passes through the screw hole 41A and the screw hole 40A, and the third motor 40 and the third housing 41 are respectively disposed. Fixed together.
  • the third housing 41 is further provided with a stud hole 41B for fixing the third circuit board 42 to the third housing 41 by bolts 42B, and a third connecting frame.
  • the stud hole 41C fixed to the third casing 41 by a bolt 43B is used.
  • the third circuit board 42 is provided with a screw hole 42A
  • the third connecting frame 43 is provided with a screw hole 43A.
  • a screw hole or a notch 42C is further disposed at four corners of the third circuit board 42.
  • the screw hole or the notch 42C is used for both the bolt 43B for fixing the third connecting frame 43 and the third circuit board 42.
  • the card is disposed between the third connecting frame 43 and the third housing 41.
  • the third end cap 44 includes a third side 441 that is not provided with a bottom to allow the motor shaft 401 of the third motor 40 to be coupled to the attachment structure 54 of the carrier bracket 5.
  • the third connecting frame 43 is further provided with a connecting block 43C.
  • a buckle (not shown) is disposed in the third end cover 44, and the buckle is connected with the connecting block 43C to realize the third end cover 44 and the third end cover 44. The fixing of the three connecting brackets 43.
  • the third connecting frame 43 is provided with a notch 433 for the passage of the master control line on the UAV.
  • the third circuit board 42 includes a potentiometer (not shown) for detecting the rotation of the motor shaft 401 of the third motor 40 to determine the angle of rotation.
  • the third circuit board 42 is further provided with a connection interface (not shown), and the third housing 41 corresponding thereto is provided with an opening for connecting the connection interface with the main control device on the UAV, specifically adopting The aforementioned master control device is connected to the control line.
  • the potentiometer and the connection interface are both disposed on the printed circuit board 420 of the third circuit board 42, and the potentiometer and the connection interface are electrically connected to the printed circuit board 420.
  • the third rotating assembly 400 further includes a third bearing 46.
  • the third bearing 46 is disposed between the third connecting frame 43 and the third end cover 44, and the motor shaft 401 of the third motor 40 passes through the third bearing. 46.
  • the third bearing 46 can limit the lateral offset of the motor shaft 401 to protect the motor.
  • the connecting structure 54 is a cylindrical structure for inserting the motor shaft 401 of the third motor 40.
  • the motor shaft 401 is provided with a side hole 4011.
  • the cylindrical structure is also provided with a side hole, which can be carried out by using a bolt. Axial fixed.
  • the types of the first motor 20, the second motor 30, and the third motor 40 are not limited, and may be electromagnetic or non-electromagnetic.
  • the shapes of the first motor 20, the second motor 30, and the third motor 40 are not limited, and may be a cylindrical shape as shown in the drawing, or a rectangular parallelepiped or other shape.
  • the second housing 31, the second connecting frame 33, the third housing 41 and the third connecting frame 43 are made of a 40% carbon fiber reinforced polyphthalamide material.
  • the 40% carbon fiber reinforced polyphthalamide material can meet the requirements of high rigidity while achieving the requirements of one injection molding, rapid mass production, and the structure weight is small.
  • the fixing frame 10, the damper frame 11, the first housing 21, the first connecting frame 23, the first end cover 24, the second end cover 34, and the third end cover 44 are made of polycarbonate or 50%.
  • the number of the various screw holes and the bolts can be set as required, that is, more or less bolts or screw holes can be disposed, which is not limited in this embodiment.
  • connections between the various components are achieved by articulation, glue bonding or other means, and are not limited to the manner in which bolting is used in the exemplary embodiments described above.
  • the first motor 20 is connected to the first circuit board 22
  • the second motor 30 is connected to the second circuit board 32
  • the third motor 40 is connected to the third circuit board 42, the first circuit board 22,
  • the board 42 can be connected to the same control line through a connection interface for connecting the master control device of the unmanned aerial vehicle, and the control line can be an FPC soft cable.
  • control line includes the aforementioned data line 5051, that is, the control line is also connected to the camera control board.
  • the control line is also used to output power signals from the master control device to the motor and the camera device.
  • the image pickup device is first mounted in the carrier bracket 5 to fasten the image pickup device.
  • the camera device is connected to the master control device of the UAV through a USB interface, and the master device is also connected to the first circuit board 22, the second circuit board 32, and the third circuit board 42.
  • the first circuit board 22, the second circuit board 32, and the third circuit board 42 transmit the rotation angles of the three motors to the main control device, and the main control device transmits the rotation angles of the three motors to the ground station by wireless signals.
  • the ground station sends corresponding commands to the master control device according to the rotation angles of the three motors, and the master control device transmits the commands to the three circuit boards, so that the controllers on the three circuit boards respectively control the rotation of the three motors to achieve the The shooting angle of the camera is adjusted.
  • the master control device can automatically control the three motors by the current roll angle, pitch angle, heading angle and angular velocity of the base 50 detected by the sensor 56 to maintain the stability of the base. Specifically, when the master control device detects that the posture (angle) of the base changes, the master control device calculates the angle and speed at which the three motor shafts need to be rotated according to the change amount of the posture, and issues corresponding commands to the respective motors. Corresponding circuit board, the potentiometer on the circuit board collects the actual angle of the motor, the controller on the circuit board controls the rotation of the motor according to the instruction issued by the master control device and the actual angle of the motor, and corrects the posture of the base back to the set posture. .
  • the heading angle captured by the camera device is controlled by controlling the rotation direction of the first motor 20; the roll angle captured by the camera device is controlled by controlling the rotation direction of the second motor 30, as shown in FIG. 15a to FIG. 15c.
  • Schematic diagram of the gimbal structure with different roll angles; controlling the pitch angle of the photographing device by controlling the rotation direction of the third motor 40, as shown in FIG. 14a to FIG. 14c are schematic diagrams of the pan/tilt structure of three different pitch angles.
  • the ground station can control the camera by sending an instruction, such as controlling the camera to be turned on or off, adjusting the shooting mode, and the like.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

提供了一种无人飞行器云台及其承载支架，承载支架（5）包括：固定座（50）和压板（51）；所述固定座（50）包括底座（501）、第一转动支座（502）和第二转动支座（503），所述第一转动支座（502）和所述第二转动支座（503）相对地设置在所述底座（501）上，所述底座（501）上还设有用于与无人飞行器云台的转动装置连接的连接结构（54）；所述压板（51）的一端可转动地连接在所述第一转动支座（502）上，所述第二转动支座（503）上设有用于将所述压板（51）的另一端压紧在所述第二转动支座（503）上的卡扣结构（500）。使用时，只需控制卡扣结构将压板压紧摄像装置，即可实现摄像装置的固定，操作方便，固定效果好。

Description

无人飞行器云台及其承载支架
本申请基于申请号为CN201610065838.8、申请日为2016年1月29日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及无人机领域，尤其涉及一种无人飞行器云台及其承载支架。
背景技术
利用无人飞行器航拍是目前现代化航拍体系中最为重要的航拍手段之一，无人飞行器作为一种新型的航拍工具，具有较高的可操控性。
采用无人飞行器进行航拍时，通常在无人飞行器上设置一用于安装摄像装置的云台。云台通常包括连接无人飞行器的连接装置、调整摄像装置拍摄角度的转动装置、以及固定摄像装置的承载支架。
承载支架固定摄像装置的方式，市面上通常采用螺丝锁来固定或直接采用扎带等快速固定方式进行固定。螺丝锁固定方式，虽然可靠性较高，但其安装过程较为复杂，需要借助螺丝刀和螺丝来固定，用户体验不好；采用扎带等快速固定方式，固定性极差，使用过程中容易产生抖动，影响摄像效果，严重时甚至会导致摄像装置发生滑落。
发明内容
为克服相关技术中存在的问题，本公开提供一种无人飞行器云台及其承载支架。
根据本公开实施例的第一方面，提供一种无人飞行器云台的承载支架，所述承载支架包括：
固定座和压板；
所述固定座包括底座、第一转动支座和第二转动支座，所述第一转动支座和所述第二转动支座相对地设置在所述底座上，所述底座上还设有用于与无人飞行器云台的转动装置连接的连接结构；
所述压板的一端可转动地连接在所述第一转动支座上，所述第二转动支座上设有用于将所述压板的另一端压紧在所述第二转动支座上的卡扣结构。
本公开中，通过在底板两侧相对设置第一转动支座和第二转动支座，然后将压板的一端可转动地连接在第一转动支座上，在第二转动支座上设置将压板的另一端压紧在第二转动支座上的卡扣结构，使用时，先将摄像装置放置在第一转动支座和第二转动支座之间，然后通过卡扣结构将压板的另一端压紧在第二转动支座上，从而使压板压紧摄像装置。
在本公开第一方面的一种实现方式中，所述压板为U型件，所述U型件的一端设有 第一轴孔，所述U型件通过所述第一轴孔和转动轴可转动地安装在所述第一转动支座上，所述U型件的另一端设有与所述卡扣结构相配合的卡槽。
在该实现方式中，采用卡槽与卡扣结构相配合，实现压板的压紧与松开，结构简单。
在本公开第一方面的一种实现方式中，所述卡扣结构包括扣环和下拉环，所述扣环的一端可转动地连接在所述第二转动支座上，所述扣环的中部与所述下拉环的一端可转动连接，所述扣环的另一端为控制所述扣环绕所述第二转动支座转动的把手，所述下拉环的另一端用于与所述压板的另一端卡接；当所述下拉环的另一端与所述压板的另一端卡接，且所述把手位于靠近所述底板的位置时，所述下拉环将所述压板压紧在所述第二转动支座上。
在该实现方式中，卡扣结构由扣环和下拉环实现，整个卡扣结构的构造简单、易于操作且固定效果好。
在本公开第一方面的另一种实现方式中，所述第二转动支座包括支座本体和从所述支座本体延伸出所述底板外围的凸台，所述凸台上设有第二轴孔，所述扣环的一端通过穿过所述第二轴孔的转动轴安装在所述凸台上。
在该实现方式中，通过设置向底板外围延伸的凸台，然后将第二轴孔设置在凸台上，当将扣环的把手拉动到最下方时，在下拉环的力的作用下，把手紧扣在支座本体上，而不易脱开，保证了承载支架的固定性能。
在本公开第一方面的另一种实现方式中，所述扣环为U型扣环，所述U型扣环的开口的一端设有第三轴孔，所述U型扣环通过所述第三轴孔和转动轴安装在所述凸台上。
在该实现方式中，在U型扣环开口的一端设有第三轴孔，实现扣环与第二转动支座的可转动连接，构造简单且固定效果好。
在本公开第一方面的另一种实现方式中，所述U型扣环的中部对应设置有第四轴孔，所述下拉环包括横杆、连接在所述横杆两端的两连接杆、分别连接在所述两连接杆杆上的两转动杆，所述转动杆与所述横杆平行设置，所述两转动杆插于所述U型扣环的第四轴孔内。
在该实现方式中，下拉环的两横杆插入第四轴孔时，需要将两连接杆向两边分开，当横杆插入第四轴孔后，横杆不易从第四轴孔内脱出，保证了整个结构的牢固。
在本公开第一方面的另一种实现方式中，所述下拉环为金属件。
在该实现方式中，采用金属作为下拉环材料，既方便生成加工，又能保证对下拉环的强度要求。
在本公开第一方面的另一种实现方式中，所述第二转动支座的顶部设有插槽，所述压板上还设有与所述插槽相配合的卡接部。
在该实现方式中，当压板被压紧在第二转动支座上时，插槽和卡接部相配合，增加了二者之间的结合力，提升了承载支架的固定效果。
在本公开第一方面的另一种实现方式中，所述压板的与所述底座相对的侧面上设有第 一垫片。
在该实现方式中，所述承载支架还包括第一垫片，所述第一垫片固定在所述压板的与所述底板相对的一侧面上，在安装摄像装置时，在摄像装置和压板之间起到缓冲作用，减小摄像装置的磨损。
在本公开第一方面的另一种实现方式中，所述承载支架还包括第二垫片，所述第二垫片固定在所述第二转动支座上，当所述压板压在所述第二转动支座上时，所述第二垫片夹设于所述压板和所述第二转动支座之间。
在该实现方式中，通过设置第二垫片，可以增加下拉环对把手产生的拉力，从而进一步使得把手紧扣在支架本体上。
在本公开第一方面的另一种实现方式中，所述第一垫片和所述第二垫片均为软胶垫片。
在本公开第一方面的另一种实现方式中，所述第一垫片和所述第二垫片采用胶水固定。
在本公开第一方面的另一种实现方式中，所述底座包括底板和垂直连接在所述底板的侧边上的多块侧板，所述多块侧板首尾相连，所述连接结构设置在所述多块侧板中的一块侧板的外侧壁上，所述第一转动支座和所述第二转动支座分别设置在设有所述连接结构的侧板的相邻两侧板上。
在该实现方式中，在底板上设置侧板，可以对安装在承载支架内的摄像装置起到限制和固定作用，增加了承载支架的安全性能。
在本公开第一方面的另一种实现方式中，所述底座上设有用于与摄像装置连接的通用串行总线USB接头。
在该实现方式中，通过在底板上设置USB接口，将摄像装置与无人飞行器的总控装置连接，而由于总控装置可以采用无线信号与地面站通信，使得地面站可以对摄像装置进行控制。
在本公开第一方面的另一种实现方式中，所述底座上设有用于检测所述底座当前横滚角、俯仰角、航向角的角度和角速度的传感器。
该传感器可以是陀螺仪或加速度计。该传感器与无人飞行器的总控装置连接，当检测到底座的姿态(角度)发生变化，总控装置根据姿态的变化量，计算出转动装置中3个电机轴需要转动的角度和速度，并发出相应指令给各个电机对应的电路板，以使电路板上的控制器控制电机转动，修正底座的姿态回设定的姿态。
在本公开第一方面的另一种实现方式中，所述连接结构为垂直设置在所述侧板外侧壁上的圆筒结构，所述圆筒结构的侧壁上设有侧孔。
在本公开第一方面的另一种实现方式中，所述固定座采用40％碳纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，40％碳纤维增强聚邻苯二酰胺材料能够满足固定座高刚性要求，制 成的结构重量小，同时可以实现一次注塑成型，快速大量生产的需求。
在本公开第一方面的另一种实现方式中，所述压板和所述扣环采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作压板和所述扣环，可以实现一次注塑成型，且重量小、价格低。
根据本公开实施例的第二方面，提供一种无人飞行器云台，所述无人飞行器云台包括：
用于与无人飞行器机身连接的减震组件、承载支架以及可带动所述承载支架在三个方向上转动的转动装置，所述转动转置分别与所述减震组件及所述承载支架连接，所述承载支架为如第一方面任一项所述的承载支架。
在本公开第二方面的一种实现方式中，所述减震组件包括与所述无人飞行器机身连接的固定架、连接在所述固定架上的减震架以及安装在所述减震架上的多个减震部件，所述减震部件设于所述转动装置和所述减震架之间。
在该实现方式中，通过设置减震部件，降低了摄像装置安装在承载支架中受到的振动，保证了拍摄画面的稳定性。
在本公开第二方面的另一种实现方式中，所述减震架包括第一连接臂和设置在所述第一连接臂上的多个第一安装架，多个所述第一安装架间隔布置在所述第一连接臂的四周，所述第一安装架为圆筒结构，所述圆筒结构的底部形成有内凸缘。
在本公开第二方面的另一种实现方式中，所述减震部件由弹性材料制成。
在本公开第二方面的另一种实现方式中，所述减震部件包括减震球和连接于所述减震球相反两侧的卡接结构，所述减震部件通过所述卡接结构分别与所述转动装置和所述减震架连接。
在该实现方式中，采用球状结构实现减震功能，球状结构具有良好的拉伸回弹性能，能起到充分过滤上方振动的作用。
在本公开第二方面的另一种实现方式中，所述固定架和所述减震架采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作固定架和所述减震架，可以实现一次注塑成型，且重量小、价格低。
在本公开第二方面的另一种实现方式中，所述转动装置包括第一驱动单元、第二驱动单元和第三驱动单元，所述第一驱动单元包括与所述减震组件连接的第一连接架、安装在所述第一连接架上的第一转动组件，所述第二驱动单元包括与所述第一转动组件的输出轴连接的第二连接架、安装在所述第二连接架上的第二转动组件，所述第三驱动单元包括与所述第二转动组件的输出轴连接的第三连接架、安装在所述第三连接架上的第三转动组件，所述第一转动组件的输出轴、第二转动组件的输出轴和第三转动组件的输出轴的轴线方向两两垂直。
在该实现方式中，转动装置由三个驱动单元组成，每个驱动单元分别控制摄像装置在 一个方向上转动，一方面可以实现摄像装置以各种角度进行拍摄，或者实现摄像装置以设定的角度进行变化，不受无人飞行器本身的角度的影响；另一方面，当无人飞行器发生倾斜时，通过三个驱动单元控制摄像装置转动，保持摄像装置的拍摄角度不变，增强拍摄稳定性。
在本公开第二方面的另一种实现方式中，所述第一连接架包括安装壳体及设在所述安装壳体上的多个第二安装架，多个所述第二安装架间隔布置在所述安装壳体四周，所述第二安装架为圆筒结构，所述圆筒结构的底部形成有内凸缘。
在该实现方式中，第一连接架包括多个安装架，用于与前述减震部件连接，实现云台的减震功能。
在本公开第二方面的另一种实现方式中，所述第一转动组件包括第一电机、第一壳体、第一电路板和第一端盖，所述第一电机固定在所述第一壳体的一侧面上，所述安装壳体和所述第一壳体固定连接形成容置空间，所述第一电路板设于所述容置空间内，所述第一电机的输出轴依次穿过所述第一壳体、所述第一电路板、所述安装壳体，所述第一端盖安装在所述安装壳体上，所述第一电机的电机轴与所述第二连接架连接，且所述第二连接架位于所述安装壳体和所述第一端盖之间。
在本公开第二方面的另一种实现方式中，所述安装壳体上开设有插槽，所述第一端盖包括第一底板和弧形的第一侧壁，所述第一侧壁的一侧边与第一底部固定连接，所述第一侧壁的另一侧边设有卡舌，所述卡舌与所述插槽配合固定。
在该实现方式中，第一端盖通过卡舌安装在第一连接架上，安装方便，易于拆卸。
在本公开第二方面的另一种实现方式中，所述安装壳体上还开设有开口，所述第一侧壁的另一侧边还设有与所述第一底板平行的安装板，所述安装板卡接于所述开口中。
在该实现方式中，第一端盖通过设置安装板进一步保证了第一端盖安装的牢固程度。
在本公开第二方面的另一种实现方式中，所述第一转动组件还包括卡板，所述卡板与所述安装板相邻设置在所述开口中且所述卡板与所述安装部之间设有缺口。
在该实现方式中，通过设置卡板，使得在第一端盖安装好后，采用卡板压紧第一端盖的安装部，从而保证了第一端盖的牢固。
在本公开第二方面的另一种实现方式中，所述卡板的一侧面设有走线板，所述走线板与所述第一侧壁间形成容置空间。
在该实现方式中，在卡板的一侧面设有走线板，以使无人飞行器总控装置的控制线在通过第三连接架的同时，通过走线板与第一侧壁形成的容置空间，避免与电机输出轴发生接触，保证了控制线的安全。
在本公开第二方面的另一种实现方式中，所述第一端盖的第一侧壁上还设有定位柱，所述中间板上设有与所述定位柱匹配的定位孔，所述定位柱穿过所述定位孔。
在该实现方式中，为了进一步保证第一端盖的牢固度，还通过设置定位柱与定位孔进行定位。
在本公开第二方面的另一种实现方式中，所述第一电路板包括用于检测所述第一电机的电机轴的转动角度的第一电位器。
在该实现方式中，通过设置电位器对第一电机的转动角度进行检测，使得总控装置可以根据测得的角度对电机进行控制，以调整拍摄角度。
在本公开第二方面的另一种实现方式中，所述第一转动组件还包括第一轴承，所述第一轴承卡设在所述第一连接架和所述第一端盖之间，所述第一电机的电机轴穿过所述第一轴承。
在该实现方式中，通过在第一端盖和第一连接架之间设置第一轴承，将第一电机的输出轴穿过第一轴承，保证电机的输出轴不会发生偏移，从而对电机起到保护作用。
在本公开第二方面的另一种实现方式中，所述第一壳体、所述第一连接架及所述第一端盖采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作第一壳体、所述第一连接架及所述第一端盖，可以实现一次注塑成型，且重量小、价格低。
在本公开第二方面的另一种实现方式中，所述第二连接架包括第一主体及与所述第一主体一侧垂直连接的第第二连接臂，所述第二转动组件安装在所述第一主体上，所述第第二连接臂固定在所述第一转动组件的输出轴上。
在本公开第二方面的另一种实现方式中，所述第二转动组件包括第二电机、第二壳体、第二电路板和第二端盖，所述第二电机固定在所述第二壳体的一侧面上，所述第一主体和所述第二壳体固定连接形成容置空间，所述第二电路板设于所述容置空间内，所述第二电机的输出轴依次穿过所述第二壳体、所述第二电路板、所述第一主体，所述第二端盖安装在所述第一主体上，所述第二电机的电机轴与所述第三连接架连接，且所述第三连接架位于所述第一主体和所述第二端盖之间，所述第二端盖与所述第第二连接臂位于所述第一主体的同一侧。
在本公开第二方面的另一种实现方式中，所述第一端盖包括第二底部和弧形的第二侧壁，所述第二侧壁的一侧边与第二底部固定连接。
在本公开第二方面的另一种实现方式中，，所述第二电路板包括用于检测所述第二电机的电机轴的转动角度的第二电位器。
在本公开第二方面的另一种实现方式中，所述第二转动组件还包括第二轴承，所述第二轴承卡设在所述第二连接架和所述第二端盖之间，所述第二电机的电机轴穿过所述第二轴承。
在本公开第二方面的另一种实现方式中，所述第二壳体和所述第二连接架采用40％碳纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，40％碳纤维增强聚邻苯二酰胺材料能够满足第二壳体和所述第二连接架高刚性要求，制成的结构重量小，同时可以实现一次注塑成型，快速大量生产的需求。
在本公开第二方面的另一种实现方式中，所述第二端盖采用聚碳酸酯或50％玻璃纤维 增强聚邻苯二酰胺材料制成。
在该实现方式中，采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作第二端盖，可以实现一次注塑成型，且重量小、价格低。
在本公开第二方面的另一种实现方式中，所述第三连接架包括第二主体及与所述第二主体一侧垂直连接的第三连接臂，所述第三转动组件安装在所述第二主体上，所述第三连接臂固定在所述第二转动组件的输出轴上。
在本公开第二方面的另一种实现方式中，所述第三转动组件包括第三电机、第三壳体、第三电路板和第三端盖，所述第三电机固定在所述第三壳体的一侧面上，所述第二主体和所述第三壳体固定连接形成容置空间，所述第三电路板设于所述容置空间内，所述第三电机的输出轴依次穿过所述第三壳体、所述第三电路板、所述第二主体，所述第三端盖安装在所述第二主体上，所述第三电机的电机轴与所述承载支架连接，且所述第三端盖与所述第三连接臂位于所述第二主体的同一侧。
在本公开第二方面的另一种实现方式中，所述第三电路板包括用于检测所述第三电机的电机轴的转动角度的第三电位器。
在本公开第二方面的另一种实现方式中，所述第三转动组件还包括第三轴承，所述第三轴承卡设在所述第三连接架和所述第三端盖之间，所述第三电机的电机轴穿过所述第三轴承。
在本公开第二方面的另一种实现方式中，所述第三壳体和所述第三连接架采用40％碳纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，40％碳纤维增强聚邻苯二酰胺材料能够满足第三壳体和所述第三连接架高刚性要求，制成的结构重量小，同时可以实现一次注塑成型，快速大量生产的需求。
在本公开第二方面的另一种实现方式中，所述第三端盖采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
在该实现方式中，采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作第三端盖，可以实现一次注塑成型，且重量小、价格低。
本公开的实施例提供的技术方案可以包括以下有益效果：
本公开通过在底板两侧相对设置第一转动支座和第二转动支座，然后将压板的一端可转动地连接在第一转动支座上，在第二转动支座上设置将压板的另一端压紧在第二转动支座上的卡扣结构，使用时，先将摄像装置放置在第一转动支座和第二转动支座之间，然后通过卡扣结构将压板的另一端压紧在第二转动支座上，从而使压板压紧摄像装置，上述固定摄像装置的方式无需复杂安装过程，只需控制卡扣结构；同时通过卡扣结构可以将压板的另一端压紧在第二转动支座上，从而使压板压紧摄像装置，固定效果好，不易发生摄像装置松动、滑落等情况。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是根据一示例性实施例示出的一种承载支架的结构示意图；
图2是根据一示例性实施例示出的一种承载支架的分解示意图；
图3a是根据一示例性实施例示出的一种固定座的结构示意图；
图3b是根据一示例性实施例示出的一种固定座的分解示意图；
图4是根据一示例性实施例示出的一种无人飞行器云台的结构示意图；
图5是根据一示例性实施例示出的一种减震组件的结构示意图；
图6a是根据一示例性实施例示出的一种减震组件的分解示意图；
图6b是根据一示例性实施例示出的一种固定板的结构示意图；
图7是根据一示例性实施例示出的一种第一驱动单元的结构示意图；
图8是根据一示例性实施例示出的一种第一驱动单元的分解示意图；
图9是根据一示例性实施例示出的一种第一连接架的局部示意图；
图10是根据一示例性实施例示出的一种第二驱动单元的结构示意图；
图11是根据一示例性实施例示出的一种第二驱动单元的分解示意图；
图12是根据一示例性实施例示出的一种第三驱动单元的结构示意图；
图13是根据一示例性实施例示出的一种第三驱动单元的分解示意图；
图14a～图14c是根据一示例性实施例示出的无人飞行器云台俯仰角调整示意图；
图15a～图15c是根据一示例性实施例示出的无人飞行器云台横滚角调整示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种无人飞行器云台的承载支架的结构示意图，如图1所示，该承载支架5包括：固定座50和压板51。
结合图2和图3a，固定座50包括底座501、第一转动支座502和第二转动支座503，第一转动支座502和第二转动支座503相对地设置在底座501上，第一转动支座502和第二转动支座503之间的空间用于安放摄像装置。优选地，第一转动支座502和第二转动支座503位于底座501的两侧边上。底座501上还设有用于与无人飞行器云台的转动装置连接的连接结构54。
压板51的一端可转动地连接在第一转动支座502上，第二转动支座503上设有用于 将压板51的另一端压紧在第二转动支座503上的卡扣结构500。
使用时，先将摄像装置放置在第一转动支座502和第二转动支座503之间，然后通过卡扣结构500将压板51的另一端压紧在第二转动支座503上，从而使压板51压紧摄像装置，上述固定摄像装置的方式无需复杂安装过程，只需控制卡扣结构500；同时通过卡扣结构500可以将压板51的另一端压紧在第二转动支座503上，从而使压板51压紧摄像装置，固定效果好，不易发生摄像装置松动、滑落等情况。
在一种可能的实现方式中，压板51为U型件，U型件的一端设置有第一轴孔511，U型件通过第一轴孔511和转动轴5A可转动地安装在第一转动支座502上，U型件的另一端设有与卡扣结构500相配合的卡槽512。
在一种可能的实现方式中，卡扣结构500包括扣环52和下拉环53，扣环52一端可转动地连接在第二转动支座503上，扣环52中部与下拉环53的一端可转动连接，扣环52的另一端为控制扣环绕第二转动支座503转动的把手52A，下拉环53的另一端用于与压板51的另一端卡接；当下拉环53的另一端与压板51的另一端卡接，且把手52A位于靠近底座501的位置时，下拉环53将压板51压紧在第二转动支座503上。
在其他可能的实现方式中，卡扣结构500还可以采用其他部件实现，比如带有弹性的锁紧装置，本实施例对此不做限制。
当把手运动到距离底座501最近的位置时，压板51与第二转动支座503相接触。使用时，先拉动扣环52把手，使扣环52绕着第二转动支座503朝向压板51转动，将摄像装置安装在底座501上，然后拉动扣环52把手，使扣环52绕着第二转动支座503背向压板51转动，当扣环52转动到底时，处于距离底座501最近的位置，此时压板51与第二转动支座503相接触，完成了对摄像装置的固定。
在一种可能的实现方式中，第一转动支座502包括凸台5021及设置在凸台5021上的两个相对设置的耳部5022，两个耳部5022上设置有方向一致的轴孔5023，压板51的第一轴孔511通过穿过轴孔5023的转动轴5A安装在凸台5021上。第二转动支座503包括支座本体5030和从支座本体5030伸出底座501外围的凸台5031，凸台5031上设有第二轴孔5032，扣环52的一端通过穿过第二轴孔5032的转动轴5A安装在凸台5031上。
容易知道，前述第一转动支座502和第二转动支座503的结构可以互换。
在一种可能的实现方式中，扣环52为U型扣环，U型扣环的开口的一端通过转动轴5A安装在凸台5031上。U型扣环52的开口两侧分别设置有相对地的第三轴孔521，转动轴5A同时穿过第三轴孔521和第二轴孔5032，从而实现第二转动支座503与扣环52的可转动连接。U型扣环52的中部也对应设置有第四轴孔522，第四轴孔522用于与下拉环53连接。
在一种可能的实现方式中，下拉环53包括横杆531、连接在横杆531两端的两连接杆532、分别连接在两连接杆杆532上的两转动杆533，转动杆533与横杆531平行设置，两转动杆533插于U型扣环52的中部设置的第四轴孔522内，从而实现下拉环53与扣环 52的可转动连接。
可选地，下拉环53为金属件，该金属件可以采用一次成型实现，既能保证强度，又能方便加工。
可选地，第二转动支座503顶部设有插槽502A，压板51设有与插槽502A相配合的卡接部513，卡接部513用于卡接在插槽502A中。卡接部513与卡槽512设置在U型压板51的同一端。
可选地，承载支架5还包括第一垫片551，第一垫片551固定在压板51的与底座501相对的一侧面上，在压板51压紧摄像装置的时候，起到紧固和保护作用。如图2所示，压板51可以为中部窄、两端宽的形式，第一垫片551数量为2个，分别设置在压板51两边较宽的部位，且第一垫片551的形状与压板51相匹配。在其他可能的实现方式中，第一垫片551的数量和形状可以根据需要设置，数量可以是1个或者2个以上，第一垫片551的形状除了可以是图2中的五边形外，还可以是其他多边形，如四边形、六边形等。
承载支架5还包括第二垫片552，第二垫片552固定在第二转动支座503上，当压板51压在第二转动支座503上时，第二垫片552夹设于压板51和第二转动支座503之间。在扣环52锁紧的时候，第二垫片552一方面可以形成压板51和第二转动支座503间的缓冲，避免碰撞磨损，另一方面，增加了二者之间的紧压程度，避免在未装置摄像装置时产生接触不紧密，造成磨损的问题。第二垫片552的形状包括但不限于是矩形。
可选地，第一垫片551和第二垫片552均为软胶垫片。第一垫片551和第二垫片552可以采用胶水固定在指定位置上。
如图2和3a所示，在一种可能的实现方式中，底座501包括底板5010和垂直连接在底板5010的侧边上的多块侧板504，多块侧板504首尾相连，连接结构54设置在多块侧板504中的一块侧板504的外侧壁上，第一转动支座502和第二转动支座503分别设置在设有连接结构54的侧板504的相邻两侧板504上。
底板5010为矩形板，在矩形板的四周分别设置有四块侧板504。其中一块侧板的外侧设有连接结构54，连接结构54的作用是与无人飞行器云台的转动装置连接，从而实现承载支架5的转动，以调整摄像装置的拍摄角度；前述第一转动支座502和第二转动支座503分别设置在设有连接结构54的侧板的相邻两侧板上，通过设置侧板可以对摄像装置更好地起到保护作用。容易知道，底板5010的形状及侧板504的数量不限如此，底板5010的形状还可以是其他多边形，如五边形，相应地侧板可以设置为5个或其他数量。
如图2和3a所示，设有连接结构54的侧板可以为半圆形，用以安装该连接结构54，其他侧板可以为矩形。在其他可能的实现方式中，各个侧板的形状还可以有其他设置，例如为不规则图形，本实施例对此不做限制。
可选地，底座501上设有用于与摄像装置连接的USB(Universal Serial Bus，通用串行总线)接头55，USB接头55用于与摄像装置的USB插口连接，从而实现对摄像装置的控制，摄像装置包括但不限于是具有这种USB插口的小蚁相机。
可选地，USB接头55包括数据线5051，USB接头55通过数据线5051与无人飞行器的总控装置电连接，从而实现对摄像装置的控制。数据线5051包括但不限于是FPC(Flexible Printed Circuit，软性线路板)软排线。该FPC软排线还与无人飞行器云台的转动装置中的电机连接。
参见图3b，底座501上设有用于检测底座501当前横滚角、俯仰角、航向角的角度和角速度的传感器56。
该传感器56可以是陀螺仪或加速度计。该传感器56与无人飞行器的总控装置连接，当检测到底座的姿态(角度)发生变化，总控装置根据姿态的变化量，计算出转动装置中3个电机轴需要转动的角度和速度，并发出相应指令给各个电机对应的电路板，以使电路板上的控制器控制电机转动，修正底座的姿态回设定的姿态。
参见图3b，在一种可能的实现方式中，底座501还包括设置在底板5010上的摄像装置主控板5011和保护板5012，保护板5012固定在底板5010上，摄像装置主控板5011设置在保护板5012和底板5010之间。
保护板5012通过螺孔501A和螺栓501B安装在底板5010上，相应地，底板5010和摄像装置主控板5011上分别设有螺柱501C和螺孔501D以供螺栓501B穿过。
前述USB接头55和前述传感器56安装在该摄像装置主控板5011上，相应地，保护板5012上设有供USB接头55穿过的孔501E。数据线5051与摄像装置主控板5011连接。
在一种可能的实现方式中，所述连接结构54为垂直设置在所述侧板504外侧壁上的圆筒结构，所述圆筒结构的侧壁上设有侧孔。
可选地，在设置连接结构54的侧板504上开设有走线孔504A，供数据线5051通过，数据线5051从走线孔504A可以绕设在连接结构54外，然后再连接到电机及无人飞行器总控装置，这样可以避免数据线在承载装置内部错乱。
可选地，上述固定座50采用40％碳纤维增强聚邻苯二酰胺(PPA+40％CF)材料制成。40％碳纤维增强聚邻苯二酰胺材料能够满足固定座50高刚性要求，制成的结构重量小，同时实现一次注塑成型，快速大量生产的需求。
可选地，压板51和扣环52采用聚碳酸酯(PC)或50％玻璃纤维增强聚邻苯二酰胺(PPA+50％GF)材料制成。采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制作压板51和扣环52，可以实现一次注塑成型，且重量小、价格低。
图4是根据一示例性实施例示出的一种无人飞行器云台的结构示意图，如图4所示，该无人飞行器云台包括：
用于与无人飞行器机身连接的减震组件1、承载支架5以及可带动承载支架5在三个方向上转动的转动装置10，转动转置10分别与减震组件1及承载支架5连接，承载支架5可以是如图1所示的承载支架。
如图5和6a所示，在一种可能的实现方式中，减震组件1包括与无人飞行器机身连接的固定架10、连接在固定架10上的减震架11和安装在减震架11上的多个减震部件12， 减震部件12设于转动装置10和减震架11之间。
固定架10包括连接无人飞行器的机身的固定板101以及通信接头102，通信接头102固定在固定板101上。可选地，通信接头102通过螺钉103固定在固定板101上。进一步地，通信接头102包括座板1021、设置在座板1021上的插头1022，座板1021上还设有螺孔102A，螺孔102A通过螺钉103固定在固定板101上。更进一步地，固定板101上设有供插头1022通过的开孔1011，通信接头102的插头1022从固定板101内部穿过开孔1011，然后采用螺钉103固定。
通信接头102一端与无人飞行器的机身上的通信接口相连，通信接头102的另一端与云台的电机、电路板以及摄像装置主控板5011连接，实现对电机和摄像装置的控制。
参见图6b，固定板101上设有图筋1012和锁孔1013，固定板101通过图筋1012和锁孔1013与无人飞行器的机身上的锁舌等部件配合实现云台的快速安装。
在一种可能的实现方式中，减震架11包括第一连接臂111和设置在第一连接臂111上的多个第一安装架112，多个第一安装架112间隔布置在第一连接臂111的四周，第一安装架112为圆筒结构1122，圆筒结构1122的底部形成有内凸缘1123。
第一安装架112的数量可以是四个。与减震架11的结构相对应，减震部件12的数量可以为四个。减震部件12由弹性材料制成，如橡胶或硅胶。
减震部件12包括减震球121和连接在减震球121相反两侧的卡接结构122，减震部件12通过卡接结构122分别与转动装置10和减震架11连接。
可选地，卡接结构122为环状结构，减震球121与卡接结构122的内环连接，卡接结构122上设有与圆筒结构1122的内凸缘1123相匹配的台阶1221。安装时，由于减震部件12具有弹性可以让一侧的卡接结构122和减震球121穿过圆孔1121，另一个卡接结构122处在圆筒结构1122内，而由于卡接结构122上设有与圆筒结构1122的内凸缘1123相匹配的台阶1221，则卡接结构122正好卡设在圆筒结构1122的内凸缘1123中，此时在减震部件12下方安装转动装置10和承载支架5即可实现减震，又不会发生滑落。容易知道，本实施例中减震部件12及第一安装架112的数量可以根据需要设置，例如设置3个、5个或者更多个。减震部件12的材料还可以是其他具有弹性的高强度材料。
在其他可能的实现方式中，减震球121还可以采用柱状结构或其他结构代替。
在其他可能的实现方式中，卡接结构122可以为其他形状，如方形，第一安装架112的形状与该卡接结构122对应。
在一种可能的实现方式中，转动装置10用于控制摄像装置在相互垂直的三个方向转动，包括第一驱动单元2、第二驱动单元3和第三驱动单元4。
第一驱动单元2包括与减震组件1连接的第一连接架23、安装在第一连接架23上的第一转动组件200，第二驱动单元3包括与第一转动组件200的输出轴连接的第二连接架33、安装在第二连接架33上的第二转动组件300，第三驱动单元4包括与第二转动组件300的输出轴连接的第三连接架43、安装在第三连接架43上的第三转动组件400，第一转 动组件200的输出轴、第二转动组件300的输出轴和第三转动组件400的输出轴的轴线方向两两垂直。
如图7～9所示，在一种可能的实现方式中，第一连接架23的结构与前述减震架11结构类似，包括安装壳体231及设在安装壳体231上的多个第二安装架232，多个第二安装架232间隔布置在安装壳体231四周，第二安装架232与第一安装架112结构相同。
第一转动组件200包括第一电机20、第一壳体21、第一电路板22和第一端盖24。第一壳体21、第一电路板22、第一连接架23的中部均设有供第一电机20的电机轴201穿过的第一通孔202。第一电机20固定在第一壳体21的一侧面上，安装壳体231与第一壳体21固定连接形成容置空间，第一电路板22设于该容置空间内，第一电机20的输出轴201依次穿过第一壳体21、第一电路板22、安装壳体231，第一端盖24安装在安装壳体231上，第一电机20的电机轴201与第二连接架33连接，且第二连接架33位于所述安装壳体231和第一端盖24之间。
可选地，第一壳体21上设有螺孔21A，第一电机20通过螺栓20B及螺孔21A与第一壳体21固定在一起。第一壳体21还设有供第一电路板22采用螺栓22B固定在第一壳体21上的螺柱孔(图未示出)，以及供第一连接架23采用螺栓23B固定在第一壳体21上的螺柱孔(图未示出)。为了和第一壳体21固定，第一电路板22上设有螺孔22A，第一连接架23上设有螺孔23A。进一步地，第一电路板22的四角还设有螺孔或缺口22C，螺孔或缺口22C既用于供固定第一连接架23的螺栓23B穿过，又用于将第一电路板22卡设在第一连接架23和第一壳体21之间。
第一连接架23的安装壳体231上开设有插槽2311，第一端盖24包括第一底板240和弧形的第一侧壁241，第一侧壁241的一侧边与第一底板240固定连接，第一底板240的另一部分未设置侧壁，用于供第一电机20的电机轴201与第二连接架33连接。第一侧壁241的另一侧边上设有卡舌242，卡舌242与前述插槽2311配合固定。
安装壳体231上还设有开口2312，第一侧壁241的另一侧边还设有与第一底板240平行的安装板243，安装板243卡接于开口2312中。安装板243与开口2312配合固定。开口2312四周设置有第一卡槽2312A，对应地安装板243上设有匹配的连接部243A，连接部243A卡设在第一卡槽2312A中。
可选地，安装板243的面积小于开口2312，第一转动组件200还包括卡板25，卡板25与安装板243相邻设置在开口2312中。为了保证二者结合紧密，安装板243靠近卡板25的一侧边上设有台阶24A，开口2312设有第二卡槽2312B，卡板25的连接部25A同时卡设在台阶24A和第二卡槽2312B中。
可选地，卡板25的一侧面设有走线板251，走线板251与第一侧壁241间形成容置空间。
卡板25的两个连接部25A与安装板243间形成一个缺口，在缺口下方设有走线板251，走线板251与第一侧壁241间形成容置空间，该容置空间用于供无人飞行器上的总控装置 控制线通过。
可选地，第一端盖24的第一侧壁241上还设有定位柱244，相应地，安装壳体231上设有与之匹配的定位孔2313，定位柱244穿过定位孔2313，起到进一步固定作用。
第一电路板22包括第一电位器221，第一电位器221用于检测第一电机20的电机轴201转动，从而确定第一电机20的转动角度。可选地，前述第一电机20的电机轴输出轴的截面为矩形，或半圆形，从而方便第一电位器221的角度检测。第一电路板22上还设有第一连接接口222，第一连接接口222用于与总线控制装置输出的控制线连接，与之对应的第一壳体21上设有开口211，用于供第一连接接口222通过。第一电位器221和第一连接接口222均设置在第一电路板22的第一印刷电路板220上，且第一电位器221和第一连接接口222与第一印刷电路板220电连接。
可选地，第一转动组件200还包括第一轴承26，第一轴承26卡设在第一连接架23和第一端盖24之间，第一电机20的电机轴201穿过第一轴承26，第一轴承26可以限制电机轴201的横向偏移，从而对第一电机20起到保护作用。
如图10和11所示，在一种可能的实现方式中，第二连接架33包括第一主体331及与第一主体331一侧垂直连接的第二连接臂332，第二转动组件300安装在第一主体331上，第二连接臂332固定在第一转动组件200的输出轴上。伸出的第二连接臂332与第二转动组件300整体平行，且伸向具有第二端盖34的一端，第二连接臂332伸出的最前端设有第一连接孔332A，第一连接孔332A的侧边开设有一个与之联通的侧孔332B。第一连接孔332A为矩形或半圆形，第一电机20的电机轴201插在该第一连接孔332A中，而侧孔332B则用于螺栓穿过以插入第一电机20的电机轴201中，从而实现轴向固定，相应地，第一电机20的电机轴201上设有与轴向垂直的孔2011。
第二转动组件300包括第二电机30、第二壳体31、第二电路板32和第二端盖34。第二壳体31、第二电路板32、支架33的中部均设有供第二电机30的电机轴301穿过的第二通孔302。第二电机30固定在第二壳体31的一侧面上，第一主体331和第二壳体31固定连接形成容置空间，第二电路板32设于所述容置空间内，第二电机30的输出轴301依次穿过第二壳体31、第二电路板32、第一主体331，第二端盖34安装在第一主体331上，第二电机30的电机轴301与第三连接架43连接，且第三连接架43位于第一主体331和第二端盖34之间，第二端盖34与第二连接臂332位于第一主体331的同一侧。
可选地，第二壳体31上设有螺孔31A，第二电机30上设有螺孔30A，螺栓30B依次通过螺孔31A和螺孔30A，将第二电机30与第二壳体31固定在一起。第二壳体31还设有供第二电路板32采用螺栓32B固定在第二壳体31上的螺柱孔31B，以及供第二连接架33采用螺栓33B固定在第二壳体31上的螺柱孔31C。为了和第二壳体31固定，第二电路板32上设有螺孔32A，第二连接架33上设有螺孔33A。进一步地，第二电路板32的四角上还设有螺孔或缺口32C，螺孔或缺口32C既用于供固定第二连接架33的螺栓33B穿过，又用于将第二电路板32卡设在第二连接架33和第二壳体31之间。
第二端盖34包括第二底部341和弧形的第二侧壁342，第二侧壁342的一侧边与第二底部341固定连接。第二底部341的另一部分未设置侧壁，用于供第二电机30的电机轴301与第三连接架43连接。
第二连接架33上还设有螺栓柱33C，相应地，第二端盖34的第二底部341上设有螺孔341A，采用螺栓34B穿过螺孔341A和螺栓柱33C，实现第二端盖34与第二连接架33的固定。
可选地，第二连接架33设有缺口333，缺口333用于供无人飞行器上的总控装置控制线通过。
第二电路板32包括第二电位器(图未示出)，第二电位器用于检测第二电机30的电机轴301转动，从而确定第二电机30的转动角度。第二电路板32上还设有第二连接接口(图未示出)，与之对应的第二壳体31上设有开口，用于供第二连接接口与无人飞行器上的总控装置连接，具体采用前述总控装置控制线连接。第二电位器和第二连接接口均设置在第二电路板32的第二印刷电路板320上，且第二电位器和第二连接接口与第二印刷电路板320电连接。
可选地，第二转动组件300还包括第二轴承36，第二轴承36卡设在第二连接架33和第二端盖34之间，第二电机30的电机轴301穿过第二轴承36，第二轴承36可以限制电机轴301的横向偏移，从而对电机起到保护作用。
如图12和13所示，在一种可能的实现方式中，第三连接架43包括第二主体431及与第二主体431一侧垂直连接的第三连接臂432，所述第三转动组件400安装在所述第二主体431上，所述第三连接臂432固定在所述第二转动组件400的输出轴上。伸出的第三连接臂432与第三转动组件400整体平行，且伸向具有第三端盖44的一端，第三连接臂432伸出的最前端设有第一连接孔432A，第一连接孔432A的侧边开设有一个与之联通的侧孔432B。第一连接孔432A为矩形或半圆形，第二电机30的电机轴301插在该第一连接孔432A中，而侧孔432B则用于螺栓穿过以插入第二电机30的电机轴301中，从而实现轴向固定，相应地，第二电机30的电机轴301上设有与轴向垂直的孔3011。
第三转动组件400包括第三电机40、第三壳体41、第三电路板42和第三端盖44。第三壳体41、第三电路板42、支架43的中部均设有供第三电机40的电机轴401穿过的第三通孔402。第三电机40固定在第三壳体41的一侧面上，所述第二主体431和所述第三壳体41固定连接形成容置空间，所述第三电路板42设于所述容置空间内，所述第三电机40的输出轴401依次穿过所述第三壳体41、所述第三电路板42、所述第二主体431，所述第三端盖44安装在所述第二主体431上，所述第三电机40的电机轴401与所述承载支架5连接，且所述第三端盖44与所述第三连接臂432位于所述第二主体431的同一侧。
可选地，第三壳体41上设有螺孔41A，第三电机40上设有螺孔40A，螺栓40B依次通过螺孔41A和螺孔40A，将第三电机40与第三壳体41固定在一起。第三壳体41还设有供第三电路板42采用螺栓42B固定在第三壳体41上的螺柱孔41B，以及供第三连接架 43采用螺栓43B固定在第三壳体41上的螺柱孔41C。为了和第三壳体41固定，第三电路板42上设有螺孔42A，第三连接架43上设有螺孔43A。进一步地，第三电路板42的四角上还设有螺孔或缺口42C，螺孔或缺口42C既用于供固定第三连接架43的螺栓43B穿过，又用于将第三电路板42卡设在第三连接架43和第三壳体41之间。
第三端盖44包括第三侧边441，该端盖未设置底部，可以让第三电机40的电机轴401连接到承载支架5的连接结构54上。
第三连接架43上还设有连接块43C，相应地，第三端盖44内设有卡扣(图未示出)，采用卡扣和连接块43C连接，实现第三端盖44与第三连接架43的固定。
可选地，第三连接架43设有缺口433，缺口433用于供无人飞行器上的总控装置控制线通过。
第三电路板42包括电位器(图未示出)，电位器用于检测第三电机40的电机轴401转动，从而确定转动角度。第三电路板42上还设有连接接口(图未示出)，与之对应的第三壳体41上设有开口，用于供连接接口与无人飞行器上的总控装置连接，具体采用前述总控装置控制线连接。电位器和连接接口均设置在第三电路板42的印刷电路板420上，且电位器和连接接口与印刷电路板420电连接。
可选地，第三转动组件400还包括第三轴承46，第三轴承46卡设在第三连接架43和第三端盖44之间，第三电机40的电机轴401穿过第三轴承46，第三轴承46可以限制电机轴401的横向偏移，从而对电机起到保护作用。
在本实施例中，连接结构54为圆筒结构，用于供第三电机40的电机轴401插入，电机轴401开设有侧孔4011，圆筒结构同样开设有侧孔，采用螺栓即可进行轴向固定。
在本实施例中，第一电机20、第二电机30和第三电机40的类型不做限定，可以是电磁式，也可以是非电磁式。第一电机20、第二电机30和第三电机40的形状不做限定，既可以是图示中的圆柱形，也可以是长方体或其他形状。
可选地，上述第二壳体31、第二连接架33、第三壳体41及第三连接架43采用40％碳纤维增强聚邻苯二酰胺材料制成。40％碳纤维增强聚邻苯二酰胺材料能够在满足高刚性要求的同时，实现一次注塑成型，快速大量生产的需求，且制成的结构重量小。
可选地，固定架10、减震架11、第一壳体21、第一连接架23、第一端盖24、第二端盖34、和第三端盖44采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺(玻纤)材料制成，可以实现一次注塑成型，且重量小、价格低，降低了承载支架整体的成本。
值得说明的是，在本实施例中，各种螺孔及螺栓的数量均可以按照需求设置，即可以设置更多或者更少的螺栓或者螺孔，本实施例对此不做限制。
在一可替代实施例中，各个部件之间的连接通过铰接、胶水粘接或其他方式实现，而不限制于上述示例性实施例中采用螺栓连接的方式。
在本公开实施例中，第一电机20与第一电路板22相连，第二电机30与第二电路板32相连，第三电机40与第三电路板42相连，第一电路板22、第二电路板32和第三电路 板42可以通过连接接口与同一控制线连接，该控制线用于连接无人飞行器的总控装置，控制线可以为FPC软排线。
可选地，该控制线包括前述数据线5051，即该控制线还与摄像装置控制板相连。该控制线除了可以传输数据信号外，还用于从总控装置向电机及摄像装置输出电源信号。
在使用该无人飞行器云台时，先将摄像装置安装在承载支架5中，将摄像装置扣紧。摄像装置通过USB接口与无人飞行器的总控装置连接，总控装置还与第一电路板22、第二电路板32和第三电路板42连接。第一电路板22、第二电路板32和第三电路板42将三个电机的转动角度传输给总控装置，总控装置通过无线信号将三个电机的转动角度发送给地面站。地面站根据三个电机的转动角度发送相应地指令给总控装置，总控装置将指令传输给前述三个电路板，以使三个电路板上的控制器分别控制三个电机转动，实现对摄像装置的拍摄角度进行调整。
进一步地，总控装置还可以通过前述传感器56检测到的底座50当前横滚角、俯仰角、航向角的角度和角速度，对三个电机进行自动控制，以保持底座的稳定性。具体地，当总控装置检测到底座的姿态(角度)发生变化，总控装置根据姿态的变化量，计算出转动装置中3个电机轴需要转动的角度和速度，并发出相应指令给各个电机对应的电路板，电路板上的电位器采集电机的实际角度，电路板上的控制器根据总控装置下发的指令以及电机的实际角度，控制电机转动，修正底座的姿态回设定的姿态。
具体地，通过控制第一电机20的转动方向控制摄像装置拍摄的航向角；通过控制第二电机30的转动方向控制摄像装置拍摄的横滚角，具体如图15a-图15c所示为三种不同横滚角的云台结构示意图；通过控制第三电机40的转动方向控制拍摄装置拍摄的俯仰角，具体如图14a-图14c所示为三种不同俯仰角的云台结构示意图。另外，地面站可以通过发送指令对摄像装置的进行控制，例如控制摄像装置打开或关闭、调整拍摄模式等。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。

Claims (41)

  1. 一种无人飞行器云台的承载支架，其特征在于，所述承载支架包括：
    固定座和压板；
    所述固定座包括底座、第一转动支座和第二转动支座，所述第一转动支座和所述第二转动支座相对地设置在所述底座上，所述底座上还设有用于与无人飞行器云台的转动装置连接的连接结构；
    所述压板的一端可转动地连接在所述第一转动支座上，所述第二转动支座上设有用于将所述压板的另一端压紧在所述第二转动支座上的卡扣结构。
  2. 根据权利要求1所述承载支架，其特征在于，所述压板为U型件，所述U型件的一端设有第一轴孔，所述U型件通过所述第一轴孔和转动轴可转动地安装在所述第一转动支座上，所述U型件的另一端设有与所述卡扣结构相配合的卡槽。
  3. 根据权利要求1所述承载支架，其特征在于，所述卡扣结构包括扣环和下拉环，所述扣环的一端可转动地连接在所述第二转动支座上，所述扣环的中部与所述下拉环的一端可转动连接，所述扣环的另一端为控制所述扣环绕所述第二转动支座转动的把手，所述下拉环的另一端用于与所述压板的另一端卡接，当所述下拉环的另一端与所述压板的另一端卡接，且所述把手位于靠近所述底板的位置时，所述下拉环将所述压板压紧在所述第二转动支座上。
  4. 根据权利要求3所述的承载支架，其特征在于，所述第二转动支座包括支座本体和从所述支座本体伸出所述底座外围的凸台，所述凸台上设有第二轴孔，所述扣环的一端通过穿过所述第二轴孔的转动轴安装在所述凸台上。
  5. 根据权利要求4所述的承载支架，其特征在于，所述扣环为U型扣环，所述U型扣环的开口的一端设有第三轴孔，所述U型扣环通过所述第三轴孔和转动轴安装在所述凸台上。
  6. 根据权利要求3所述的承载支架，其特征在于，所述扣环的中部设置有第四轴孔，所述下拉环包括横杆、连接在所述横杆两端的两连接杆、分别连接在所述两连接杆杆上的两转动杆，所述转动杆与所述横杆平行设置，所述两转动杆插于所述扣环的第四轴孔内。
  7. 根据权利要求1所述的承载支架，其特征在于，所述第二转动支座的顶部设有插槽，所述压板上还设有与所述插槽相配合的卡接部。
  8. 根据权利要求1所述的承载支架，其特征在于，所述压板的与所述底座相对的侧面上设有第一垫片。
  9. 根据权利要求1所述的承载支架，其特征在于，所述承载支架还包括第二垫片，所述第二垫片固定在所述第二转动支座上，当所述压板压在所述第二转动支座上时，所述第二垫片夹设于所述压板和所述第二转动支座之间。
  10. 根据权利要求1所述的承载支架，其特征在于，所述底座包括底板和垂直连接在 所述底板的侧边上的多块侧板，所述多块侧板首尾相连，所述连接结构设置在所述多块侧板中的一块侧板的外侧壁上，所述第一转动支座和所述第二转动支座分别设置在设有所述连接结构的侧板的相邻两侧板上。
  11. 根据权利要求10所述的承载支架，其特征在于，所述底座上设有用于与摄像装置连接的通用串行总线USB接头。
  12. 根据权利要求10所述的承载支架，其特征在于，所述底座上设有用于检测所述底座当前横滚角、俯仰角、航向角的角度和角速度的传感器。
  13. 根据权利要求1所述的承载支架，其特征在于，所述连接结构为垂直设置在所述侧板外侧壁上的圆筒结构，所述圆筒结构的侧壁上设有侧孔。
  14. 根据权利要求1所述的承载支架，其特征在于，所述固定座采用40％碳纤维增强聚邻苯二酰胺材料制成。
  15. 根据权利要求1所述的承载支架，其特征在于，所述压板采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
  16. 一种无人飞行器云台，其特征在于，所述无人飞行器云台包括：
    用于与无人飞行器机身连接的减震组件、承载支架以及可带动所述承载支架在三个方向上转动的转动装置，所述转动转置分别与所述减震组件及所述承载支架连接，所述承载支架为如权利要求1至15任一项所述的承载支架。
  17. 根据权利要求16所述的无人飞行器云台，其特征在于，所述减震组件包括与所述无人飞行器机身连接的固定架、连接在所述固定架上的减震架以及安装在所述减震架上的多个减震部件，所述减震部件设于所述转动装置和所述减震架之间。
  18. 根据权利要求17所述的无人飞行器云台，其特征在于，所述减震架包括第一连接臂和设置在所述第一连接臂上的多个第一安装架，多个所述第一安装架间隔布置在所述第一连接臂的四周，所述第一安装架为圆筒结构，所述圆筒结构的底部形成有内凸缘。
  19. 根据权利要求18所述的无人飞行器云台，其特征在于，所述减震部件由弹性材料制成。
  20. 根据权利要求19所述的无人飞行器云台，其特征在于，所述减震部件包括减震球和连接于所述减震球相反两侧的卡接结构，所述减震部件通过所述卡接结构分别与所述转动装置和所述减震架连接。
  21. 根据权利要求17所述的无人飞行器云台，其特征在于，所述固定架和所述减震架采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
  22. 根据权利要求16所述的无人飞行器云台，其特征在于，所述转动装置包括第一驱动单元、第二驱动单元和第三驱动单元，所述第一驱动单元包括与所述减震组件连接的第一连接架、安装在所述第一连接架上的第一转动组件，所述第二驱动单元包括与所述第一转动组件的输出轴连接的第二连接架、安装在所述第二连接架上的第二转动组件，所述第三驱动单元包括与所述第二转动组件的输出轴连接的第三连接架、安装在所述第三连接 架上的第三转动组件，所述第一转动组件的输出轴、第二转动组件的输出轴和第三转动组件的输出轴的轴线方向两两垂直。
  23. 根据权利要求22所述的无人飞行器云台，其特征在于，所述第一连接架包括安装壳体及设在所述安装壳体上的多个第二安装架，多个所述第二安装架间隔布置在所述安装壳体四周，所述第二安装架为圆筒结构，所述圆筒结构的底部形成有内凸缘。
  24. 根据权利要求23所述的无人飞行器云台，其特征在于，所述第一转动组件包括第一电机、第一壳体、第一电路板和第一端盖，所述第一电机固定在所述第一壳体的一侧面上，所述安装壳体和所述第一壳体固定连接形成容置空间，所述第一电路板设于所述容置空间内，所述第一电机的输出轴依次穿过所述第一壳体、所述第一电路板、所述安装壳体，所述第一端盖安装在所述安装壳体上，所述第一电机的电机轴与所述第二连接架连接，且所述第二连接架位于所述安装壳体和所述第一端盖之间。
  25. 根据权利要求23所述的无人飞行器云台，其特征在于，所述安装壳体上开设有插槽，所述第一端盖包括第一底板和弧形的第一侧壁，所述第一侧壁的一侧边与第一底部固定连接，所述第一侧壁的另一侧边设有卡舌，所述卡舌与所述插槽配合固定。
  26. 根据权利要求25所述的无人飞行器云台，其特征在于，所述安装壳体上还开设有开口，所述第一侧壁的另一侧边还设有与所述第一底板平行的安装板，所述安装板卡接于所述开口中。
  27. 根据权利要求26所述的无人飞行器云台，其特征在于，所述第一转动组件还包括卡板，所述卡板与所述安装板相邻设置在所述开口中且所述卡板与所述安装部之间设有缺口。
  28. 根据权利要求27所述的无人飞行器云台，其特征在于，所述卡板的一侧面设有走线板，所述走线板与所述第一侧壁间形成容置空间。
  29. 根据权利要求24所述的无人飞行器云台，其特征在于，所述第一电路板包括用于检测所述第一电机的电机轴的转动角度的第一电位器。
  30. 根据权利要求24所述的无人飞行器云台，其特征在于，所述第一壳体、所述第一连接架及所述第一端盖采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
  31. 根据权利要求22所述的无人飞行器云台，其特征在于，所述第二连接架包括第一主体及与所述第一主体一侧垂直连接的第二连接臂，所述第二转动组件安装在所述第一主体上，所述第二连接臂固定在所述第一转动组件的输出轴上。
  32. 根据权利要求31所述的无人飞行器云台，其特征在于，所述第二转动组件包括第二电机、第二壳体、第二电路板和第二端盖，所述第二电机固定在所述第二壳体的一侧面上，所述第一主体和所述第二壳体固定连接形成容置空间，所述第二电路板设于所述容置空间内，所述第二电机的输出轴依次穿过所述第二壳体、所述第二电路板、所述第一主体，所述第二端盖安装在所述第一主体上，所述第二电机的电机轴与所述第三连接架连接，且所述第三连接架位于所述第一主体和所述第二端盖之间，所述第二端盖与所述第二连接 臂位于所述第一主体的同一侧。
  33. 根据权利要求32所述的无人飞行器云台，其特征在于，所述第一端盖包括第二底部和弧形的第二侧壁，所述第二侧壁的一侧边与第二底部固定连接。
  34. 根据权利要求32所述的无人飞行器云台，其特征在于，所述第二电路板包括用于检测所述第二电机的电机轴的转动角度的第二电位器。
  35. 根据权利要求32所述的无人飞行器云台，其特征在于，所述第二壳体和所述第二连接架采用40％碳纤维增强聚邻苯二酰胺材料制成。
  36. 根据权利要求32所述的无人飞行器云台，其特征在于，所述第二端盖采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
  37. 根据权利要求22所述的无人飞行器云台，其特征在于，所述第三连接架包括第二主体及与所述第二主体一侧垂直连接的第三连接臂，所述第三转动组件安装在所述第二主体上，所述第三连接臂固定在所述第二转动组件的输出轴上。
  38. 根据权利要求37所述的无人飞行器云台，其特征在于，所述第三转动组件包括第三电机、第三壳体、第三电路板和第三端盖，所述第三电机固定在所述第三壳体的一侧面上，所述第二主体和所述第三壳体固定连接形成容置空间，所述第三电路板设于所述容置空间内，所述第三电机的输出轴依次穿过所述第三壳体、所述第三电路板、所述第二主体，所述第三端盖安装在所述第二主体上，所述第三电机的电机轴与所述承载支架连接，且所述第三端盖与所述第三连接臂位于所述第二主体的同一侧。
  39. 根据权利要求38所述的无人飞行器云台，其特征在于，所述第三电路板包括用于检测所述第三电机的电机轴的转动角度的第三电位器。
  40. 根据权利要求38所述的无人飞行器云台，其特征在于，所述第三壳体和所述第三连接架采用40％碳纤维增强聚邻苯二酰胺材料制成。
  41. 根据权利要求38所述的无人飞行器云台，其特征在于，所述第三端盖采用聚碳酸酯或50％玻璃纤维增强聚邻苯二酰胺材料制成。
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