WO2017206393A1 - Tête de berceau - Google Patents

Tête de berceau Download PDF

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Publication number
WO2017206393A1
WO2017206393A1 PCT/CN2016/099668 CN2016099668W WO2017206393A1 WO 2017206393 A1 WO2017206393 A1 WO 2017206393A1 CN 2016099668 W CN2016099668 W CN 2016099668W WO 2017206393 A1 WO2017206393 A1 WO 2017206393A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
connecting member
tilt head
head according
guiding
Prior art date
Application number
PCT/CN2016/099668
Other languages
English (en)
Chinese (zh)
Inventor
严欣
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 CN201680082620.1A priority Critical patent/CN108700251B/zh
Publication of WO2017206393A1 publication Critical patent/WO2017206393A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction

Definitions

  • the invention relates to a pan/tilt for supporting an electronic device.
  • Electronic devices such as mobile phones and tablet computers are increasingly used as shooting devices in combination with pan/tilt devices.
  • Electronic devices such as mobile phones or tablets are fixed to the pan/tilt head by a clamping assembly, and the general clamping assembly is a spring-stretched structure.
  • the spring stretching structure is difficult to provide sufficient clamping force when facing a small-sized electronic device, which is easy to cause the electronic device to slip and damage when used; and in the face of a larger-sized electronic device, a large external force is required. In order to complete the installation or disassembly action, it is inconvenient to use.
  • a pan/tilt head includes a clamping assembly for clamping an electronic device, the clamping assembly comprising a base, an operating member and two clamping members, the base comprising a receiving cavity a mounting shell, each of the clamping members includes a sliding plate received in the receiving cavity, the operating member is rotatably connected to the base, and the operating member includes a turntable provided with a guiding portion The rotating disk is received in the receiving cavity, and the sliding plate is provided with a guiding member matched with the guiding portion, and the two clamping members can pass through the guiding portion and the guiding member The fit is relatively close or away when the operating member is rotated to clamp or release the electronic device.
  • the guiding portion is a multi-annular continuous and equidistant guiding groove, the guiding The row member is set as a bump corresponding to the guide groove; or
  • the guiding portion is a planar convex thread, and the guiding member is correspondingly provided with an arcuate groove that cooperates with the guiding portion.
  • the guiding portion is provided as a planar concave thread.
  • the mounting shell is provided with a through hole communicating with the receiving cavity on a side adjacent to the turntable, and the operating member further includes a rotating shaft rigidly connecting the turntable, and the rotating shaft is rotatably received in the through hole hole.
  • the operating member further includes a knob rigidly connected to the rotating shaft, and the knob is disposed outside the mounting shell.
  • knob and the rotating shaft are one of a threaded connection, a pin fit, an interference fit or a unitary structure.
  • the periphery of the knob is provided with a non-slip structure.
  • the anti-slip structure is a stripe structure or a bump structure.
  • the end of the rotating shaft is provided with a screw hole, and the turntable is screwed to the screw hole through the screw member and connected to the rotating shaft;
  • the turntable and the rotating shaft are one of a screw connection, a pin fit, an interference fit or a unitary structure.
  • the base further includes a lands connected to the mounting case, the lands being used to connect the clamping assembly to the outside.
  • the base is substantially L-shaped
  • the connecting plate is substantially perpendicularly connected to the mounting case
  • the connecting plate is away from the side of the mounting case for connecting the clamping assembly to the outside.
  • a side of the connecting disc adjacent to the mounting shell is provided with a latching portion for assisting in fixing the electronic device.
  • the holding portion is disposed in a U-shaped groove structure extending in a direction parallel to the mounting shell;
  • the catch is provided as a magnet or an elastic memory structure.
  • each of the clamping members includes a card plate connected to the sliding plate and disposed outside the mounting shell, and the card board is configured as a U-shaped groove structure, and is provided with a U-shaped card slot.
  • the card slot is for holding an electronic device.
  • the sliding plate is formed by extending a middle portion of one side edge of the card board, and the guiding member is disposed at a side of the sliding plate facing away from the card board.
  • the mounting shell is provided with a buffer layer made of rubber or foam on the side facing away from the guide member.
  • a cushion pad made of rubber or foam is disposed in the card slot.
  • the housing is provided with two sliding grooves around the receiving cavity, and the sliding plate of the clamping member is slidable relative to the sliding groove.
  • the pan/tilt further includes a connection assembly that connects the clamping assembly and the support mechanism, and the connection assembly is capable of adjusting an orientation of the clamping assembly.
  • connection assembly includes a connector that rotatably connects the clamping assembly and the support mechanism.
  • the connecting member is disposed as a first connecting member and a second connecting member connected to each other, the first connecting member is rotatable relative to the second connecting member, and the second connecting member is rotatably connected to a support mechanism, the clamping assembly being rotatably coupled to the first connector.
  • a direction in which the second connecting member rotates relative to the supporting mechanism is along a YAW axis of the pan/tilt
  • a direction in which the first connecting member rotates relative to the second connecting member along a ROLL axis of the pan/tilt head a direction in which the clamping assembly rotates relative to the first connector along a PITCH axis of the pan/tilt
  • the pan/tilt head further includes a first driving component, a second driving component, and a third driving component, wherein a stator portion of the first driving component is fixedly disposed on the first connecting component, the first a rotor portion of the driving element is coupled to the clamping assembly, the first driving element is configured to drive the clamping assembly to rotate relative to the first connecting member; a stator portion of the second driving element is fixedly disposed at the a second connecting member, the rotor portion of the second driving member is coupled to the first connecting member, and the second driving member is configured to drive the first connecting member to rotate relative to the second connecting member
  • the stator portion of the third driving element can be disposed on a support mechanism, the rotor portion of the third driving element is coupled to the second connecting member, and the third driving member is configured to drive the second connecting member Rotate relative to the support mechanism.
  • the pan/tilt further includes a controller for controlling the first driving element, the second driving element, and the third driving element to control the clamping assembly, the first The connector and the second connector rotate.
  • the clamping assembly of the present invention is provided with a guiding portion on the turntable, and the guiding member is correspondingly provided with a guiding member that cooperates with the guiding portion, and the rotating of the operating dial can drive the clamping member relatively close to or away from each other. Conveniently clamp and release electronic devices.
  • FIG. 1 is a schematic diagram of a cloud platform provided by an embodiment of the present invention, the cloud platform including a clamping assembly.
  • FIG. 2 is a schematic view of the clamping assembly of FIG. 1.
  • Figure 3 is a cross-sectional view taken along line III-III of Figure 2;
  • Figure 4 is a cross-sectional view taken along line IV-IV of Figure 2;
  • FIG. 5 is a schematic diagram of a use state of a pan/tilt head according to an embodiment of the present invention.
  • First connector 201 Second connector 202 First drive element 203 Second drive element 204
  • Third drive component 205 Clamping component 100 Pedestal 10 Land 12 Holder 121 Mounting shell 14 Extension board 141 case 142 Through hole 1421 Containing space 1423 Sliding slot 1424 The front cover 143
  • Operating part 20 Knob twenty one Anti-skid structure 212 Turntable twenty three Plane thread 231
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides a pan/tilt 300 that includes a connection assembly 200 and a clamping assembly 100 that connects the clamping assembly 100 and a support mechanism (not shown), for example.
  • a handle, a telescopic rod, a tripod, etc., the clamping assembly 100 is used to hold an electronic device 400 (see FIG. 5) such as a cell phone, a tablet, or the like.
  • connection assembly 200 can adjust the orientation of the clamping assembly 100 to further adjust the orientation of the electronic device 400, and/or the connection assembly 200 can compensate for the vibration received by the electronic device 400 by rotation, thereby stabilizing the electronic device.
  • the role of 400 400.
  • the connection assembly 200 includes a connector.
  • the connection assembly 200 includes a first connector 201 and a second connector 202 that are connected to each other, and the first connector 201 can be opposite to the first connector 201.
  • the second connecting member 202 rotates.
  • the second connector 202 is rotatably coupled to a support mechanism, such as a handle, a fuselage of the drone, or the like.
  • the clamping assembly 100 is rotatably coupled to the first connector 201.
  • the connection assembly 200 includes one connector, and the two ends of the connector are rotatably coupled to the support mechanism and the clamp assembly 100, respectively.
  • the connection assembly 200 further includes a first driving element 203, a second driving element 204, and a third driving element 205.
  • the stator portion of the first driving element 203 is fixedly disposed on the first connecting member 201, and the rotor portion of the first driving component 203 is connected to the clamping assembly 100, and the first driving component 203 is used.
  • the stator portion of the second driving member 204 is fixedly disposed on the second connecting member 202, and the second driving member 204 is Rotor section Connected to the first connecting member 201, the second driving element 204 is configured to drive the first connecting member 201 to rotate relative to the second connecting member 202;
  • the stator portion of the third driving member 205 is fixed Provided on the support mechanism, and the rotor portion of the third driving member 205 is coupled to the second connecting member 202, and the third driving member 205 is configured to drive the second connecting member 202 to rotate relative to the supporting mechanism.
  • the stator portion of the third driving element 205 is detachably coupled to the support mechanism.
  • the direction in which the clamping assembly 100 rotates relative to the first connecting member 201 is along the PITCH axis of the platform 300.
  • the pan/tilt head 300 may further include a controller (not shown) for controlling the first driving component 203, the second driving component 204, and the third driving component 205 to control the clip
  • the holding assembly 100, the first connecting member 201 and the second connecting member 202 are rotated, thereby achieving the purpose of adjusting the position, orientation and stabilizing the electronic device of the clamping assembly 100.
  • the clamping assembly 100 includes a base 10 , an operating member 20 , and a clamping member 30 .
  • the base 10 is coupled to the connection assembly 200.
  • the operating member 20 and the clamping member 30 are mounted to the base 10, and the operating member 20 can control the clamping member 30 to clamp or release the electronic device 400.
  • the base 10 includes a lands 12 and a mounting shell 14 that interfaces with the lands 12.
  • the lands 12 are used to connect the clamping assembly 10 to the outside.
  • the lands 12 are rotatably coupled to the first connector 201 of the connection assembly 200.
  • the mounting shell 14 is used to mount the operating member 20 and the clamping member 30.
  • the base 10 has a substantially L shape, and the lands 12 are substantially perpendicularly connected to the mounting case 14.
  • the end of the lands 12 away from the mounting shell 14 can be rotatably connected to the first connecting member 201, that is, the stator portion of the second driving member 204
  • the first connecting member 201 is mounted away from one end of the second connecting member 202, and the rotor portion of the second driving member 204 is mounted to the clamping assembly 100.
  • the ferrule 12 is provided with a latching portion 121 on the side of the mounting shell 14 for assisting in fixing the electronic device 400.
  • the holding portion 121 is provided in a U-shaped groove structure extending in a direction parallel to the surface of the mounting case 14.
  • the holding portion 121 may be omitted, and the structure may be changed, for example, a magnet or an elastic memory structure.
  • the mounting shell 14 includes an extension plate 141, a housing 142, and a front cover 143.
  • the extension plate 141 is connected to the lands 12.
  • the housing 142 is formed by extending an end of the extension plate 141 toward a side adjacent to the connecting plate 12 , and a central portion of the housing 142 defines a through hole 1421 along the extending direction. .
  • the outer edge of the housing 142 has an expanded step shape along the extending direction, and a receiving space 1423 perpendicular to the through hole 1421 is disposed on a side away from the extending plate 141.
  • the housing 142 is provided with a sliding groove 1424 around the receiving space 1423. Specifically, the housing 142 is opened away from the side edge of the extension plate 141 (not shown), and the housing 142 can be covered by the front cover 143.
  • the notch can be The front cover 143 is closed to form a closed sliding groove 1424.
  • the number of the sliding grooves 1424 is two, and the two sliding grooves 1424 are symmetrically disposed with respect to the center line of the casing 142. It can be understood that in other embodiments, the side edge of the housing 142 can also directly open the sliding slot 1424.
  • the front cover 143 can be covered by the housing 142.
  • the front cover 143 is provided with a buffer layer 1431 facing away from the side of the housing 142.
  • the buffer layer 1431 may be made of rubber or a foam material.
  • the operating member 20 includes a knob 21, a turntable 23, and a rotating shaft 24 connecting the knob 21 and the turntable 23.
  • the knob 21 is rigidly connected to the rotating shaft 24.
  • the knob 21 and the rotating shaft 24 are screwed, latched, interference fit or integrated structure.
  • the turntable 23 is rigidly connectable to the rotating shaft 24.
  • the end of the rotating shaft 24 away from the knob 21 is provided with a screw hole 241 through which a screw member 25 can be screwed to the screw hole 241 to make the turntable 23 and the rotating shaft 24 rigid connection.
  • the screw member 25 and the screw hole 241 can be omitted, and the turntable 23 and the rotating shaft 24 are one of a screw connection, a pin fit, an interference fit or a unitary structure.
  • the knob 21 is disposed outside the extension plate 141.
  • the rotating shaft 24 is received in the through hole 1421 of the casing 142 .
  • the turntable 23 is received in the receiving space 1423 of the housing 142.
  • the periphery of the knob 21 is provided with a non-slip structure 212, such as a stripe structure and a bump structure.
  • the turntable 23 is provided with a guiding portion on the outer side surface.
  • the guiding portion is a plurality of annular continuous and equidistant guiding grooves.
  • the guiding groove is a planar thread 231.
  • the planar thread 231 is a female thread.
  • the number of the holding members 30 is set to two, and each of the holding members 30 includes a card board 31 and a sliding board 32.
  • the card plate 31 is provided in a U-shaped groove structure, and is provided with a U-shaped card slot 310 formed by extending a central portion of one side edge of the card plate 31.
  • a cushion 312 is disposed in the card slot 310, and the cushion 312 may be made of rubber or foam material.
  • a guide member matching the guide portion is disposed in a middle portion of the sliding plate 32 away from the side of the card plate 31.
  • the guide member is a protrusion 321 .
  • the protrusion 321 has a substantially circular arc shape in cross section.
  • the two clamping members 30 are symmetrically disposed to cooperate with the turntable 23, and the two protrusions 321 are respectively received in the planar thread 231. Two of the protrusions 321 are in contact with the wall of the planar thread 231, and the contact angle thereof is smaller than the friction angle.
  • the rotation of the turntable 23 can drive the clamping member 30 to move, and the clamping member 30 cannot be pushed against The turntable 23 is rotated.
  • the card plates 31 of the two holding members 30 are facing away from the turntable 23, and the two card plates 31 are perpendicular to the connecting plate 12.
  • the front cover 143 is closed to the housing 142.
  • the receiving space 1434 of the front cover 143 accommodates the two sliding plates 32, and the two sliding grooves 1435 of the front cover 143 are slid by the two.
  • the plates 32 pass through respectively.
  • the knob 21 is rotated to drive the turntable 23 to rotate, so that the two clamping members 30 are opened to an appropriate position.
  • the back side of the electronic device 400 is placed against the buffer layer 1431, and the two sides are disposed between the card slots 310 of the two clamping members 30, and the other side is abutted against the holding portion 121.
  • the knob 21 is rotated in the opposite direction to drive the turntable 23 to rotate in the opposite direction, so that the two clamping members 30 are relatively close until the cushions 312 of the two clamping members 30 are deformed.
  • the positions of the two holding members 30 are fixed, and the electronic device 400 is firmly clamped, and the pan/tilt 300 holding the electronic device 400 can be further used.
  • connecting assembly 200 can be omitted, and the connecting disc of the clamping assembly 100 is directly connected to the supporting mechanism.
  • the lands 12 can be omitted, and the mounting shell 14 of the clamping assembly 100 is directly connected to the connecting assembly 200 or directly connected to the supporting mechanism.
  • the holding portion 121 can be omitted, and the electronic device 400 only has the clamping member 30 fixed.
  • buffer layer 1431 can be omitted.
  • the guiding portion can be provided as a male thread, and the guiding member is provided with an arcuate groove that cooperates with the guiding portion.
  • housing 142 and the front cover 143 are a unitary structure.
  • the clamping assembly 100 adopts a turntable 23 provided with a guiding portion, and a guiding member is correspondingly disposed on the clamping member.
  • a guiding member is correspondingly disposed on the clamping member.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Accessories Of Cameras (AREA)
  • Casings For Electric Apparatus (AREA)
  • Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
  • Clamps And Clips (AREA)

Abstract

L'invention concerne une tête de berceau (33) comprenant un composant de serrage (100), le composant de serrage (100) étant conçu de manière à serrer un dispositif électronique (400) et comprenant une base (10), un élément d'actionnement (20) et deux éléments de serrage (30). La base (10) comprend une coque de montage (14) comportant une cavité de réception ; chaque élément de serrage (30) comprend une plaque coulissante (32) reçue dans la cavité de réception ; l'élément d'actionnement (20) est relié à la base (10) de manière rotative ; l'élément d'actionnement (20) comprend un plateau tournant (23) comportant une partie de guidage, le plateau tournant (23) étant reçu dans la cavité de réception, chaque plaque coulissante (32) comportant un élément de guidage correspondant à la partie de guidage ; les deux éléments de serrage (30) sont aptes, par l'intermédiaire d'une coopération de la partie de guidage et des éléments de guidage, à se rapprocher l'un de l'autre ou à s'éloigner l'un de l'autre de manière à serrer ou libérer le dispositif électronique (400) lorsque l'élément d'actionnement (20) tourne. La tête de berceau est de structure simple et pratique à utiliser parce que le plateau tournant (23) amène les éléments de serrage (30) à se rapprocher ou s'éloigner l'un de l'autre.
PCT/CN2016/099668 2016-05-30 2016-09-22 Tête de berceau WO2017206393A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201680082620.1A CN108700251B (zh) 2016-05-30 2016-09-22 云台

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201620506289.9 2016-05-30
CN201620506289.9U CN205781793U (zh) 2016-05-30 2016-05-30 云台

Publications (1)

Publication Number Publication Date
WO2017206393A1 true WO2017206393A1 (fr) 2017-12-07

Family

ID=59980198

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/099668 WO2017206393A1 (fr) 2016-05-30 2016-09-22 Tête de berceau

Country Status (2)

Country Link
CN (2) CN205781793U (fr)
WO (1) WO2017206393A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108426157A (zh) * 2018-04-28 2018-08-21 广东思锐光学股份有限公司 手持云台及其夹持机构
CN109250137A (zh) * 2018-10-29 2019-01-22 上海拓攻航空科技有限公司 一种云台快拆结构及含其的无人机
CN115307011A (zh) * 2022-10-10 2022-11-08 天津七一二移动通信有限公司 一种用于铁路通信模块的固定装置及使用方法

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CN106696846B (zh) * 2016-12-28 2019-02-05 常州信息职业技术学院 电子设备
CN106851438A (zh) * 2017-02-21 2017-06-13 安徽中瑞通信科技股份有限公司 一种无线控制器防护座
CN106678506B (zh) * 2017-02-28 2023-06-23 深圳市越疆科技股份有限公司 摄像增稳固定装置
CN107606404A (zh) * 2017-09-14 2018-01-19 南京宝丽晶电子科技有限公司 一种平板显示屏夹持组件
CN207334144U (zh) * 2017-09-19 2018-05-08 深圳市大疆创新科技有限公司 连接夹具
CN107877532A (zh) * 2017-12-10 2018-04-06 无锡特恒科技有限公司 用于夹持柔性物料的搬运装置
CN108361532B (zh) * 2018-01-25 2020-03-24 国网浙江省电力公司丽水供电公司 手持式抄表辅助装置
CN108791924B (zh) * 2018-06-04 2024-02-13 广州市华科尔科技股份有限公司 一种油电混动无人机云台组件
CN111656079A (zh) * 2019-06-27 2020-09-11 深圳市大疆创新科技有限公司 手持设备
WO2022040943A1 (fr) * 2020-08-25 2022-03-03 深圳市大疆创新科技有限公司 Structure de serrage, dispositif cardan et plateforme mobile

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CN101116914A (zh) * 2006-07-31 2008-02-06 Smc株式会社 夹具设备
EP2416049A2 (fr) * 2010-08-02 2012-02-08 Ming-Hsien Huang Dispositif de support
CN203836503U (zh) * 2014-03-03 2014-09-17 深圳市大疆创新科技有限公司 一种负载的夹具及云台
CN204962188U (zh) * 2015-07-02 2016-01-13 深圳市大疆创新科技有限公司 夹持结构及具有所述夹持结构的可移动平台
CN205173931U (zh) * 2015-12-07 2016-04-20 深圳市帝翼飞科技有限公司 一种新型两用可调节重心的手持三轴增稳云台

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
CN101116914A (zh) * 2006-07-31 2008-02-06 Smc株式会社 夹具设备
EP2416049A2 (fr) * 2010-08-02 2012-02-08 Ming-Hsien Huang Dispositif de support
CN203836503U (zh) * 2014-03-03 2014-09-17 深圳市大疆创新科技有限公司 一种负载的夹具及云台
CN204962188U (zh) * 2015-07-02 2016-01-13 深圳市大疆创新科技有限公司 夹持结构及具有所述夹持结构的可移动平台
CN205173931U (zh) * 2015-12-07 2016-04-20 深圳市帝翼飞科技有限公司 一种新型两用可调节重心的手持三轴增稳云台

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108426157A (zh) * 2018-04-28 2018-08-21 广东思锐光学股份有限公司 手持云台及其夹持机构
CN109250137A (zh) * 2018-10-29 2019-01-22 上海拓攻航空科技有限公司 一种云台快拆结构及含其的无人机
CN115307011A (zh) * 2022-10-10 2022-11-08 天津七一二移动通信有限公司 一种用于铁路通信模块的固定装置及使用方法
CN115307011B (zh) * 2022-10-10 2023-02-28 天津七一二移动通信有限公司 一种用于铁路通信模块的固定装置及使用方法

Also Published As

Publication number Publication date
CN108700251A (zh) 2018-10-23
CN205781793U (zh) 2016-12-07
CN108700251B (zh) 2020-10-13

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