WO2018018634A1 - Tête de berceau et véhicule aérien sans pilote comprenant cette dernière - Google Patents

Tête de berceau et véhicule aérien sans pilote comprenant cette dernière Download PDF

Info

Publication number
WO2018018634A1
WO2018018634A1 PCT/CN2016/092426 CN2016092426W WO2018018634A1 WO 2018018634 A1 WO2018018634 A1 WO 2018018634A1 CN 2016092426 W CN2016092426 W CN 2016092426W WO 2018018634 A1 WO2018018634 A1 WO 2018018634A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
connecting member
driving member
driving
pan
Prior art date
Application number
PCT/CN2016/092426
Other languages
English (en)
Chinese (zh)
Inventor
廖然
刘浩
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2016/092426 priority Critical patent/WO2018018634A1/fr
Priority to CN201680012470.7A priority patent/CN107624099B/zh
Priority to CN202110041479.3A priority patent/CN112623246A/zh
Publication of WO2018018634A1 publication Critical patent/WO2018018634A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the field of cloud platform technology, in particular to a miniaturized cloud platform and a drone with the same.
  • drones such as unmanned aerial vehicles
  • a module such as a camera or a camera.
  • the gimbal itself also includes a driving component, a control panel and the like.
  • the above modules are usually connected by a plurality of connecting cables. Electrical connection to achieve signal connection between various functional modules.
  • the cable for connecting the driving member and the control board is usually disposed in the casing of the driving member. Due to the small space of the wiring, the driving member drives the bracket to be subjected to a large resistance during the rotation, which affects the use of the platform.
  • a pan/tilt head includes a bracket assembly, a function module, a control panel, and a connection structure, wherein the function module is disposed on the bracket assembly, the function module includes a driving component, and the control panel is disposed on the
  • the connecting structure electrically connects the control board and the driving member, the connecting structure includes a bending portion corresponding to the driving member, and the bending portion is disposed on the driving portion
  • the outer portion is located between the bracket assembly and the driving member for providing a movement allowance for the connecting structure to rotate with the driving member.
  • the bracket assembly includes a first bracket and a second bracket connected to the first bracket, the driving component includes a first driving component, and the first driving component is coupled to the first bracket and the Between the second brackets, the first driving member is configured to drive the second bracket to rotate about the first axis, and the connecting structure is electrically connected between the first driving member and the control board, the bending The portion is located outside the first driving member and disposed adjacent to the first bracket and/or the second bracket.
  • the first axis is a heading axis of the pan/tilt head.
  • the bracket assembly further includes a third bracket
  • the function module further includes a second driving component
  • the second driving component is connected between the second bracket and the third bracket
  • the first The second driving member is configured to drive the third bracket to rotate about the second axis
  • the connecting structure is electrically connected to the second driving member.
  • the second axis is perpendicular to the first axis.
  • the second axis is a roll axis of the pan/tilt head.
  • connection structure includes a trunk, a first branch, and a second branch, wherein the first branch and the second branch are formed by extending the trunk, and the trunk is away from the first branch and the second One end of the branch is electrically connected to the control board, the first branch is electrically connected to the first driving member, and the second branch is electrically connected to the second driving member.
  • a branch point extending from the first branch on the trunk is a first branch point
  • a branch point extending from the second branch on the trunk is a second branch point
  • the trunk A bent portion is formed from a portion of the first branch point and the second branch point, the bent portion being located between the first driving member and the second driving member.
  • the connecting structure further includes a third branch formed by the extension of the trunk
  • the functional module further includes a third driving component, wherein the third driving component is connected to the third bracket away from the first One end of the two brackets, the third branch is electrically connected to the third driving member.
  • the third branch is bent between the first driving member and the third driving member to form a curved portion.
  • the third branch portion is attached to the outer circumference of the third bracket.
  • the function module further includes a photographing device, wherein the photographing device is mounted on the third driving member, and the third driving member is configured to drive the photographing device to rotate about a third axis.
  • the third axis, the second axis and the first axis are perpendicular to each other.
  • the third axis is a pitch axis of the pan/tilt.
  • bracket assembly is arranged from the innermost side to the outer side in a roll-pitch-heading direction, and the innermost side is a side directly connected to the photographing device by the bracket assembly.
  • the connecting structure includes a first connecting member and a second connecting member, the first connecting member is electrically connected between the first driving member and the control board, and the second connecting member is connected to the Between the second driving member and the control board, the first connecting member is disposed separately from the second connecting member.
  • the pan/tilt head includes a photographing device
  • the connecting structure includes a first connecting member and a second connecting member that are separately disposed, the first connecting member electrically connecting the control board and the driving member,
  • the photographing device is coupled to the bracket assembly, and the second connector is coupled between the photographing device and the control panel.
  • the first connector is made of a flexible circuit board.
  • the second connecting member is made of a coaxial wire.
  • the bracket assembly includes a first bracket and a second bracket that are rotatably connected in sequence, and the driving component is connected between the first bracket and the second bracket, and the first bracket forms a limiting convex
  • the second connecting member is disposed through the limiting rib.
  • the second bracket includes a connecting portion and a rotating connecting portion formed by bending and extending from the connecting portion, the driving member is connected between the first bracket and the connecting portion, and the connecting portion is
  • the rotating connecting portion is a hollow structure, the connecting portion is in communication with the rotating connecting portion, and the second connecting member is disposed through the connecting portion and the rotating connecting portion.
  • the bracket assembly further includes a third bracket, the third bracket is rotatably coupled to the second bracket, the third bracket is convexly formed to form a limiting rib, and the second connecting member is disposed through a limiting rib of the third bracket.
  • the bracket assembly includes a second bracket and a third bracket that are rotatably connected, the driving component includes a second driving component and a third driving component, and the second driving component is configured to drive the second bracket to rotate,
  • the third bracket is connected between the second driving component and the third driving component
  • the connecting structure includes a second connecting component and a third connecting component, and the second connecting component is electrically connected to the first connecting component
  • the connecting structure comprises a first junction and a second junction.
  • the second connecting member and the third connecting member are connected together at the first junction, and the second connecting member and the third connecting member are connected at the second meeting, the first A confluence is disposed adjacent to the control panel, and the second junction is disposed adjacent to the second bracket.
  • the second connecting member and the third connecting member are bent to form a curved portion corresponding to the driving member between the first meeting portion and the second meeting portion.
  • the second connecting member from the first junction to the second junction is overlapped with the third connecting member.
  • the second connecting member of the second junction and the third connecting member are connected to the second bracket.
  • the second bracket includes a connecting portion and a rotating connecting portion formed by bending and extending from the connecting portion, the outer side wall of the connecting portion protrudes to form a boss, and the second connecting portion of the second joint
  • the third connecting member is coupled to the boss.
  • a through hole is formed in the rotating connecting portion, and the second connecting member extends from the second meeting portion and penetrates the through hole on the rotating connecting portion and the second driving member connection.
  • the function module further includes a photographing device, the photographing device is mounted on the third driving member, the connecting structure further includes the fourth connecting member, and the fourth connecting member is connected to the Between the camera device and the corresponding control module of the control board.
  • the fourth connecting member is connected to the second connecting member and the third connecting member at the first junction, and the fourth connecting member is at the second meeting and the second connecting portion The second connector and the third connector are connected together.
  • third connecting member and the fourth connecting member are bent between the second junction and the third bracket to form a curved portion.
  • connection member the third connection member and the fourth connection member of the first junction to the second junction are overlapped.
  • connection structure further includes a fourth junction, the fourth junction is disposed adjacent to the third bracket and the second driving member, and the third connecting member and the fourth connecting member are disposed at The fourth junction is connected together, and the third connector and the fourth connector extend from the second junction to the fourth junction.
  • the third bracket includes a first mounting portion and a second mounting portion connected to the first mounting portion, and the first mounting portion passes the second driving member and the second mounting portion
  • the brackets are connected to each other, and the third driving component is mounted on the second mounting portion.
  • third connecting member and the fourth connecting member of the second junction to the fourth junction are attached to the outer peripheral wall of the first mounting portion.
  • the second mounting portion penetrates through the through hole
  • the third connecting member extends from the fourth junction and passes through the through hole on the second mounting portion to Three drive parts are connected.
  • first mounting portion forms a table portion adjacent to the through hole of the second mounting portion, and the fourth meeting portion is disposed adjacent to the table portion.
  • the function module includes a photographing device mounted on the driving member, the driving member includes a body and a cover portion, the cover portion is mounted on the body, and the connecting structure is connected to Between the third driving member and the control board, and between the photographing device and the control board.
  • the cover portion protrudes from a guiding portion, the guiding portion protrudes to a side portion of the table portion, the guiding portion is spaced apart from the table portion and forms a gap, and the connecting structure is disposed through The gap.
  • the photographing device includes a base body and a guide plate, the guide plate is fixedly connected to one side of the base body, and the guide plate is spaced apart from the base body to form a connection structure capable of passing through the connection structure
  • the connecting structure is connected to the functional module through the channel.
  • the connecting structure includes at least two connecting members, each of which includes a main body portion and an end portion provided at an end portion of the main body portion.
  • main body portion is a coaxial line.
  • the main body portion is a flexible circuit board.
  • the tip is a flexible circuit board connector.
  • end is a coaxial connector.
  • control module of the driving member is integrated on the control board.
  • control module of the driving member is disposed on the driving member.
  • a drone includes a body and a pan/tilt as described above, the pan/tilt being mounted to the body.
  • the present invention provides a cloud platform and a drone having the same, the connection structure including a bending portion corresponding to the driving member, the bending portion being disposed on the driving member and the a free space of the bracket assembly for providing the connecting structure with a motion margin that rotates with the driving member, and the bending portion provides a motion margin to prevent the connecting structure from rotating along with the driving member
  • a tight condition occurs in the process, which in turn can reduce the resistance of the driving member when rotating around the respective axes, and also avoid the problem that the connecting structure is damaged due to the tension.
  • FIG. 1 is a schematic perspective view of a drone according to a first embodiment of the present invention.
  • FIG. 2 is a perspective view of a gimbal according to a first embodiment of the present invention.
  • FIG. 3 is another perspective view of the pan/tilt of FIG. 2.
  • FIG. 4 is a perspective view of the gimbal removal connection structure of FIG. 2.
  • Fig. 5 is a schematic diagram showing the functional modules of the unmanned aerial vehicle according to the first embodiment of the present invention.
  • Fig. 6 is a schematic view showing a connection structure of the pan/tilt of Fig. 2;
  • FIG. 7 is a schematic perspective view of a pan/tilt head according to a second embodiment of the present invention.
  • FIG. 8 is another perspective view of the pan/tilt of FIG. 7.
  • Figure 9 is a schematic illustration of the first connector of the pan/tilt of Figure 7.
  • Fig. 10 is a schematic diagram showing the functional modules of the unmanned aerial vehicle according to the second embodiment of the present invention.
  • a drone 400 includes a body 200 and a platform 100 mounted on the body 200 .
  • the drone 400 may include some necessary or auxiliary structures, such as a power source, a sensor, etc., for the sake of space saving, no further description is provided herein.
  • the drone 400 is an unmanned aerial vehicle.
  • the drone 400 may be an unmanned vehicle such as an unmanned ship or an unmanned vehicle.
  • the drone 400 is a quadrotor, ie, an aircraft having four rotor assemblies 404. It can be understood that the drone 400 can also be a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, etc., and even the drone 400 can be a single-rotor aircraft; in addition, in other embodiments, the The drone 400 can be a fixed wing aircraft, or a fixed wing-rotor hybrid aircraft.
  • the body 200 includes a body 201 and a stand 203 connected to the body 201.
  • the body 201 is a main supporting and receiving structure of the drone 400, for example, supporting or accommodating a rotor assembly 404, an antenna assembly (not shown), a sensor (not shown), and the like, and a circuit board (not shown) Structures or modules such as inertial measurer (IMU), flight control module (not shown), and sensor (not shown).
  • IMU inertial measurer
  • the body 201 may have different shapes, such as square, polygonal, streamlined, and other regular or irregular shapes.
  • the stand 203 provides support when the drone 400 is landing.
  • the stand 203 is fixedly connected with respect to the body 201; in another embodiment, the connection angle between the stand 203 and the body 201 can be adjusted; The angle of connection of a portion of the stand 203 relative to the other portion is adjustable.
  • the platform 100 includes a control board 500, a support base 10, a bracket assembly 30 connected to the support base 10, a function module 50 disposed on the bracket assembly 30, and a connection structure 70 (shown in FIG. 6). .
  • the control board 500 is disposed outside the support base 10 , the bracket assembly 30 , and the function module 50 .
  • the control board 500 is mounted on the body 200, and the control board 500 can adjust parameters such as steering, rotation speed, and the like of the platform 100.
  • the control board 500 includes a plurality of function control modules 503.
  • the plurality of control modules 503 includes a first control module 5031, a second control module 5033, a third control module 5035, and a fourth control module 5037, wherein the first control module 5031 is disposed adjacent to a side edge of the control board 500.
  • the fourth control module 5037 is disposed adjacent to the other side edge of the control board 500.
  • the second control module 5033 is disposed adjacent to the third control module 5035 and disposed between the first control module 5031 and the fourth control module 5037.
  • the second control module 5033 is adjacent to the first control module 5031, and the third control module 5035 is adjacent to the fourth control module 5037.
  • the support base 10 includes a seat body 11 and a damper ball 13 mounted on the base body 11.
  • the base 11 is substantially in the shape of a frame.
  • the base 11 is coupled to the body 201 for supporting the bracket assembly 30 and the functional module 50 disposed on the bracket assembly 30.
  • the damper ball 13 is coupled to the body 201.
  • the damper ball 13 is made of an elastic material to form an elastic connection between the body 201 and the seat body 11, thereby buffering the vibration from the body 201 received by the platform 100.
  • the vibration of the body 201 caused by the propeller operation, the air flow, the aircraft lifting, and the like.
  • an elastic member may also be disposed on the damper ball 13 to buffer the vibration from the body 201 received by the platform 100.
  • the bracket assembly 30 includes a first bracket 31 , a second bracket 33 , and a third bracket 35 .
  • the first bracket 31 is substantially perpendicular to one end of the base body 11.
  • the first bracket 31 has a substantially plate shape, and a through hole 313 is defined in the first bracket 31.
  • the second bracket 33 is rotatably coupled to the first bracket 31.
  • the second bracket 33 includes a connecting portion 331 and a rotating connecting portion 333 fixedly connected to the connecting portion 331 .
  • the connecting portion 331 has a substantially ring shape and is rotatably connected to the first bracket 31.
  • the outer side wall of the connecting portion 331 is convexly formed with a boss 337 (as shown in FIGS. 3 and 4).
  • the rotation connecting portion 333 is substantially in the shape of a bent piece, and is formed by bending and extending the edge of the connecting portion 331.
  • the through hole 339 is formed through the rotation connecting portion 333.
  • the through hole 339 is disposed adjacent to the boss 337.
  • the third bracket 35 is rotatably connected to the rotating connecting portion 333 , and includes a first mounting portion 351 and a second mounting portion 353 .
  • the first mounting portion 351 is rotatably coupled to the rotational connection portion 333.
  • the first mounting portion 351 has a substantially annular shape, and a land portion 357 is formed on an outer peripheral wall thereof (as shown in FIG. 4).
  • the second mounting portion 353 is formed by bending and extending one end of the first mounting portion 351, and a through hole 358 is formed in the upper portion of the first mounting portion 357 (as shown in FIG. 4).
  • the function module 50 includes a first driving member 51, a second driving member 53, a third driving member 55, and a photographing device 57.
  • the first driving member 51 is disposed at an end of the first bracket 31 away from the supporting base 10 and connected to the connecting portion 331 .
  • the second driving member 53 is mounted on the rotating connecting portion 333 .
  • the first driving unit 351 is connected to the first mounting portion 351, and the third driving unit 55 is mounted on the second mounting portion 353 and connected to the imaging device 57.
  • the first driving member 51, the second driving member 53, and the third driving member 55 are driving motors such as a brushless motor.
  • the first driving member 51 is mounted on the first bracket 31 and connected to the connecting portion 331 of the second bracket 33 for driving the second bracket 33 to rotate about the first axis ⁇ . (rotating in a pitch direction); the second driving member 53 is mounted on the rotating connecting portion 333 and connected to the first mounting portion 351 of the third bracket 35 for driving the first The three brackets 35 are rotated about the second axis ⁇ (rotating in the yaw direction).
  • the third driving member 55 is mounted on the second mounting portion 353 of the third bracket 35 for driving the photographing device 57 to rotate around the third axis ⁇ (rotating in a roll direction) .
  • the arrangement of the bracket assembly 30 from the innermost side to the outer side is a roll-pitch-yaw, and the innermost side is a side directly connected to the photographing device 57. It can be understood that the arrangement of the bracket assemblies 30 can also be in other arrangements.
  • the imaging device 57 is a digital camera.
  • the imaging device 57 is located below the second driving member 53.
  • the first driving member 51 has a first abutting portion 511, the first abutting portion 511 is disposed adjacent to the through hole 313, and the second driving member 53 has a second abutting portion. 531.
  • the second docking portion 531 is disposed adjacent to the through hole 339.
  • the third driving member 55 includes a body 551 , a cover portion 553 disposed on the body 551 , and a guiding portion 557 protruding from the cover portion 553 .
  • the body 551 has a third abutting portion 558.
  • the third abutting portion 558 is disposed adjacent to the through hole 358, and the guiding portion 557 is substantially in a sheet shape, and the guiding portion 557 is protruded from the cover portion 553 to a side portion of the table portion 357.
  • the guide portion 557 is spaced apart from the table portion 357 and forms a gap.
  • the imaging device 57 has a fourth docking portion 577.
  • the connection structure 70 includes a plurality of connectors 71.
  • Each of the connecting members 71 includes a main body portion 711 and a tip end 713 provided at both ends of the main body portion 711.
  • the plurality of connecting members 71 include a first connecting member 73, a second connecting member 75, a third connecting member 77, and a fourth connecting member 79.
  • One end 713 of the first connecting member 73 is coupled to the first control module 5031, and the other end 713 of the first connecting member 73 passes through the through hole 313 and is connected to the first interface
  • the end portion 713 of the second connecting member 75 is mated with the second control module 5033, and the other end 713 of the second connecting member 75 passes through the through hole 339 and
  • the second abutting portion 531 is matingly connected;
  • one end 713 of the third connecting member 77 is cooperatively coupled to the third control module 5035, and the other end 713 of the third connecting member 77 passes through the a through hole 358 connected to the third abutting portion 558;
  • one end 713 of the fourth connecting member 79 is matingly coupled to the fourth control module 5037, and the other end of the fourth connecting member 79 713 is connected to the fourth docking portion 577.
  • the connecting member 71 is a cable made of a flexible circuit board. It can be understood that the main body portion 711 of the connecting member 71 can be a coaxial line, and the end 713 of the connecting member 71 is connected to the flexible circuit board connector of the coaxial line. In other embodiments, the end portion Head 713 is a coaxial connector.
  • the second connecting member 75, the third connecting member 77, and the fourth connecting member 79 have a first junction 718 and a second junction 719, and the third connection
  • the member 77 and the fourth connector 79 further include a third junction 715 and a fourth junction 717.
  • the third junction 715 and the first junction 718 are disposed adjacent to the control panel 500.
  • the four junctions 717 are disposed adjacent to the table 357, and the second junction 719 is disposed adjacent to the bosses 337.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 meet at the first junction 718 and are connected together at the first junction 718, the second connection The member 75, the third connecting member 77 and the fourth connecting member 79 also meet at the second junction 719 and are connected together at the second junction 719.
  • the third The connecting member 77 is sandwiched between the second connecting member 75 and the fourth connecting member 79.
  • the third connecting member 77 and the fourth connecting member 79 meet at the third junction 715 and are connected together at the third junction 715, the third connecting member 77 and the fourth connection
  • the member 79 also meets at the fourth junction 717 and is joined together at the fourth junction 717, in the present embodiment, between the third junction 715 to the first junction 718, and Between the second junction 719 and the fourth junction 717, the third connecting member 77 and the fourth connecting member 79 are connected and disposed in a stacked manner.
  • the connecting member 71 of the fourth junction 717 is fixedly connected to the table portion 357, and the connecting member 71 of the second meeting portion 719 is The bosses 337 are fixedly connected.
  • the manner in which the connecting member 71 of the fourth junction 717 is fixedly connected to the table portion 357, and the manner in which the connecting member 71 of the second meeting portion 719 is fixedly connected to the boss 337 can be bonded, The card is connected and the fixing member is fixed.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 at the second junction 719 are supported and fixed by the boss 337.
  • the second connecting member 75 is bent and extended by the second joint 719 to pass through the through hole 339 and connected to the second butting portion 531.
  • the third connecting member 77 and the fourth connecting member 79 are bent and extended from the second joint 719, and are disposed around the rotating connecting portion 333 and partially attached to the first mounting portion 351. Side wall.
  • the connecting member 71 of the second junction 719 can be connected to other places of the second bracket 33, such as the rotating connection portion 333, such as the end of the second driving member 53 adjacent to the connecting portion 331
  • the connecting member 71 of the second junction 719 can be connected to a structure other than the table portion 357, for example, the second mounting portion 353 of the third bracket 35, or, as the third driving The cover portion 553 of the member 55 and the like.
  • the third connecting member 77 is fixed to the table portion 357 at the fourth meeting portion 717, and extends from the fourth meeting portion 717 into the through hole 358 to be connected with the third butting portion 558;
  • the fourth connecting member 79 extends from the fourth junction 717 , and is disposed in the gap and is attached to the guiding portion 557 .
  • the fourth connecting member 79 is from the guiding portion 557 . Further bending extends and is connected to the fourth docking portion 577.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 are corresponding to the driving members (51, 53, 55) between the first junction 718 and the second junction 719
  • the curved portion 720 is bent in a U shape, and the curved portion 720 has a length and is disposed adjacent to the second bracket 33.
  • the third connecting member 77 and the fourth connecting member 79 reserve a certain length and bend the substantially U-shaped curved portion 720 between the second junction 719 and the first mounting portion 351.
  • the connecting structure 70 is provided with a motion margin that rotates with the drive member (51, 53, 55).
  • the movement margin provided by the curved portion 720 can avoid the tension of the connecting structure 70 during the rotation of the driving member (51, 53, 55), thereby reducing the driving member (51, 53). 55)
  • the resistance when rotating around the respective axes also avoids the problem that the connecting structure 70 is damaged due to the tension pull.
  • the length of the curved portion 720 is set according to actual needs, and only when the driving members (51, 53, 55) are rotated, the connecting members of the curved portion 720 are in a relaxed state without being tight. The situation is fine.
  • the connecting structure 70 reserves sufficient space for each axis of the gimbal 100 to avoid entanglement and friction between the connecting members 71 and other structures.
  • the connector 71 of the fourth junction 717 may not be connected to the second bracket 33 or other structure, and the connector 71 of the second junction 719 may not be connected to the third bracket 35 or Other structural connections.
  • the curved portion 720 is not limited to being curved in a U shape, and may also have other shapes such as an S shape.
  • the curved portion 720 is disposed outside the driving member (51, 53, 55) and between the bracket assembly 30 and the driving member (51, 53, 55).
  • the photographing device 57 includes a base 573 and a holding plate 575.
  • the base 573 is coupled to the third driving member 55.
  • the guiding plate 575 is fixedly connected to one side of the base 573, and the guiding plate 575 is spaced apart from the base 573 to form a passage through the fourth connecting member 79 (not shown). And guiding and positioning the fourth connecting member 79.
  • the fourth connecting member 79 is connected to the photographing device 57 through the passage.
  • the first axis ⁇ , the second axis ⁇ , and the third axis ⁇ are perpendicular to each other.
  • the photographing device 57 is mounted on the third driving member 55 for acquiring an image.
  • pan/tilt head 100 is a three-axis pan/tilt head, it is capable of adjusting the photographing unit 52 about a heading axis (first axis ⁇ ), a roll axis (second axis ⁇ ), and a pitch axis (third axis ⁇ ) Shooting angle and direction.
  • the first bracket 31 When assembled, the first bracket 31 is coupled to the support base 10, and the second bracket 33 is coupled to the first bracket 31 by the first driving member 51, and the third bracket 35 passes the The second driving member 53 is connected to the second bracket 33, and the imaging device 57 is mounted on the third bracket 35.
  • each connecting member 71 is disposed outside the driving members (51, 53, 55), and the connecting member 71 is bent when it is bent. a line space, and the connection structure 70 forms a curved curved portion 720 in the free space between the driving member (51, 53, 55) and the bracket assembly 30, thereby driving the brackets (31, 33, 35) at the driving member.
  • each motor (not shown) is separately provided with an electric control board (not shown), and the electric control board is disposed adjacent to its corresponding motor.
  • the electric control board and its corresponding motor are connected by a cable (not shown), and the three electric control boards are connected by a cable to supply power to the power supply.
  • the number of cables is large, and the wiring structure is complicated. In the process, it is easy to cause friction between cables and interfere with the movement of the drive member and other structures.
  • the control modules of the first driving member 51, the second driving member 53, and the third driving member 55 are integrated on the same control board 500, and the control board 500 is disposed on the support base 10, In addition to the bracket assembly 30 and the drive member, volume and weight can be reduced.
  • the third connecting member 77 and the fourth connecting member 79 are connected to the third junction 715 and the fourth junction 717, the second connecting member 75, the third connecting member 77 and the The fourth connecting member 79 is connected to the first junction 718 and the second junction 719, the connecting member 71 is at the third junction 715 to the first junction 718, the connection The members 71 are connected together at the fourth junction 717 to the second junction 719, thereby avoiding the entanglement and friction between the connecting members 71 and between the connecting members 71 and the functional modules 50. The phenomenon does not interfere with the work between the functional modules 50, and saves the wiring space.
  • the support base 10 can be omitted, and the first bracket 31 is fixedly connected to the body 200.
  • the connecting structure 70 includes at least one connecting member 71.
  • each connecting member 71 is connected between a functional module 50 and a control board 500, wherein at least two of the connecting members 71 meet and meet at least two Convergence, wherein at least two of the connectors 71 are connected together between at least two of the junctions.
  • a second embodiment of the present invention provides a drone (not shown).
  • the unmanned aerial vehicle includes a gimbal 600.
  • the gimbal 600 includes a control board 601 and a support base 602.
  • a bracket assembly 80 coupled to the support base 602, a functional module disposed on the bracket assembly 30, and a connection structure 90.
  • the control board 601 is disposed outside the support base 602, the bracket assembly 80, and the function module 87.
  • the bracket assembly 80 includes a first bracket 81, a second bracket 83, and a third bracket 85.
  • the function module 87 includes a first driving member 871, a second driving member 872 and a third driving member 873, and a photographing device 89.
  • the first bracket 81 is coupled to the support base 602.
  • a limiting rib 811 is formed on the first bracket 81.
  • the second bracket 83 includes a connecting portion 831 and a rotating connecting portion 833 formed by bending and extending the connecting portion 831 .
  • the connecting portion 831 has a substantially ring shape and is rotatably coupled to the first bracket 81.
  • the connecting portion 831 and the rotating connecting portion 833 are hollow bodies and communicate with each other.
  • the connecting portion 831 defines an inlet 8311 adjacent to the bottom of the first bracket 81 (refer to FIG. 7 ), the rotating connecting portion An outlet 8331 (see FIG. 7) is opened at one end of the connecting portion 831 to facilitate accommodation of the connecting cable.
  • a through hole 8335 is formed in the rotation connecting portion 833.
  • the third bracket 85 is rotatably connected to the rotating connecting portion 833 and includes a first mounting portion 851 and a second mounting portion 853.
  • the first mounting portion 851 is rotatably coupled to the rotational connection portion 833.
  • the second mounting portion 853 is formed by bending and extending one end of the first mounting portion 851.
  • a limiting rib 811 is protruded from an outer periphery of the first mounting portion 851 and the second mounting portion 853 .
  • the driving member includes a first driving member 871, a second driving member 872, and a third driving member 873.
  • the first driving member 871 is connected between the first bracket 81 and the connecting portion 831 for driving the second bracket 83 to rotate about a first axis, and the first axis is the pan/tilt 600 Heading axis.
  • the second driving member 872 is connected between the rotating connecting portion 835 and the first mounting portion 851 for driving the third bracket 85 to rotate about a second axis, wherein the second axis is the The roll axis of the pan/tilt 600.
  • the third driving member 873 is disposed on the second mounting portion 853. The second axis is perpendicular to the first axis.
  • the arrangement of the bracket assembly 80 from the innermost side to the outer side is a roll-pitch-yaw, and the innermost side is a side directly connected to the photographing device 89. It can be understood that the arrangement of the bracket assemblies 30 can also be in other arrangements.
  • the imaging device 89 is connected to the third driving member 873.
  • the third driving member 873 is configured to drive the photographing device 89 to rotate about a third axis, and the third axis is perpendicular to the first axis and the second axis.
  • the third axis is the pitch axis of the pan/tilt head 600.
  • the connecting structure 900 includes a first connecting member 901 and a second connecting member 902.
  • the first connector 901 includes a trunk 91, a first branch 92, a second branch 93, and a third branch 94.
  • the first branch 92, the second branch 93, and the third branch 94 is formed by the extension of the trunk 91.
  • One end of the trunk 91 away from the first branch 92 and the second branch 93 is electrically connected to the control board 601, and the first branch 92 is electrically connected to the first driving member 871, the second The branch 93 is electrically connected to the second driving member 872, and the third branch 94 is electrically connected to the third driving member 873.
  • a branch point extending from the first branch 92 on the trunk 91 is a first branch point 921, and a branch point extending from the second branch 93 and the third branch 94 on the trunk 91 is set. It is the second branch point 923.
  • the trunk 91 is bent from a portion of the first branch point 921 and the second branch point 923 to form a curved portion 920 having a substantially U-shaped structure.
  • the third branch 94 is bent between the first driving member 871 and the second driving member 872 to form a curved portion 920 having a substantially U-shaped structure.
  • the third branch 94 is on the first driving member 871.
  • a curved portion 920 between the second driving member 872 and the second driving member 872 is also located between the second bracket 83 and the third bracket 85.
  • the first connecting member 901 is made of a flexible circuit board.
  • the third branch 94 is partially attached to the outer circumference of the third bracket 85.
  • a curved portion 920 formed by bending a portion of the trunk 91 from the first branch point 921 and the second branch point 923, and the third branch 94 being in the first driving member and the second driving member
  • the curved portion 920 between the 872 is not disposed around the driving members (871, 872, 873), and the curved portion 920 is disposed between the driving members (871, 872, 873) and the respective brackets (81, 83, 85).
  • the bending portion 920 is configured to provide the first connecting member 901 with a motion margin rotating with the driving member (871, 872, 873), and the bending margin provided by the bending portion 920 can avoid the connecting structure.
  • the 900 appears to be tight during the rotation of the driving members (871, 872, 873), thereby reducing the resistance of the driving members (871, 872, 873) when rotating around the axes of the platform 600, and also avoiding
  • the first connecting member 901 has a problem of damage due to a tight pull.
  • the second connecting member 902 is electrically connected between the control board 601 and the photographing device 89.
  • the second connecting member 902 is disposed on the limiting rib 811 on the first bracket 81, the second bracket 83, and the limiting rib 811 of the third bracket 85 to avoid the first A connector 901.
  • the second connector 902 is a coaxial line to improve the efficiency of transmitting high frequency/high speed signals.
  • a first control module 875 for driving and controlling the first driving member 871 is disposed on the first driving member 871 and electrically connected to the first driving member 871.
  • a second control module 876 for driving and controlling the second driving member 872 is disposed on the second driving member 872 and electrically connected to the second driving member 872 for driving and controlling the third driving member 873.
  • the third control module 877 is disposed on the third driving member 873 and electrically connected to the third driving member 873.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Toys (AREA)

Abstract

L'invention concerne une tête de berceau (100) comprenant : un ensemble de support (30), un module de fonction (50), un tableau de commande (500) et une structure de connexion (70) ; le module de fonction (50) est disposé sur l'ensemble de support (30) ; le module de fonction (50) comprend des éléments d'entraînement (51, 53, 55) ; le tableau de commande (500) est disposé à l'extérieur de l'ensemble de support (30) et des éléments d'entraînement ; la structure de connexion (70) connecte électriquement le tableau de commande (500) aux éléments d'entraînement ; la structure de connexion (70) comprend une partie courbée (720) correspondant aux éléments d'entraînement ; la partie courbée (720) est disposée à l'extérieur des éléments d'entraînement (51, 53, 55) et entre l'ensemble de support (30) et les éléments d'entraînement (51, 53, 55) et est utilisée pour fournir une marge de mouvement pour la structure de connexion (70) lors de sa rotation conjointement avec les éléments d'entraînement (51, 53, 55). La présente invention concerne en outre un véhicule aérien sans pilote (400) comprenant ladite tête de berceau (100). La tête de berceau (100) et le véhicule aérien sans pilote (400) peuvent empêcher que la structure de connexion (70) ne soit mise sous tension lors de sa rotation avec les éléments d'entraînement (51, 53, 55), réduisent la force de résistance subie par les éléments d'entraînement (51, 53, 55) lorsqu'ils tournent autour de chaque axe et évitent que la structure de connexion (70) ne soit endommagée en raison de la tension et de la traction.
PCT/CN2016/092426 2016-07-29 2016-07-29 Tête de berceau et véhicule aérien sans pilote comprenant cette dernière WO2018018634A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2016/092426 WO2018018634A1 (fr) 2016-07-29 2016-07-29 Tête de berceau et véhicule aérien sans pilote comprenant cette dernière
CN201680012470.7A CN107624099B (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机
CN202110041479.3A CN112623246A (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092426 WO2018018634A1 (fr) 2016-07-29 2016-07-29 Tête de berceau et véhicule aérien sans pilote comprenant cette dernière

Publications (1)

Publication Number Publication Date
WO2018018634A1 true WO2018018634A1 (fr) 2018-02-01

Family

ID=61015882

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/092426 WO2018018634A1 (fr) 2016-07-29 2016-07-29 Tête de berceau et véhicule aérien sans pilote comprenant cette dernière

Country Status (2)

Country Link
CN (2) CN112623246A (fr)
WO (1) WO2018018634A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109164833B (zh) * 2018-08-14 2023-03-24 北京和光飞翼机电科技有限公司 一种可进行自动调整的角度控制系统及其控制方法
CN208951620U (zh) * 2018-08-21 2019-06-07 深圳市大疆创新科技有限公司 云台减震结构、云台系统及无人飞行器

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203793655U (zh) * 2014-01-10 2014-08-27 广州极飞电子科技有限公司 无人机飞行器两轴无刷防抖增稳云台
CN204250379U (zh) * 2014-09-24 2015-04-08 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
KR101564380B1 (ko) * 2015-05-22 2015-10-29 엘아이지넥스원 주식회사 무인비행체
CN204879319U (zh) * 2015-08-03 2015-12-16 武汉智能鸟无人机有限公司 一种三轴式云台
CN105438492A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 一体式云台相机和无人机
US20160119546A1 (en) * 2013-10-08 2016-04-28 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN105539872A (zh) * 2016-01-29 2016-05-04 北京小米移动软件有限公司 无人飞行器云台及其承载支架
CN205396568U (zh) * 2016-03-03 2016-07-27 零度智控（北京）智能科技有限公司 一种云台

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007095950A1 (fr) * 2006-02-21 2007-08-30 Stobbe Tech Holding A/S Dispositif à angle d'inclinaison panoramique commandé à distance de support et de positionnement exact d'un équipement optique
CN203434577U (zh) * 2013-07-18 2014-02-12 扬州润沃科技有限公司 一种回转机构的内绕线装置
CN104781600B (zh) * 2014-04-04 2017-01-18 深圳市大疆创新科技有限公司 云台驱动装置及采用该驱动装置的云台组装体
CN204425121U (zh) * 2015-01-04 2015-06-24 广州虹天航空科技有限公司 电机模组及云台设备
CN204647758U (zh) * 2015-05-15 2015-09-16 深圳市大疆创新科技有限公司 云台
CN105270646B (zh) * 2015-11-16 2018-05-01 湖南云顶智能科技有限公司 用于无人机的云台装置
CN205320423U (zh) * 2016-01-26 2016-06-15 深圳市道通智能航空技术有限公司 一种云台走线结构及其云台

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160119546A1 (en) * 2013-10-08 2016-04-28 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN203793655U (zh) * 2014-01-10 2014-08-27 广州极飞电子科技有限公司 无人机飞行器两轴无刷防抖增稳云台
CN204250379U (zh) * 2014-09-24 2015-04-08 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
KR101564380B1 (ko) * 2015-05-22 2015-10-29 엘아이지넥스원 주식회사 무인비행체
CN204879319U (zh) * 2015-08-03 2015-12-16 武汉智能鸟无人机有限公司 一种三轴式云台
CN105438492A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 一体式云台相机和无人机
CN105539872A (zh) * 2016-01-29 2016-05-04 北京小米移动软件有限公司 无人飞行器云台及其承载支架
CN205396568U (zh) * 2016-03-03 2016-07-27 零度智控（北京）智能科技有限公司 一种云台

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

Also Published As

Publication number Publication date
CN112623246A (zh) 2021-04-09
CN107624099B (zh) 2021-02-05
CN107624099A (zh) 2018-01-23

Similar Documents

Publication Publication Date Title
WO2017041466A1 (fr) Dispositif de tir et véhicule aérien sans pilote
WO2017143643A1 (fr) Châssis de véhicule aérien sans pilote, véhicule aérien sans pilote, et procédé d'utilisation associé
WO2016183734A1 (fr) Tête panoramique-inclinable
WO2018018634A1 (fr) Tête de berceau et véhicule aérien sans pilote comprenant cette dernière
WO2017128061A1 (fr) Structure absorbeuse d'énergie, ensemble panoramique-basculant utilisant celle-ci, et aéronef sans pilote
WO2017147764A1 (fr) Élément d'alimentation électrique, véhicule aérien sans pilote, et dispositif mobile télécommandé
WO2017132813A1 (fr) Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue.
WO2016045009A1 (fr) Support, dispositif d'imagerie l'utilisant, et véhicule aérien sans pilote
WO2017035840A1 (fr) Élément de panoramique et d'inclinaison, dispositif d'imagerie et véhicule aérien sans pilote
WO2017028023A1 (fr) Cardan à mécanisme de stabilité parallèle
WO2017078254A1 (fr) Petite suspension à cardan réglable à 3 axes
WO2017000299A1 (fr) Dispositif de limitation et véhicule aérien sans pilote le comportant
EP2763896A1 (fr) Aéronef téléguidé polyrotor
WO2016183833A1 (fr) Ensemble structure de machine hôte et dispositif mobile de commande à distance utilisant l'ensemble structure de machine hôte
WO2017031748A1 (fr) Tête à berceau, tête à berceau de poignée, structure de blocage et procédé de commande
WO2018049597A1 (fr) Terminal télécommande
WO2016078056A1 (fr) Procédé d'adressage de modules fonctionnels d'un objet mobile
WO2018000274A1 (fr) Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile
WO2015060554A1 (fr) Aileron arrière de voiture sensible à la vitesse
WO2019054661A1 (fr) Accessoire d'aide à la photographie d'image d'un dispositif électronique
WO2017185372A1 (fr) Dispositif photographique, appareil photographique et appareil électronique portable
WO2022050585A1 (fr) Dispositif électronique ayant une structure de maintien de tension
WO2020124848A1 (fr) Procédé de commande pour climatiseur, climatiseur et support d'informations
WO2017113090A1 (fr) Mécanisme de rotor, dispositif de rotation, véhicule aérien sans pilote, et système de commande et procédé de fonctionnement pour ce dernier
WO2017160038A1 (fr) Dispositif d'organisation de câbles intégré à la télévision

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16910214

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16910214

Country of ref document: EP

Kind code of ref document: A1