WO2018045578A1 - 一种负载组件以及挂载该负载组件的无人机 - Google Patents

一种负载组件以及挂载该负载组件的无人机 Download PDF

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Publication number
WO2018045578A1
WO2018045578A1 PCT/CN2016/098630 CN2016098630W WO2018045578A1 WO 2018045578 A1 WO2018045578 A1 WO 2018045578A1 CN 2016098630 W CN2016098630 W CN 2016098630W WO 2018045578 A1 WO2018045578 A1 WO 2018045578A1
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WO
WIPO (PCT)
Prior art keywords
arm
load
drone
main body
pan
Prior art date
Application number
PCT/CN2016/098630
Other languages
English (en)
French (fr)
Inventor
张永生
王佳迪
梁贵彬
陈星元
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680002493.XA priority Critical patent/CN106687376B/zh
Priority to PCT/CN2016/098630 priority patent/WO2018045578A1/zh
Publication of WO2018045578A1 publication Critical patent/WO2018045578A1/zh
Priority to US16/296,443 priority patent/US11155344B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/52—Skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters
    • 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 present application relates to the field of drones, and more particularly to a load assembly and a drone that mounts the load assembly.
  • drones usually have landing gears, which can support drones on the ground and protect drones from impact when landing.
  • the landing gear of the drone is located below the fuselage body, fixed to the unmanned aircraft body, and adopts a retractable structure, which can be retracted when the flying drone is in flight, and is allowed to be lowered under the fuselage.
  • the space and the angle of view make the pan-tilt camera not be blocked when it is rotated, enabling a wide-angle aerial photography operation.
  • This retractable landing gear requires a series of mechanisms (such as linkages, rack and pinion, linear motors, etc.), the structure is more complicated, the weight is larger, and additional power is required to achieve retraction, affecting no Man-machine performance.
  • the technical problem to be solved by the present application is to provide a load component and a drone that mounts the load component, which can solve the problem that the drone has to increase the complicated design in order to avoid the influence of the landing gear on the aerial photography.
  • a technical solution adopted by the present application is to provide a drone, including: a drone main body, a pan/tilt head, and a plurality of drone tripods; a mounting portion, the pan/tilt includes a second mounting portion and a pan/tilt main body, and the second mounting portion of the pan/tilt cooperates with the first mounting portion of the drone main body to implement the pan/tilt head
  • the connection between the main body of the drone; the main body of the gimbal is used for fixing a load, and the UAV stand is fixed to the main body of the gimbal and is outside the working angle of the load.
  • pan/tilt includes a heading bracket, a roll axle bracket and a pitch axle bracket which are rotatably connected in sequence, the load is connected to the pitch axle bracket; the drone mount is connected to the heading axle support.
  • the heading axle bracket includes a first vertical arm and an adapter arm extending from the first vertical arm, the roller axle bracket being rotatably coupled to the adapter arm, the plurality of unmanned The stand is connected to the first vertical arm.
  • each of the UAV tripods includes a first arm and a second arm, and one end of the first arm is fixed to the first vertical An arm or the second cross arm, the other end of the first arm being relatively fixed to one end of the second arm.
  • the number of the unmanned tripods is four.
  • the drone stand includes a buffer foot pad disposed at the other end of the second arm, and the buffer foot pad is used to buffer the impulse between the drone and the landing point.
  • the drone stand comprises an adapter, and the first arm and the second arm are relatively fixed end to end by the adapter.
  • the adapter is a bent piece, and the end faces of the two ends of the bending member are respectively provided with connecting sockets, and the first arm and the second arm are respectively inserted into the detachable manner The connecting jacks at both ends of the bending member.
  • the load is an imaging device
  • the UAV tripod is located outside a maximum shooting angle of the imaging device, and rotates following the rotation of the imaging device.
  • a load component including: a cloud platform and a tripod, the cloud platform including a pan/tilt main body and a second mounting portion, the The second mounting portion is configured to cooperate with a mounting body that mounts the load component to implement a connection between the cloud platform and the mounting body; the pan/tilt main body is used for fixing a load, and the tripod is fixed to The gimbal body is located outside the working angle of the load load.
  • the pan/tilt main body includes a heading bracket, a roll axle bracket and a pitch axle bracket which are rotatably connected in sequence, and the load is connected to the pitch shaft bracket; the tripod is connected to the heading axle bracket.
  • the heading axle bracket comprises a first vertical arm, a first transverse arm and a second vertical arm; the second a mounting portion is located at an upper end of the first vertical arm, a lower end of the first vertical arm is connected to one end of the first cross arm, and the other end of the first cross arm is connected to an upper end of the second vertical arm, the second a lower end of the vertical arm and the roll axle bracket; all of the tripods are fixed to the first vertical arm.
  • each of the tripods includes a first arm and a second arm, and one end of the first arm is fixed to the first vertical arm or the The second cross arm is opposite to the other end of the second arm.
  • the number of the tripods is four.
  • the tripod comprises a buffer foot pad disposed at the other end of the second arm.
  • the drone stand comprises an adapter, and the first arm and the second arm are relatively fixed end to end by the adapter.
  • the adapter is a bent piece, and the end faces of the two ends of the bending member are respectively provided with connecting sockets, and the first arm and the second arm are respectively inserted into the detachable manner The connecting jacks at both ends of the bending member.
  • the load is an imaging device
  • the stand is located outside a maximum shooting angle of the imaging device, and rotates following the rotation of the imaging device.
  • the beneficial effects of the present application are: different from the prior art, the present application fixes the unmanned aerial platform to the main body of the unmanned aerial vehicle, and the working position of the load on the main body fixed on the main body of the gimbal
  • the tripod can be rotated with the main body of the gimbal, and the load is not blocked, thereby achieving 360° unobstructed work.
  • the UAV tripod can be designed as a non-retractable structure that does not require additional power to drive, thereby reducing the weight of the drone.
  • FIG. 1 is a schematic structural view of a first embodiment of a load assembly of the present application
  • FIG. 2 is a schematic structural view of a second embodiment of a load assembly of the present application.
  • FIG. 3 is a schematic structural view of a third embodiment of the load assembly of the present application.
  • FIG. 4 is a schematic structural view of an embodiment of the drone of the present application.
  • FIG. 1 is a schematic structural view of a first embodiment of a load assembly of the present application.
  • the load component of the present application includes: a cloud platform and a tripod 13 , the cloud platform includes a pan/tilt main body 12 and a second mounting portion 11 , and the second mounting portion 11 is configured to mount the The mounting body of the load component cooperates to realize a connection between the cloud platform and the mounting body, the pan/tilt main body is used for fixing a load, and the stand 13 is fixed to the pan/tilt main body 12 and located at The operating angle of the load load is outside.
  • the load component can be mounted on the drone.
  • the pan/tilt is located below the main body of the drone, and the second mounting portion 11 of the pan/tilt is fixed to the main body 12 of the pan/tilt head, and may be installed in a buckle manner with the main body of the drone, or may be bolted, pivoted, or the like. Other methods are installed with the main body of the drone, and are not specifically limited herein.
  • the mounted pan/tilt can be rotated relative to the drone body, such as about the U-axis of the drone body, relative to the main body of the drone.
  • the pan/tilt main body 12 is used for fixing the load, and the drone stand 13 is fixed to the pan/tilt main body 12 and is located outside the load working angle.
  • the load may be a camera device, a mobile phone, or the like, or a detection device that emits infrared light or even a flashlight.
  • the maximum working angle of different loads may be different.
  • the position of the UAV tripod 13 is specifically set according to the fixed load of the main body of the gimbal. .
  • the load is an imaging device
  • the drone stand 13 is located outside the maximum shooting angle of the imaging device, and rotates following the rotation of the imaging device, so that the lens of the imaging device is not subject to the drone at least during operation.
  • the stand 13 is occluded to achieve 360° unobstructed shooting.
  • the platform main body 12 includes a heading bracket 121, a roll shaft bracket 122, and a pitch shaft bracket 123 that are rotatably connected in sequence, and the load is coupled to the pitch shaft bracket 123; the drone stand 13 Connected to the heading bracket 121.
  • the heading bracket 121 has a first vertical arm 1211, a first cross arm 1212, and a second vertical arm 1213.
  • the second mounting portion 11 is located at the upper end of the first vertical arm 1211, and the lower end of the first vertical arm 1211 is
  • One cross arm 1212 is connected at one end, the other end of the first cross arm 1212 is connected to the upper end of the second vertical arm 1213, and the lower end of the second vertical arm 1213 is connected with the roll shaft bracket 122; all the drones 13 are fixed to the first vertical Arm 1211.
  • the first vertical arm 1211 can rotate around the heading axis according to the control of the user or the main body of the drone, and rotate the drone stand 13 fixed to the first vertical arm 1211, and can be connected to the first vertical arm 1211.
  • the first cross arm 1212 further drives the second vertical arm 1213 connected to the first cross arm 1212, thereby driving the roll axle bracket 122 connected to the second vertical arm 1213, and then driving the pitch connected to the roll axle bracket 122.
  • the shaft bracket 123 finally drives the load fixed to the pitch shaft bracket 123 so that the load rotates together with the drone mount 13, and since the load and the drone mount 13 are both rotated by the first vertical arm 1211, the rotation The angle, direction and speed are the same as the first vertical arm 1211, so the drone stand 13 is always outside the maximum working angle of the load and does not affect the normal operation of the load.
  • the roll axle bracket 122 can also rotate around the X axis according to the control of the user or the main body of the drone, and finally drive the rotation of the load fixed to the pitch axle bracket 123; the pitch axle bracket 123 can also be based on the user or the main body of the drone.
  • the rotation is controlled about the Y axis, so that the load fixed to the pitch axis bracket 123 is rotated; likewise, since the UAV tripod 13 is always outside the maximum working angle of the load, the UAV tripod 13 does not rotate when the load is rotated. Affect the normal operation of the load.
  • the first vertical arm 1211 may be fixed to the first cross arm 1212 by means of a threaded bolt, or may be welded or the like. In other embodiments, the first vertical arm 1211 is coupled to the first cross arm 1212 and is slidable over the first cross arm 1212.
  • the second vertical arm 1213 is connected to the first cross arm 1212.
  • the two opposite sides of the first cross arm 1212 are provided with two rails, and the upper end of the second vertical arm 1213 is provided with a through hole, and the inner side of the through hole is provided.
  • the upper end of the second vertical arm 1213 may be provided with an inner end.
  • Other components such as a ring that matches the radial cross section of the first cross arm 1212 are fixed relative to the first cross arm 1212 and slidable along the axial direction of the first cross arm 1212, or the second vertical arm 1213 may be welded or the like. The manner is fixed to the first cross arm 1212.
  • the second vertical arm 1213 is provided with a battery case, a battery can be installed inside, which can be used to supply power for the operation of the pan/tilt, and a second charging port 1213 is provided with a charging port for charging the battery.
  • the second vertical arm 1213 may not be a battery case or may have no charging port.
  • the roll axle bracket 122 is a U-shaped arm connected to the second vertical arm 1213, and the pitch shaft bracket 123 includes a rotating shaft 1231 and a base 1232.
  • both ends of the U-shaped opening of the U-shaped arm are respectively connected to the two rotating shafts 1231 of the pitching shaft bracket 123, and the base 1232 is connected between the two rotating shafts 1231 for placing and fixing the load, and the load is located at the U of the U-shaped arm In the slot.
  • the heading bracket 121 may not include the first cross arm 1212.
  • the second mounting portion 11 is located at the upper end of the first vertical arm 1211, and the lower end of the first vertical arm 1211 is connected to one end of the second vertical arm 1213.
  • the other end of the second vertical arm 1213 is connected to the roll axle bracket 122; or the load can be directly suspended from the lower end of the first vertical arm 1211.
  • one end of the second vertical arm 1213 may be fixed to the lower end of the first vertical arm 1211 by welding, and one end of the second vertical arm 1213 may also be provided with a threaded hole on the inner side, and the bolt provided at the lower end of the first vertical arm 1211 is installed. Therefore, the second vertical arm 1213 can be fixed to the lower end of the first vertical arm 1211 in other manners, which is not specifically limited herein.
  • the number of the drone mounts 13 is three, and each of the drone mounts 13 includes a first arm 131 and a second arm 132 , and the first arm 131 One end is fixed to the first vertical arm 121, and the other end of the first arm 131 is opposite to one end of the second arm 132.
  • the first arm 131 may be fixed to the first vertical arm 1211 by welding, or the first arm 131 may be screwed at one end and rotatably mounted in the threaded hole outside the first vertical arm 1211. It is another fixed method and is not specifically limited here.
  • the other end of the first arm 131 can also be fixed to the opposite end of the second arm 132 in a similar manner.
  • the second arm 132 of a UAV tripod 13 located behind the load is directly One end of the first cross arm 122 of the pan head 12 is relatively fixed.
  • the UAV 13 behind the load may also be fixed to the first vertical arm 1211 by one end of the first arm 131, and the other end of the first arm 131 and the second end of the second arm 132 may be oppositely fixed. The way.
  • the first arm 131 and the second arm 132 may be made of a carbon fiber tube, or other materials having light weight and high rigidity, and are not specifically limited herein.
  • the drone stand 13 further includes a buffer foot pad 133 disposed at the other end of the second arm 132 for buffering the impulse between the drone and the landing point.
  • the cushioning pad 133 can be made of a soft wear-resistant material such as a rubber plug or a wear-resistant foam, and can be periodically replaced to effectively buffer the impulse between the drone and the landing point, thereby protecting the drone.
  • the UAV tripod is fixed on the UAV pan/tilt and is outside the working angle of the load, and can rotate according to the rotation of the load, so that the UAV tripod does not block the load work, thereby realizing The 360° unobstructed work, and the drone's tripod structure is simple, does not require additional power to drive the stowage, and can use lightweight, high-strength material to reduce the weight of the drone.
  • FIG. 2 is a schematic structural diagram of a second embodiment of a gimbal of the unmanned aerial vehicle of the present application. 2 is similar to the structure of FIG. 1, and is not described here again, except that the drone stand 23 further includes an adapter 234, and the first arm 231 and the second arm 232 are end-to-end through the adapter 234. Relatively fixed.
  • the adapter member 234 is a bending member, and the end faces of the two ends of the bending member are respectively provided with receiving sockets, and one ends of the first arm 231 and the second arm 232 are respectively detachably inserted into the two ends of the bending member. Connect the jack.
  • the adapter 234 can be made of plastic material or other light weight materials, so that the drone stand 23 can be easily disassembled, installed and replaced.
  • the number of the drone stands is three, and in other embodiments, the number of the drones may be four or more.
  • FIG. 3 is a schematic structural diagram of a third embodiment of a gimbal of the unmanned aerial vehicle of the present application. 3 is similar to the structure of FIG. 2 and will not be described again here, except that the number of the drone stands 33 is four.
  • the number of the UAV tripods 33 is four, and is located outside the load front working area fixed on the PTZ main body 32, that is, the angle between the two UAV legs 33 on the front sides of the load is greater than the load. of Working angle.
  • the load is a camera, and the camera has a maximum shooting angle. Therefore, the angle between the two drones 33 on the front sides of the camera is greater than the maximum shooting angle of the camera, so as not to block the normal shooting of the camera.
  • the heading axle bracket (not shown) includes a first vertical arm and an adapter arm extending from the first vertical arm, the roller axle bracket being rotatably coupled to the adapter arm.
  • the battery is mounted on the transfer arm, and when the load is mounted on the pan/tilt main body 32, the transfer arm is located behind the load.
  • Four drone mounts 33 are located on either side of the load.
  • the transfer arm is located at an symmetrical axis position of the two-hand drone stand 33.
  • the drone stand 33 is disposed separately from the transfer frame, thereby ensuring the convenience of installation and replacement of the drone stand 33, and the vibration received by the stand when it touches the ground is not directly transmitted.
  • the stability of the components carried on the adapter, such as the battery, is ensured, thereby avoiding accidental power failure and ensuring stable operation of the drone.
  • the UAV tripod 33 and the adapter frame are separately disposed, which does not hinder the sliding or positional adjustment of the vertical arm of the adapter frame along the cross arm, and does not cause the UAV tripod 33 and the adapter frame.
  • the activity caused interference is not caused interference.
  • the drone stand 33 is distributed on both sides of the load, and the symmetrical structure further ensures stability and reduces the shock of the load. Moreover, the support strength and stability of the plurality of drone brackets 33 are further improved.
  • the number of the UAV tripods is four, and in other embodiments, the number of the UAV tripods may be five, six, seven, and the like, as long as the load is made. There is no drone stand in front to block its normal work. And both are disposed separately from the transfer arm of the heading bracket.
  • FIG. 4 is a schematic structural diagram of an embodiment of the drone of the present application.
  • the drone of the present application includes: a drone main body 41, a pan/tilt head 42 and a drone stand 43.
  • the bottom of the drone main body 41 is provided with a first mounting portion 411
  • the pan/tilt head 42 includes The second mounting portion 421 and the pan/tilt main body 422, the second mounting portion 421 of the pan head 42 cooperates with the first mounting portion 411 of the drone main body 41, and realizes the connection between the pan/tilt head 42 and the drone main body 41;
  • the table main body 422 is for fixing the load
  • the drone stand 43 is fixed to the pan/tilt main body 422 and is located outside the load working angle.
  • the UAV main body 41 is a multi-axis fuselage structure, that is, a plurality of shafts are mounted on the fuselage, and each of the shafts has at least one propeller.
  • the bottom of the UAV main body 41 is provided with a first mounting portion 411, and a cloud.
  • the second mounting portion 421 of the table 42 is mounted to realize the connection between the pan/tilt head 42 and the drone main body 41.
  • the mounted pan/tilt can be rotated relative to the drone body, such as about the U-axis of the drone body, relative to the main body of the drone.
  • the first mounting portion 411 and the second mounting portion 421 may be attached by way of a buckle, or may be installed by other means, and are not specifically limited herein.
  • the UAV pan/tilt head 42 and the UAV footrest 43 adopt the structure of the third embodiment of the gimbal of the UAV of the present application, and are not repeated here.
  • the UAV pan/tilt head 42 and the UAV footrest 43 may adopt one of the first or second embodiments of the gimbal of the UAV of the present application, and are not repeated here.
  • the heading axle bracket (not shown) includes a first vertical arm and an adapter arm extending from the first vertical arm, the roller axle bracket being rotatably coupled to the adapter arm.
  • the battery is mounted on the transfer arm, and when the load is mounted on the pan/tilt main body 422, the transfer arm is located behind the load.
  • Four drone mounts 43 are located on either side of the load.
  • the transfer arm is located at an symmetrical axis position of the two-handed drone stand 43. Wherein the orientation of the load coincides with the direction of the nose of the drone, and the first vertical arm is located at the tail of the aircraft.
  • the UAV tripod 43 is disposed separately from the adapter frame, thereby ensuring the convenience of installation and replacement of the UAV tripod 43 and the vibration of the tripod 43 when the UAV is landing. It will not be directly transmitted to the adapter, which ensures the stability of the components carried on the adapter, such as the battery, and thus avoids accidental power failure, ensuring stable operation of the drone.
  • the UAV tripod 43 and the adapter frame are separately disposed, which does not hinder the sliding or positional adjustment of the vertical arm of the adapter frame along the cross arm, and does not cause the UAV tripod 43 and the adapter frame.
  • the activity caused interference is not caused interference.
  • the UAV tripods 43 are distributed on both sides of the load, and the symmetrical structure further ensures stability and reduces shocks to the load. Moreover, the support strength and stability of the plurality of drone brackets 43 are further improved.
  • the drone of the present application fixes the drone stand to the main body of the gimbal and is fixed to the main head of the gimbal.
  • the unmanned foot stand will never block the load during the load operation, thereby achieving 360° unobstructed work, and the drone foot
  • the frame structure is simple, no additional power is required to drive the stowage, and the material with light weight and high rigidity can be used, thereby reducing the weight of the drone.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
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Abstract

一种负载组件以及挂载该负载组件的无人机，所述负载组件包括：云台以及脚架（13），所述云台包括第二安装部（11）以及云台主体（12），所述第二安装部（11）用于与挂载所述负载组件的挂载主体配合，实现所述云台与所述挂载主体之间的连接；所述云台主体（12）用于固定负载，所述脚架（13）固定于云台主体（12），且位于所述负载工作角度之外。通过上述方式，在负载工作过程中，脚架始终不会遮挡负载，进而实现360°无遮挡工作，而且脚架结构简单，不需要额外动力驱动收起，从而减少无人机的重量。

Description

一种负载组件以及挂载该负载组件的无人机 【技术领域】
本申请涉及无人机领域，特别是涉及一种负载组件以及挂载该负载组件的无人机。
【背景技术】
目前无人机通常都有起落架，在地面时可以支撑无人机，在降落时可以保护无人机不受冲击。
通常无人机的起落架位于无人机机身的下方，固定于无人机机身，且采用收放式结构，可以在飞无人机处于飞行状态时候收起，让开机身下方的空间和视角，使云台相机转动时不会受到遮挡，实现大角度的航拍作业。这种收放式的起落架需要采用一系列的机构(如连杆机构，齿轮齿条，直线电机等)，结构较为复杂，重量较大，且需要提供额外的动力才能实现收放，影响无人机的性能。
【发明内容】
本申请主要解决的技术问题是提供一种负载组件以及挂载该负载组件的无人机，能够解决无人机为避免起落架影响航拍而不得不增加复杂设计的问题。
为了解决上述问题，本申请采用的一个技术方案是：提供一种无人机，包括：无人机主体、云台以及多个无人机脚架；所述无人机主体底部设有第一安装部，所述云台包括第二安装部和云台主体，所述云台的所述第二安装部与所述无人机主体的所述第一安装部配合，实现所述云台与所述无人机主体之间的连接；所述云台主体用于固定负载，所述无人机脚架固定于所述云台主体，且位于所述负载的工作角度之外。
其中，所述云台包括依次可转动连接的航向轴支架、横滚轴支架以及俯仰轴支架，所述负载连接于所述俯仰轴支架；所述无人机脚架连接于所述航向轴 支架。
其中，所述航向轴支架包括第一竖臂以及从所述第一竖臂延伸出的转接臂，所述横滚轴支架与所述转接臂可转动地连接，所述多个无人机脚架均连接于所述第一竖臂。
其中，所述无人机脚架数量为至少三个，每一所述无人机脚架均包括第一支臂和第二支臂，所述第一支臂一端固定于所述第一竖臂或所述第二横臂，所述第一支臂另一端与所述第二支臂一端相对固定。
其中，所述无人机脚架数量为四。
其中，所述无人机脚架包括设置于所述第二支臂另一端的缓冲脚垫，所述缓冲脚垫用于缓冲所述无人机与降落点之间的冲力。
其中，所述无人机脚架包括转接件，所述第一支臂和所述第二支臂通过所述转接件端对端相对固定。
其中，所述转接件是弯折件，所述弯折件两端的端面均设有接插孔，所述第一支臂和所述第二支臂各一端分别以可拆卸式方式插入所述弯折件两端的接插孔。
其中，所述负载是摄像设备，所述无人机脚架位于所述摄像设备的最大拍摄角度之外，且跟随所述摄像设备旋转而旋转。
为了解决上述问题，本申请采用的另一个技术方案是：提供一种负载组件，其特征在于，包括：云台以及脚架，所述云台包括云台主体以及第二安装部，所述第二安装部用于与挂载所述负载组件的挂载主体配合，实现所述云台与所述挂载主体之间的连接；所述云台主体用于固定负载，所述脚架固定于所述云台主体，且位于所述负载负载的工作角度之外。
其中，所述云台主体包括依次可转动连接的航向轴支架、横滚轴支架以及俯仰轴支架，所述负载连接于所述俯仰轴支架；所述脚架连接于所述航向轴支架。
其中，所述航向轴支架包括第一竖臂、第一横臂以及第二竖臂；所述第二 安装部位于所述第一竖臂上端，所述第一竖臂下端与所述第一横臂一端连接，所述第一横臂另一端与所述第二竖臂上端连接，所述第二竖臂下端与所述横滚轴支架；所有所述脚架均固定于所述第一竖臂。
其中，所述无人机脚架数量为至少三个，每一所述脚架均包括第一支臂和第二支臂，所述第一支臂一端固定于所述第一竖臂或所述第二横臂，所述第一支臂另一端与所述第二支臂一端相对固定。
其中，所述脚架数量为四。
其中，所述脚架包括设置于所述第二支臂另一端的缓冲脚垫。
其中，所述无人机脚架包括转接件，所述第一支臂和所述第二支臂通过所述转接件端对端相对固定。
其中，所述转接件是弯折件，所述弯折件两端的端面均设有接插孔，所述第一支臂和所述第二支臂各一端分别以可拆卸式方式插入所述弯折件两端的接插孔。
其中，所述负载是摄像设备，所述脚架位于所述摄像设备的最大拍摄角度之外，且跟随所述摄像设备旋转而旋转。
本申请的有益效果是：区别于现有技术的情况，本申请通过将无人机脚架固定于无人机的云台主体，并且脚架位于固定于云台主体上的负载的工作角度之外，从而使得脚架可以随着云台主体转动，不会遮挡负载，进而可以实现360°无遮挡工作。
进一步，可将无人机脚架设计为非收放式结构，不需要额外动力驱动，从而减少无人机重量。
【附图说明】
图1是本申请负载组件第一实施方式的结构示意图；
图2是本申请负载组件第二实施方式的结构示意图；
图3是本申请负载组件第三实施方式的结构示意图；
图4是本申请无人机一实施方式的结构示意图。
【具体实施方式】
为使本领域的技术人员更好地理解本申请的技术方案，下面结合附图和实施例对本申请进行详细说明。
请参阅图1，图1是本申请负载组件的第一实施方式的结构示意图。如图1所示，本申请的负载组件包括：云台以及脚架13，所述云台包括云台主体12以及第二安装部11，所述第二安装部11用于与挂载所述负载组件的挂载主体配合，实现所述云台与所述挂载主体之间的连接，所述云台主体用于固定负载，所述脚架13固定于所述云台主体12，且位于所述负载负载的工作角度之外。本实施例中，所述负载组件可挂载于无人机上。
具体地，云台位于无人机主体的下方，云台的第二安装部11固定于云台主体12，可以采用卡扣方式与无人机主体安装，也可以是采用螺栓螺纹、枢接等其他方式与无人机主体安装，此处不做具体限定。安装后的云台可相对于无人机主体旋转，比如绕无人机主体Z轴而相对于无人机主体旋转。
云台主体12用于固定负载，无人机脚架13固定于云台主体12，且位于负载工作角度之外。
其中，负载可以是摄像机、手机等拍摄设备，也可以是发射红外光的探测设备甚至电筒等照明设备。负载工作时存在一个有关光、电发射/接收的最大工作角度，不同负载的最大工作角度可能不同，无人机脚架13的位置具体根据云台主体固定的负载设置，此处不做具体限定。
在一个应用例中，负载是摄像设备，无人机脚架13位于摄像设备的最大拍摄角度之外，且跟随摄像设备旋转而旋转，使得摄像设备的镜头至少在工作期间一直不受无人机脚架13遮挡，从而实现360°无遮挡拍摄。
进一步参阅图1，云台主体12包括依次可转动连接的航向轴支架121、横滚轴支架122以及俯仰轴支架123，负载连接于俯仰轴支架123；无人机脚架13 连接于航向轴支架121。
其中，航向轴支架121第一竖臂1211、第一横臂1212以及第二竖臂1213横滚轴支架122；第二安装部11位于第一竖臂1211上端，第一竖臂1211下端与第一横臂1212一端连接，第一横臂1212另一端与第二竖臂1213上端连接，第二竖臂1213下端与横滚轴支架122连接；所有无人机脚架13均固定于第一竖臂1211。
具体地，第一竖臂1211可以根据用户或无人机主体的控制绕航向轴旋转，带动固定于第一竖臂1211的无人机脚架13旋转，同时可以带动连接于第一竖臂1211的第一横臂1212，再带动连接于第一横臂1212的第二竖臂1213，进而带动连接于第二竖臂1213的横滚轴支架122，然后带动连接于横滚轴支架122的俯仰轴支架123，最终带动固定于俯仰轴支架123的负载，使得负载和无人机脚架13一起旋转，而且由于负载和无人机脚架13都是由第一竖臂1211带动旋转，旋转的角度、方向和速度都与第一竖臂1211相同，因此无人机脚架13一直位于负载的最大工作角度之外，不会影响负载的正常工作。
类似地，横滚轴支架122也可以根据用户或无人机主体的控制绕X轴旋转，最终带动固定于俯仰轴支架123的负载旋转；俯仰轴支架123也可以根据用户或无人机主体的控制绕Y轴旋转，进而使得固定于俯仰轴支架123的负载旋转；同样的，由于无人机脚架13一直位于负载的最大工作角度之外，因此负载旋转时无人机脚架13不会影响负载的正常工作。
如图1所示，本实施方式中，第一竖臂1211可以采用螺纹螺栓的方式与第一横臂1212相对固定，或者采用焊接等其他方式。而在其他实施方式中，第一竖臂1211与第一横臂1212连接，并可以在第一横臂1212上滑动。
在一个应用例中，第二竖臂1213连接第一横臂1212，第一横臂1212相对的两个侧面上设有两条轨道，第二竖臂1213上端设有一通孔，通孔内侧设有与第一横臂1212侧面上的轨道匹配的导向件，使得第二竖臂1213可以沿第一横臂1212的轴向滑动。当然，在其他应用例中，第二竖臂1213上端可以设有内 侧与第一横臂1212径向截面匹配的圆环等其他部件实现与第一横臂1212相对固定并可沿第一横臂1212的轴向滑动，或者第二竖臂1213也可以采用焊接等方式固定于第一横臂1212。
在上述应用例中，第二竖臂1213设置有一电池盒，内部可以安装电池，可用于为云台的运作提供电源，第二竖臂1213上设置有充电口，可以为电池充电。在其他应用例中，第二竖臂1213也可以不是电池盒，也可以没有充电口。
在本实施方式中，横滚轴支架122是一连接与第二竖臂1213的U型臂，俯仰轴支架123包括转轴1231和底座1232。其中，U型臂的U型开口两端分别连接俯仰轴支架123的两个转轴1231，底座1232连接于两个转轴1231之间，用于放置和固定负载，并使负载位于U型臂的U型槽口中。
在其他实施方式中，航向轴支架121可以不包括第一横臂1212，此时，第二安装部11位于第一竖臂1211上端，第一竖臂1211下端与第二竖臂1213一端连接，第二竖臂1213另一端与横滚轴支架122连接；或者负载可以直接悬吊于第一竖臂1211下端。
具体地，第二竖臂1213一端可以采用焊接方式与第一竖臂1211下端相对固定，第二竖臂1213一端也可以在内侧设有螺纹孔，与第一竖臂1211下端设有的螺栓安装，从而实现相对固定，当然第二竖臂1213一端也可以采用其他方式与第一竖臂1211下端相对固定，此处不做具体限定。
如图1所示，本实施方式中，无人机脚架13的数量为三个，每一无人机脚架13均包括第一支臂131和第二支臂132，第一支臂131一端固定于第一竖臂121，第一支臂131另一端与第二支臂132一端相对固定。
具体地，第一支臂131可以采用焊接的方式固定于第一竖臂1211，也可以是第一支臂131一端设有螺纹，旋转安装于第一竖臂1211外侧的螺纹孔中，还可以是其他固定方式，此处不做具体限定。第一支臂131另一端也可以采用类似的方法与第二支臂132一端相对固定。
本实施方式中，位于负载后方的一个无人机脚架13的第二支臂132直接与 云台主体12的第一横臂122一端相对固定。在其他实施方式中，位于负载后方的无人机脚架13也可以还是采用第一支臂131一端固定于第一竖臂1211，第一支臂131另一端与第二支臂132一端相对固定的方式。
其中，第一支臂131和第二支臂132可以采用碳纤维管材，也可以采用其他重量轻、强度刚度高的材料，此处不做具体限定。
进一步参阅图1，无人机脚架13进一步包括设置于第二支臂132另一端的缓冲脚垫133，缓冲脚垫133用于缓冲无人机与降落点之间的冲力。
其中，缓冲脚垫133可以采用胶塞或者耐磨泡棉等软性耐磨材质，并且可以定期更换，有效缓冲无人机与降落点之间的冲力，起到保护无人机的作用。
上述实施方式中，无人机脚架固定于无人机云台上，且位于负载的工作角度之外，可以跟随负载旋转而旋转，从而使得无人机脚架不会遮挡负载工作，进而实现360°无遮挡工作，而且无人机脚架结构简单，不需要额外动力驱动收起，可以采用重量轻、强度刚度高的材料，从而减少无人机的重量。
请参阅图2，图2是本申请无人机的云台第二实施方式的结构示意图。图2与图1结构类似，此处不再赘述，不同之处在于无人机脚架23进一步包括转接件234，第一支臂231和第二支臂232通过转接件234端对端相对固定。
具体地，转接件234是弯折件，弯折件两端的端面均设有接插孔，第一支臂231和第二支臂232各一端分别以可拆卸式方式插入弯折件两端的接插孔。其中，转接件234可以采用塑胶材质或者其他重量较轻的材质，从而使得无人机脚架23可以方便拆卸、安装和更换。
上述实施方式中，无人机脚架的数量为三个，而在其他实施方式中，无人机脚架的数量可以是四个或四个以上。
具体参阅图3，图3是本申请无人机的云台第三实施方式的结构示意图。图3与图2结构类似，此处不再赘述，不同之处在于无人机脚架33的数量为四个。
其中，无人机脚架33的数目为四个，且位于云台主体32上固定的负载前方工作区域之外，即负载前方两侧的两个无人机脚架33之间的角度大于负载的 工作角度。例如，负载是摄像机，摄像机存在一个最大拍摄角度，因此，位于摄像机前方两侧的两个无人机脚架33之间的角度大于摄像机的最大拍摄角度，才能不遮挡摄像机的正常拍摄。
航向轴支架(图未标)包括第一竖臂和以及从所述第一竖臂延伸出的转接臂，所述横滚轴支架与所述转接臂可转动地连接。本实施例中，所述电池安装于转接臂上，当负载安装于所述云台主体32上时，所述转接臂位于所述负载的后方。四个无人机脚架33两两位于所述负载的两侧。本实施例中，所述转接臂位于所述两两的无人机脚架33的对称轴位置。
所述无人机脚架33与所述转接架分开设置，从而保证所述无人机脚架33安装及更换的便利性，且所述脚架触地时所受到的震动不会直接传递到转接架，保证了转接架上承载的元件，如电池，的稳定性，进而避免意外断电，保证了无人机的稳定运行。
此外，所述无人机脚架33和所述转接架分开设置，不会妨碍转接架的竖臂沿横臂的滑动或位置调整，不会造成无人机脚架33和转接架活动造成干涉。
另外，所述无人机脚架33分布在负载两侧，对称结构进一步保证了稳定性，减少了负载受到的震动。且多个无人机支架33的支撑强度和稳定性进一步得到提高。
本实施方式中，无人机脚架的数量为四个，而在其他实施方式中，无人机脚架的数量可以是五个、六个、七个、等等甚至更多，只要使负载前方没有无人机脚架遮挡其正常工作即可。且均与所述航向轴支架的转接臂分开设置。
请参阅图4，图4是本申请无人机一实施方式的结构示意图。如图4所示，本申请无人机包括：无人机主体41、云台42以及无人机脚架43；其中，无人机主体41底部设有第一安装部411，云台42包括第二安装部421和云台主体422，云台42的第二安装部421与无人机主体41的第一安装部411配合，实现云台42与无人机主体41之间的连接；云台主体422用于固定负载，无人机脚架43固定于云台主体422，且位于负载工作角度之外。
具体地，无人机主体41是多轴机身结构，即机身上安装有多个轴，每个轴至少有一个螺旋桨，无人机主体41的底部设有第一安装部411，与云台42的第二安装部421安装，实现云台42与无人机主体41之间的连接。安装后的云台可相对于无人机主体旋转，比如绕无人机主体Z轴而相对于无人机主体旋转。
其中，第一安装部411与第二安装部421可以采用卡扣的方式进行安装，也可以采用其他方式进行安装，此处不做具体限定。
如图4所示，本实施方式中，无人机云台42和无人机脚架43采用本申请无人机的云台第三实施方式的结构，此处不再重复。当然，在其他实施方式中，无人机云台42和无人机脚架43可以采用本申请无人机的云台第一或者第二实施方式中的一种，此处不再重复。
航向轴支架(图未标)包括第一竖臂和以及从所述第一竖臂延伸出的转接臂，所述横滚轴支架与所述转接臂可转动地连接。本实施例中，所述电池安装于转接臂上，当负载安装于所述云台主体422上时，所述转接臂位于所述负载的后方。四个无人机脚架43两两位于所述负载的两侧。本实施例中，所述转接臂位于所述两两的无人机脚架43的对称轴位置。其中所述负载的朝向与所述无人机的机头的方向一致，所述第一竖臂位于所述飞机的机尾方向。
所述无人机脚架43与所述转接架分开设置，从而保证所述无人机脚架43安装及更换的便利性，且所述脚架43在无人机降落时所受到的震动不会直接传递到转接架，保证了转接架上承载的元件，如电池，的稳定性，进而避免意外断电，保证了无人机的稳定运行。
此外，所述无人机脚架43和所述转接架分开设置，不会妨碍转接架的竖臂沿横臂的滑动或位置调整，不会造成无人机脚架43和转接架活动造成干涉。
另外，所述无人机脚架43分布在负载两侧，对称结构进一步保证了稳定性，减少了负载受到的震动。且多个无人机支架43的支撑强度和稳定性进一步得到提高。
本申请的无人机通过将无人机脚架固定于云台主体，且位于固定于云台主 体的负载的最大工作角度之外，而且能够跟随负载的旋转而旋转，从而在负载工作过程中，无人机脚架始终不会遮挡负载，进而实现360°无遮挡工作，而且无人机脚架结构简单，不需要额外动力驱动收起，并且可以采用重量轻、强度刚度高的材料，从而减少无人机的重量。
以上所述仅为本申请的实施方式，并非因此限制本发明的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (18)

  1. 一种无人机，其特征在于，包括：
    无人机主体、云台以及多个无人机脚架；
    所述无人机主体底部设有第一安装部，所述云台包括第二安装部和云台主体，所述云台的所述第二安装部与所述无人机主体的所述第一安装部配合，实现所述云台与所述无人机主体的连接；
    所述云台主体用于固定负载，所述无人机脚架固定于所述云台主体，且位于所述负载的工作角度之外。
  2. 根据权利要求1所述的无人机，其特征在于，
    所述云台包括依次可转动连接的航向轴支架、横滚轴支架以及俯仰轴支架，所述负载连接于所述俯仰轴支架；所述无人机脚架连接于所述航向轴支架。
  3. 根据权利要求2所述的无人机，其特征在于，
    所述航向轴支架包括第一竖臂以及从所述第一竖臂延伸出的转接臂，所述横滚轴支架与所述转接臂可转动地连接，所述多个无人机脚架均连接于所述第一竖臂。
  4. 根据权利要求3所述的无人机，其特征在于，
    所述无人机脚架数量为至少三个，每一所述无人机脚架均包括第一支臂和第二支臂，所述第一支臂一端固定于所述航向轴支架，所述第一支臂另一端与所述第二支臂一端连接。
  5. 根据权利要求4所述的无人机，其特征在于，
    所述无人机脚架数量为四。
  6. 根据权利要求3所述的无人机，其特征在于，
    所述无人机脚架包括设置于所述第二支臂另一端的缓冲脚垫，所述缓冲脚垫用于缓冲所述无人机与降落点之间的冲力。
  7. 根据权利要求4所述的无人机，其特征在于，
    所述无人机脚架包括转接件，所述第一支臂和所述第二支臂通过所述转接件端对端相对固定。
  8. 根据权利要求7所述的无人机，其特征在于，
    所述转接件是弯折件，所述弯折件两端的端面均设有接插孔，所述第一支臂和所述第二支臂各一端分别以可拆卸式方式插入所述弯折件两端的接插孔。
  9. 根据权利要求1至3、5至8任一项所述的无人机，其特征在于，
    所述负载是摄像设备，所述无人机脚架位于所述摄像设备的最大拍摄角度之外，且跟随所述摄像设备旋转而旋转。
  10. 一种负载组件，其特征在于，包括：
    云台以及脚架，所述云台包括云台主体以及第二安装部，所述第二安装部用于与挂载所述负载组件的挂载主体配合，实现所述云台与所述挂载主体之间的连接；
    所述云台主体用于固定负载，所述脚架固定于所述云台主体，且位于所述负载负载的工作角度之外。
  11. 根据权利要求10所述的负载组件，其特征在于，
    所述云台主体包括依次可转动连接的航向轴支架、横滚轴支架以及俯仰轴支架，所述负载连接于所述俯仰轴支架；所述脚架连接于所述航向轴支架。
  12. 根据权利要求11所述的负载组件，其特征在于，所述航向轴支架包括第一竖臂以及从所述第一竖臂延伸出的转接臂，所述横滚轴支架与所述转接臂可转动地连接，所述多个脚架均连接于所述第一竖臂，。
  13. 根据权利要求12所述的负载组件，其特征在于，
    所述脚架数量为至少三个，每一所述脚架均包括第一支臂和第二支臂，所述第一支臂一端固定于所述第一竖臂或所述第二横臂，所述第一支臂另一端与所述第二支臂一端相对固定。
  14. 根据权利要求13所述的负载组件，其特征在于，
    所述脚架数量为四。
  15. 根据权利要求13所述的负载组件，其特征在于，
    所述脚架包括设置于所述第二支臂另一端的缓冲脚垫。
  16. 根据权利要求13所述的负载组件，其特征在于，
    所述脚架包括转接件，所述第一支臂和所述第二支臂通过所述转接件端对端相对固定。
  17. 根据权利要求16所述的负载组件，其特征在于，
    所述转接件是弯折件，所述弯折件两端的端面均设有接插孔，所述第一支臂和所述第二支臂各一端分别以可拆卸式方式插入所述弯折件两端的接插孔。
  18. 根据权利要求10至12、14至17任一项所述的负载组件，其特征在于，
    所述负载是摄像设备，所述脚架位于所述摄像设备的最大拍摄角度之外，且跟随所述摄像设备旋转而旋转。
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