WO2018076136A1

WO2018076136A1 - Cradle head, photographing system and aerial vehicle

Info

Publication number: WO2018076136A1
Application number: PCT/CN2016/103063
Authority: WO
Inventors: 王佳迪; 陈汉平; 周琦
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-10-24
Filing date: 2016-10-24
Publication date: 2018-05-03
Also published as: CN106715269A

Abstract

A cradle head (230), a photographing system and an aerial vehicle (200). The cradle head (230) comprises: at least one rotary shaft mechanism (110), the rotary shaft mechanism (110) comprising a motor (112), the motor (112) comprising a rotor (112a) and a stator (112b); the rotor (112a) drives a load (240) of the cradle head (230) to move; the stator (112b) is hollow, so as to form a wiring channel inside the motor (112); the wiring channel is used for receiving a power transmission line and/or a signal transmission line; the power transmission line is used for supplying power to the motor (112), and/or supplying power to the load (240) of the cradle head (230); the signal transmission line is used for transmitting a communication signal of the motor (112), and/or transmitting a communication signal of the load (240). Moreover, the cradle head (230) can operate in a harsh work environment.

Description

PTZ, shooting system and aircraft

Technical field

Embodiments of the present application relate to a pan/tilt head, a photographing system, and an aircraft.

Background technique

The gimbal can be loaded with loads for fixed loads, freely adjusting the attitude of the load (for example, changing the height, inclination and/or direction of the load), or for maintaining the load in a stable attitude. For example, when the load is a shooting device, it can be mounted on the pan/tilt for stable, smooth, multi-angle shooting.

In many cases, the gimbal is required to operate in a harsh working environment (for example, rain and snow). Therefore, how to provide a protective gimbal is an urgent problem to be solved.

Summary of the invention

Embodiments of the present application provide a pan/tilt head, a photographing system, and an aircraft that can operate in a harsh working environment.

In one aspect, a pan/tilt head is provided, the pan/tilt head includes at least one shaft mechanism, the shaft mechanism includes a motor, the motor includes a rotor and a stator; the rotor drives the load of the pan/tilt to move; the stator is hollow to form a routing channel in the motor; the routing channel is for accommodating a power transmission line and/or a signal transmission line; wherein the power transmission line is used to supply power to the motor, and/or power the load of the cloud platform; A communication signal for transmitting the motor, and/or a communication signal for transmitting the load.

In another aspect, a photographing system is provided, the photographing system including a pan/tilt head and a photographing apparatus, wherein the pan head includes at least one reel mechanism including a motor including a rotor and a stator; the rotor drives the photographing The device is moved; the stator is hollow to form a routing channel within the motor; the routing channel is for receiving a power transmission line and/or a signal transmission line; wherein the power transmission line is used to power the motor, and/or The photographing device of the pan/tilt is powered; the signal transmission line is for transmitting a communication signal of the motor, and/or transmitting a communication signal of the photographing device.

In another aspect, an aircraft is provided, including a pan/tilt head, wherein the pan/tilt head includes at least one spindle mechanism, the spindle mechanism includes a motor, the motor including a rotor and a stator; the rotor drives the load of the pan/tilt to move; The stator is hollow to form a routing channel in the motor; the routing is The track is for accommodating a power transmission line and/or a signal transmission line; wherein the power transmission line is used to power the motor and/or power the load of the pan/tilt; the signal transmission line is used to transmit a communication signal of the motor, and/or The communication signal of the load is transmitted.

In the gimbal of the embodiment of the present application, the stator of the motor included in the rotating shaft mechanism is hollow, and can form a routing channel in the motor, so that the transmission line can be routed in the stator, and the transmission line can be protected, so that the cloud platform can Working in a harsh working environment; and setting the hollow of the stator as a routing channel, the wiring is simple, and the transmission line breakage caused by the twist of the transmission line can be avoided.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only some of the present application. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic view showing the overall structure of a pan/tilt head according to an embodiment of the present application.

FIG. 2 is a schematic diagram of a manner of routing a pan/tilt head according to an embodiment of the present application.

3 is a schematic view of a manner of routing in a partial hinge mechanism of a pan/tilt head according to an embodiment of the present application.

4 is a partial exploded perspective view of a pan/tilt head according to an embodiment of the present application.

FIG. 5 is a partial exploded perspective view of a pan/tilt head according to an embodiment of the present application.

FIG. 6 is a schematic view of a labyrinth seal structure in accordance with an embodiment of the present application.

7 is a schematic view of a silicone ring seal structure in accordance with an embodiment of the present application.

FIG. 8 is a schematic view of a silicone ring seal structure in accordance with an embodiment of the present application.

9 is a schematic block diagram of a flight system in accordance with an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

It should be noted that, when a component is “fixedly connected” or “connected” to another component in the embodiment of the present application, or when one component is “fixed” to another component, it may be directly on another component, or You can also have a centered component.

Unless otherwise indicated, all technical and scientific terms used in the embodiments of the present application have the same meaning The terminology used in the present application is for the purpose of describing particular embodiments and is not intended to limit the scope of the application. The term "and/or" used in this application includes any and all combinations of one or more of the associated listed.

The embodiment of the present application provides a pan/tilt head, which includes at least one rotating shaft mechanism, the rotating shaft mechanism includes a motor, and the motor includes a rotor and a stator; and the rotor drives the load of the pan/tilt to move.

Optionally, the motor included in the shaft mechanism may be a brushless motor or a brush motor.

Optionally, the load may be a shooting device or other device, which is not limited in this embodiment.

Optionally, the spindle mechanism comprises at least one of: a pitch mechanism, a roll mechanism, and a yaw mechanism.

Optionally, the hinge mechanism mentioned in the embodiment of the present application further includes a bracket connected to the rotor, and the rotor rotates by driving the bracket to drive the load to move.

Optionally, the pan/tilt head comprises a plurality of rotating shaft mechanisms, and the plurality of rotating shaft mechanisms are connected in series. Optionally, the plurality of rotating shaft mechanisms may be connected in series: the starting point of the moving platform is connected, the motor of each rotating shaft mechanism is connected to the bracket, and the bracket of the last rotating shaft mechanism is connected to the motor of the next rotating shaft mechanism.

Optionally, in the embodiment of the present application, the rotor in the rotating shaft mechanism is fixedly connected to the bracket, and may be an indirect fixed connection.

Optionally, in the embodiment of the present application, the bracket of the previous rotating shaft mechanism and the stator of the next rotating shaft mechanism may be indirectly connected.

For example, as shown in FIG. 1, the pan/tilt includes a yaw axis mechanism 110, a roll axis mechanism 120, and a pitch axis mechanism 130. The yaw axis mechanism 110, the roll axis mechanism 120, and the pitch axis mechanism 130 are sequentially connected in series.

The yaw axis mechanism 110 includes a motor 112 and a bracket 114; the roll axis mechanism 120 includes a motor 122 and a bracket 124; and the pitch axis mechanism 130 includes a motor 132.

The yaw axis mechanism 110 can be coupled to the aircraft. The motor 112 of the yaw axis mechanism 110 can be coupled to the bracket 114 of the yaw axis mechanism 110. The bracket 114 of the yaw axis mechanism 110 can be coupled to the motor 122 of the roll axis mechanism 120. The motor 122 of the roll mechanism 120 can be coupled to the bracket 124 of the roll mechanism 120. The bracket 124 of the roll mechanism 120 can be coupled to the pitch axis mechanism 130. The motor 132 is coupled, and the motor 132 of the pitch axis mechanism 130 can be coupled to the load. One end of the bracket 124 of the roll mechanism 120 can be provided with a limit shaft 126 that can be rotated with the load.

In the embodiment of the present application, sometimes for the convenience of description, the motor of the yaw axis mechanism may be referred to as a yaw axis motor, and the bracket of the yaw axis mechanism is referred to as a yaw axis bracket, and other components or shaft mechanisms are similar, no longer Narration.

It should be understood that in the embodiment of the present application, not all the shaft mechanisms have brackets. For example, as shown in FIG. 1 , the pitch axis mechanism 130 includes the motor 132 and does not include a bracket, and the motor 132 of the pitch axis 130 can be directly connected. On the load, without going through the bracket.

It should also be understood that the hinge mechanism shown in FIG. 1 is merely a schematic diagram. In order to show the overall structure of the pan/tilt head, the specific structure of the pan/tilt head of the embodiment of the present application should not be limited. For example, the connection structure of the yaw axis mechanism 110 to the aircraft is not shown, and the connection structure of the pitch axis mechanism 130 to the load is not shown.

It should also be understood that although the yaw axis mechanism 110, the roll axis mechanism 120, and the pitch axis mechanism 130 are sequentially connected in series, the embodiment of the present application is not limited to this type of connection, and may be, for example, a roll axis. The mechanism, the pitch axis mechanism and the yaw axis mechanism are connected in series in sequence, or the pitch axis mechanism, the roll axis mechanism and the pitch axis mechanism may be connected in series in series, and of course, other series connection modes may be used, which are not enumerated here.

Optionally, the specific structure of the bracket of the embodiment of the present application can be designed according to different needs. For example, in the embodiment illustrated in Figure 1, the roller axle bracket 124 includes two curved walls, wherein they may be directly connected or connected by other components to form a U-shape.

Optionally, in the embodiment of the present application, the stator included in the motor may be hollow for forming a routing channel in the motor.

Optionally, in the embodiment of the present application, the bracket included in the shaft mechanism may also be provided with a routing channel, and the routing channel in the bracket may extend along the extending direction of the bracket, and the routing channel in the bracket may be Not leaking or fully enclosed.

Alternatively, the routing channel in the bracket may extend through the entire bracket or may be disposed only in a portion of the bracket.

For example, the routing passage of the roll axle bracket 124 may be disposed only in the bracket between the roller shaft motor 122 and the motor 132 of the pitch axis mechanism.

Optionally, in the embodiment of the present application, the side of the bracket has a wire slot, and the bracket cover can be Removably attached to the bracket to seal the wireway to form a routing channel.

Optionally, in the embodiment of the present application, the bracket may be directly perforated to form a routing channel.

Optionally, in the embodiment of the present application, the routing channel in the bracket of the rotating shaft mechanism is in communication with the routing channel in the stator of the rotating shaft mechanism.

Optionally, in the embodiment of the present application, the routing channels in the plurality of rotating shaft mechanisms are in communication.

Specifically, the routing channel in the bracket of the previous spindle mechanism is in communication with the routing channel in the motor of the next spindle mechanism.

For example, in the embodiment of the present application, the pan/tilt head includes a first rotating shaft mechanism, a second rotating shaft mechanism and a third rotating shaft mechanism, the first rotating shaft mechanism includes a first motor and a first bracket, and the second rotating shaft mechanism includes a second a motor and a second bracket, the third shaft mechanism includes a third motor; wherein a stator of the first motor is fixedly coupled to the aircraft, and a rotor of the first motor is fixedly coupled to the first bracket; the first bracket and the first bracket The stator of the second motor is fixedly connected, and the rotor of the second motor is fixedly connected to the second bracket; the second bracket is fixedly connected to the stator of the third motor; and the rotor of the third motor is fixedly connected to the load. The routing channel in the stator of the first motor is in communication with the routing channel in the first bracket; the routing channel in the first bracket is in communication with the routing channel in the stator of the second motor; The routing channel in the stator of the second motor is in communication with the routing channel in the second bracket; the routing channel in the second bracket is in communication with the routing channel in the stator of the third motor.

For ease of understanding, the specific structure and routing manner of the pan/tilt according to the embodiment of the present application will be described below with reference to FIGS. 2-5.

2 is a general wiring diagram of the pan/tilt, and FIG. 3 is a wiring diagram at the roll axis and the pitch axis. Fig. 3 is a cross section taken along line A-A of Fig. 2; The thicker dashed line 170 in FIGS. 2 and 3 is a transmission line, and the dotted line indicates the meaning only to distinguish it from the surrounding line, and should not be limited to the embodiment of the present application. 4 and 5 are partial exploded perspective views of the pan/tilt.

For example, as shown in FIG. 2-5, the rotor 112a of the motor 112 of the yaw axis mechanism is sleeved in the stator 112b, the stator 112b is hollow, the stator 112b can be fixedly connected with the connecting device 113, and the connecting device 113 can be provided with a line. A board and an adapter jack for connecting a transmission line that can be used to connect to an aircraft, the connection device 113 can be fixed to the aircraft. The rotor 112a of the motor 112 can be coupled to the housing 115 and drive the rotation of the housing 115. The housing 115 can be coupled to the yaw axle bracket 114 and can drive the rotation of the bracket. The bracket 114 can be coupled to the housing 121 at the roll axis mechanism, and the stator 122b of the roll motor can be coupled to the housing 121. The rotor 122a of the roll motor can be sleeved on the stator 122b and placed in the housing 121, and the back cover 123 can be covered with the housing 121. The rotor 122a of the roll motor 122 is coupled to the roll axle bracket 124, which can drive the movement of the roller axle bracket 124. The roll axle bracket 124 is coupled to the housing 131 in the pitch axis motor 132. The housing 131 can be coupled to the stator 132b in the pitch axis motor. The rotor 132a in the pitch axis motor 132 is sleeved on the stator 132b, and the rotor 132a and the load. 150 connected.

The stator 112b of the motor of the yaw axis mechanism, the stator 122b of the motor of the roll axis mechanism, and the stator 132b of the motor of the pitch axis mechanism are all hollow, thereby forming a routing channel.

The bracket main body of the bracket yaw shaft of each of the rotating shaft mechanisms may be provided with a slot, and the bracket cover may be covered on the bracket main body, thereby forming a routing passage in the bracket.

For example, the bracket body 114a of the yaw axis may be provided with a slot, and the bracket cover 114b may be covered on the bracket body 114a such that a routing path is formed in the bracket.

For another example, the bracket main body 124a of the yaw shaft may be provided with a slot, and the bracket cover 124b may be covered on the bracket main body 124a, thereby forming a routing passage in the bracket.

Wherein, when the outer casing is connected to the stator, there may be a gap, so that the routing passage of the stator can communicate with the routing passage of the bracket.

Wherein, the routing channel in the stator 112b of the motor 112 in the yaw axis mechanism 110 can communicate with the routing channel in the bracket 114 in the yaw axis 110, and the routing channel in the yaw axle bracket 114 can be rolled The routing channels in the stator 122b of the motor 122 in the shaft mechanism 120 are in communication, and the routing passages in the stator 122b can communicate with the routing passages in the bracket 124 in the roll axis mechanism 120, in the roll axis mechanism 120. The routing channel in the bracket 124 is in communication with the routing channel of the stator 132b of the motor in the pitch axis mechanism 130.

Accordingly, the transmission line can pass from the routing channel in the stator 112b in the motor 112 through the routing channel in the bracket 114 and further through the routing channel of the stator 122b in the motor 122 and then through the bracket 124. The routing channel is routed further through the routing path of the stator 132b in the motor 132.

Optionally, the routing channel is for accommodating a power transmission line and/or a signal transmission line; wherein the power transmission line is used to power the motor and/or power the load of the cloud platform; the signal transmission line is used to transmit the motor Communication signal, and/or communication signal for transmitting the load.

Optionally, the routing channel is used to pass through the coaxial line, and specifically, may be a cable composed of coaxial lines. Of course, the routing channel can pass through other types of transmission lines, and the present application does not specifically limit this application. set.

Alternatively, in the embodiment of the present application, the transmission line may be housed in the routing channel and attached to the wall of the routing channel, for example, may be attached to the inner wall of the stator, and attached to the inner wall of the bracket. Of course, the transmission line can also be attached to the inner wall, only in the accommodation and routing channels.

Optionally, in the embodiment of the present application, in order to avoid the breakage of the transmission line caused by the rotating shaft mechanism during the rotating process, the transmission line in the routing channel may be curled in the routing channel. Wherein, the length of the curl can be set according to the amplitude and radius of the rotation of the rotating shaft.

Optionally, the pan/tilt further includes a circuit board for connecting the transmission line in the pan/tilt.

Optionally, the pan/tilt is further provided with a first circuit board for connecting the first power transmission line and/or the first signal transmission line; wherein the first power transmission line is used for the first motor and The second motor is powered; the first signal transmission line is for transmitting a communication signal of the first motor and the second motor.

Optionally, the first circuit board is disposed on a side of the second motor remote from the load. Optionally, the first circuit board is detachably mounted on a side of the second motor remote from the load. The first circuit board is optionally a PCB board.

For example, a wiring board 140 is provided between the stator 122b and the rotor 122a of the roll motor and the rear cover 123. The circuit board 140 can be used to power the yaw axis motor and/or transmit communication signals of the pitch axis motor, and/or power the roll axis motor, and/or transmit communication signals of the roll motor.

Optionally, the pan/tilt is further provided with a second circuit board for connecting the second power transmission line and/or the second signal transmission line; wherein the second power transmission line is used for the third motor and The load is powered; the second signal transmission line is for transmitting a communication signal of the third motor and a communication signal of the load.

Optionally, the second circuit board is disposed on a side of the load opposite to the third motor.

For example, a circuit board 160 is disposed on a side of the load 150 opposite the pitch axis motor, wherein the circuit board 160 can power the pitch axis motor, and/or transmit a communication signal of the pitch axis motor, and/or a pitch axis The motor supplies power and/or transmits communication signals for the pitch axis motor. Wherein, when the transmission line passes through the stator 132b in the pitch axis motor, it may be wound from one side of the load 150 to the other side to be connected to the circuit board 160.

It has been described above that the routing channel can be set inside the pan/tilt, so that the transmission line in the gimbal can be protected, and the gimbal can work in a harsh working environment.

However, the embodiments of the present application are not limited thereto, and the embodiments of the present application may have other means to protect the pan/tilt, and the means may be used in combination with the means shown above or separately.

Optionally, in the embodiment of the present application, the rotation of the gimbal is sealed by a labyrinth seal.

An enlarged view at 6a at the pitch axis mechanism shown in Fig. 3 can be as shown in Fig. 6. It can be seen from FIG. 6 that the labyrinth seal structure can be adopted for the rotation, wherein the width of the slit 180 in the labyrinth seal structure shown in FIG. 6 is 0.5 mm, but the embodiment of the present application is not limited thereto, for example, a labyrinth. The width of the slit in the sealing structure may be 0.2-0.7 mm.

Optionally, in the embodiment of the present application, the non-rotating contact may be sealed by using a silicone ring.

For example, as shown in FIG. 7 and FIG. 8 , a groove 153 may be formed in the upper cover 152 of the photographing device, and the groove 153 is filled with silicone rubber and covered on the main body of the photographing device. A slot is formed in the main body of the photographing device, and the silicone is filled, and the upper cover is closed on the main body of the photographing apparatus. 7 is a plan view of the installation of the silicone ring, and FIG. 8 is a cross-sectional view of the silicone ring.

Alternatively, in order to achieve a better sealing effect, a rotating waterproof ring can be added at the rotation of the gimbal to achieve a seal, wherein the increased resistance can be overcome by the supporting motor torque.

Optionally, at least one of the circuit boards disposed in the pan/tilt is coated with a waterproof paint, so that waterproofing can be further increased.

Therefore, in the pan/tilt head of the embodiment of the present application, the stator of the motor included in the rotating shaft mechanism is hollow, and the routing channel in the motor can be formed, so that the transmission line can be routed in the stator, and the transmission line can be protected to make the cloud The table can work under the harsh working environment; and the hollow of the stator is set as the routing channel, the wiring is simple, and the transmission line breakage caused by the twist of the transmission line can be avoided.

And further, a wire passage is arranged in the bracket of the rotating shaft mechanism, which can further protect the transmission line. Moreover, the routing channel in the bracket communicates with the routing channel in the stator, which can further avoid the twist of the transmission line caused by the rotation of the rotating shaft mechanism, thereby avoiding the breakage of the transmission line.

In the embodiment of the present application, the sealing may be performed by performing a labyrinth seal or rotating the waterproof ring at the rotation of the pan/tilt, or sealing the non-rotating contact by using a silicone ring, or applying a protective paint on the circuit board. Both can protect the gimbal, so that the gimbal can work in a harsh working environment.

Optionally, the pan/tilt can carry a photographing device, and in the embodiment of the present application, The systems of the camera and the pan/tilt are collectively referred to as the shooting system.

Optionally, the pan/tilt is used to connect to an aircraft. The aircraft may be an Unmanned Aerial Vehicle (UAV).

In order to clarify the geographical aircraft, the function of the aircraft during the flight, as well as the objects interacted, will be described below in connection with the flight system shown in FIG. This embodiment is described by taking a rotorcraft as an example.

The flight system may include a UAV 200, a display device 300, and a handling device 400. The UAV 200 may include a flight control system 210, a power system 220, a pan/tilt head 230, a load 240, and a rack 250. The UAV 200 can communicate wirelessly with the manipulation device 300 and the display device 400.

Rack 250 can include a fuselage and a tripod (also known as a landing gear). The fuselage may include a center frame and one or more arms coupled to the center frame, the one or more arms extending radially from the center frame. The stand is attached to the fuselage for support when the UAV 200 is landing.

The powertrain 220 can include an electronic governor (referred to as ESC) 223, one or more propellers 221, and one or more electric machines 222 corresponding to one or more propellers 221, wherein the electric machine 222 is coupled to the electronic governor Between the 223 and the propeller 221, the motor 222 and the propeller 221 are disposed on the corresponding arm; the electronic governor 223 is configured to receive the driving signal generated by the flight control system 210, and provide a driving current to the motor 222 according to the driving signal to control The rotational speed of the motor 222. Motor 222 is used to drive propeller rotation to power the flight of UAV 200, which enables UAV 200 to achieve one or more degrees of freedom of motion. It should be understood that the motor 222 can be a DC motor or an AC motor. In addition, the motor 222 may be a brushless motor or a brush motor.

Flight control system 210 may include flight controller 211 and sensing system 212. The sensing system 212 is used to measure the attitude information of the UAV. The sensing system 212 may include, for example, at least one of a gyroscope, an electronic compass, an IMU (Inertial Measurement Unit), a vision sensor, a GPS (Global Positioning System), and a barometer. The flight controller 211 is used to control the flight of the UAV 200, for example, the flight of the UAV 200 can be controlled based on the attitude information measured by the sensing system 212.

The pan/tilt 230 can be used to carry the load 240. The load 240 may be a photographing device (eg, a camera, a camera, etc.).

The display device 300 is located at the ground end of the flight system and can communicate with the UAV 200 wirelessly and can be used to display attitude information of the UAV 200. In addition, when the load 240 is shot When the device is photographed, an image taken by the photographing device can also be displayed on the display device 300. It should be understood that the display device 300 may be a stand-alone device or may be disposed in the manipulation device 400.

The handling device 400 is located at the ground end of the unmanned flight system and can communicate with the UAV 200 wirelessly for remote manipulation of the UAV 200. The manipulation device may be, for example, a remote controller or a terminal device equipped with an APP (Application) that controls the UAV, for example, a smartphone, a tablet, or the like. In the embodiment of the present application, receiving the input of the user by the manipulation device may refer to manipulating the UAV through an input device such as a pull wheel, a button, a button, a rocker, or a user interface (UI) on the terminal device on the remote controller.

The foregoing is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application. It should be covered by the scope of protection of this application. Therefore, the scope of protection of the present application should be determined by the scope of the claims.

Claims

a pan/tilt head, characterized in that the pan/tilt head comprises at least one rotating shaft mechanism, the rotating shaft mechanism comprises a motor, and the electric machine comprises a rotor and a stator;

The rotor drives the load of the pan/tilt to move;

The stator is hollow to form a routing channel in the motor;

The routing channel is configured to receive a power transmission line and/or a signal transmission line;

Wherein the power transmission line is used to supply power to the motor and/or to supply power to the load of the cloud platform; the signal transmission line is used to transmit a communication signal of the motor, and/or transmit a communication signal of the load .
The pan/tilt head according to claim 1, wherein the rotating shaft mechanism further comprises a bracket connected to the rotor, and the rotor drives the load to move by driving the bracket to rotate;

Wherein, the bracket is provided with a routing channel, and the routing channel in the bracket extends along the extending direction of the bracket.
The pan/tilt head according to claim 2, wherein the routing channel in the bracket communicates with the routing channel in the stator.
A pan/tilt head according to any one of claims 1 to 3, wherein at least one of said spindle mechanisms comprises at least one of:

Pitch axis mechanism, roll axis mechanism and yaw axis mechanism.
A pan/tilt head according to any one of claims 1 to 4, wherein the routing channel is for passing through a coaxial line.
The pan/tilt head according to any one of claims 1 to 5, wherein the pan/tilt head includes a plurality of the rotating shaft mechanisms, and the plurality of rotating shaft mechanisms are connected in series;

Wherein the routing channels of the plurality of the rotating shaft mechanisms are in communication.
The pan/tilt head according to claim 6, wherein the bracket of the last rotating shaft mechanism is connected to the motor of the next rotating shaft mechanism from the fixed position of the pan/tilt head;

Wherein, the routing channel in the bracket of the previous rotating shaft mechanism is in communication with the routing passage in the motor of the next rotating shaft mechanism.
The pan/tilt head according to claim 7, wherein the pan/tilt head comprises a first rotating shaft mechanism, a second rotating shaft mechanism and a third rotating shaft mechanism, wherein the first rotating shaft mechanism comprises a first motor and a first a bracket, the second shaft mechanism includes a second motor and a second bracket, and the third shaft mechanism includes a third motor;

Wherein the stator of the first motor is fixedly connected to the aircraft, the rotor of the first motor is fixedly connected to the first bracket; the first bracket is fixedly connected to the stator of the second motor, the second a rotor of the motor is fixedly connected to the second bracket; the second bracket is fixedly connected to a stator of the third motor; and a rotor of the third motor is fixedly connected to the load;

a routing channel in the stator of the first motor is in communication with a routing channel in the first bracket; a routing channel in the first bracket is connected to a routing channel in a stator of the second motor a routing channel in the stator of the second motor is in communication with a routing channel in the second bracket; a routing channel in the second bracket and a routing in a stator of the third motor The channels are connected.
The pan/tilt head according to claim 8, wherein the pan/tilt is further provided with a first circuit board, and the first circuit board is used for connecting the first power transmission line and/or the first signal transmission line;

Wherein the first power transmission line is used to supply power to the first motor and the second motor;

The first signal transmission line is configured to transmit a communication signal of the first motor and the second motor.
The pan/tilt head according to claim 9, wherein the first circuit board is disposed on a side of the second motor remote from the load.
The platform according to any one of claims 8 to 10, wherein the pan/tilt is further provided with a second circuit board for connecting the second power transmission line and/or the second Signal transmission line; among them,

The second power transmission line is configured to supply power to the third motor and the load;

The second signal transmission line is configured to transmit a communication signal of the third motor and a communication signal of the load.
The pan/tilt head according to claim 11, wherein the second circuit board is disposed on a side of the load opposite to the third motor.
The pan/tilt head according to any one of claims 8 to 12, wherein the first rotating shaft mechanism is a yaw axis mechanism, the second rotating shaft mechanism is a roll axis mechanism, and the third rotating shaft The mechanism is a pitch axis mechanism.
The pan/tilt head according to any one of claims 1 to 13, characterized in that the rotation of the pan/tilt head is sealed by way of waterproofing the labyrinth.
The pan/tilt head according to any one of claims 1 to 14, characterized in that a silicone ring is provided at the seam of the pan/tilt head.
The pan/tilt head according to any one of claims 1 to 15, characterized in that the rotation of the pan/tilt head is provided with a waterproof ring.
The pan/tilt head according to any one of claims 1 to 16, characterized in that at least one of the circuit boards provided in the pan/tilt is coated with a waterproof paint.
A pan/tilt head according to any one of claims 1 to 17, wherein the pan/tilt head is for connection to an aircraft.
A photographing system comprising the pan/tilt head according to any one of claims 1 to 18, and a photographing apparatus.
An aircraft characterized by comprising a pan/tilt head according to any one of claims 1 to 18.