WO2018076136A1 - Tête de berceau, système de photographie et véhicule aérien - Google Patents

Tête de berceau, système de photographie et véhicule aérien Download PDF

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Publication number
WO2018076136A1
WO2018076136A1 PCT/CN2016/103063 CN2016103063W WO2018076136A1 WO 2018076136 A1 WO2018076136 A1 WO 2018076136A1 CN 2016103063 W CN2016103063 W CN 2016103063W WO 2018076136 A1 WO2018076136 A1 WO 2018076136A1
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WO
WIPO (PCT)
Prior art keywords
motor
pan
bracket
tilt head
rotating shaft
Prior art date
Application number
PCT/CN2016/103063
Other languages
English (en)
Chinese (zh)
Inventor
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 (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 PCT/CN2016/103063 priority Critical patent/WO2018076136A1/fr
Priority to CN201680002823.5A priority patent/CN106715269A/zh
Publication of WO2018076136A1 publication Critical patent/WO2018076136A1/fr

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/566—Accessory clips, holders, shoes to attach accessories to camera
    • 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

  • Embodiments of the present application relate to a pan/tilt head, a photographing system, and an aircraft.
  • 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.
  • 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.
  • the load when it is a shooting device, it can be mounted on the pan/tilt for stable, smooth, multi-angle shooting.
  • 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.
  • Embodiments of the present application provide a pan/tilt head, a photographing system, and an aircraft that can operate in a harsh working environment.
  • a 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.
  • a 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.
  • an aircraft 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.
  • 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.
  • FIG. 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.
  • FIG 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.
  • FIG. 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.
  • FIG. 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.
  • FIG. 9 is a schematic block diagram of a flight system in accordance with an embodiment of the present application.
  • 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.
  • the motor included in the shaft mechanism may be a brushless motor or a brush motor.
  • the load may be a shooting device or other device, which is not limited in this embodiment.
  • the spindle mechanism comprises at least one of: a pitch mechanism, a roll mechanism, and a yaw mechanism.
  • 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.
  • the pan/tilt head comprises a plurality of rotating shaft mechanisms, and the plurality of rotating shaft mechanisms are connected in series.
  • 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.
  • the rotor in the rotating shaft mechanism is fixedly connected to the bracket, and may be an indirect fixed connection.
  • the bracket of the previous rotating shaft mechanism and the stator of the next rotating shaft mechanism may be indirectly connected.
  • 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.
  • the motor of the yaw axis mechanism may be referred to as a yaw axis motor
  • 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.
  • 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.
  • FIG. 1 is merely a schematic diagram.
  • the specific structure of the pan/tilt head of the embodiment of the present application should not be limited.
  • 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.
  • 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.
  • the specific structure of the bracket of the embodiment of the present application can be designed according to different needs.
  • 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.
  • the stator included in the motor may be hollow for forming a routing channel in the motor.
  • 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.
  • the routing channel in the bracket may extend through the entire bracket or may be disposed only in a portion of the bracket.
  • 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.
  • the side of the bracket has a wire slot
  • the bracket cover can be Removably attached to the bracket to seal the wireway to form a routing channel.
  • the bracket may be directly perforated to form a routing channel.
  • 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.
  • the routing channels in the plurality of rotating shaft mechanisms are in communication.
  • 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.
  • 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
  • the second rotating shaft mechanism includes a second a motor and a second bracket
  • the third shaft mechanism includes a third motor
  • 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.
  • FIG. 2 is a general wiring diagram of the pan/tilt
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the routing channel is used to pass through the coaxial line, and specifically, may be a cable composed of coaxial lines.
  • the routing channel can pass through other types of transmission lines, and the present application does not specifically limit this application. set.
  • 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.
  • the transmission line can also be attached to the inner wall, only in the accommodation and routing channels.
  • the transmission line in the routing channel may be curled in the routing channel.
  • the length of the curl can be set according to the amplitude and radius of the rotation of the rotating shaft.
  • the pan/tilt further includes a circuit board for connecting the transmission line in the pan/tilt.
  • 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.
  • the first circuit board is disposed on a side of the second motor remote from the load.
  • 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.
  • 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.
  • 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.
  • the second circuit board is disposed on a side of the load opposite to the third motor.
  • 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.
  • 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.
  • 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.
  • 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.
  • the rotation of the gimbal is sealed by a labyrinth seal.
  • FIG. 6 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.
  • the non-rotating contact may be sealed by using a silicone ring.
  • 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
  • FIG. 8 is a cross-sectional view of the silicone ring.
  • 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.
  • 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.
  • 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.
  • a wire passage is arranged in the bracket of the rotating shaft mechanism, which can further protect the transmission line.
  • 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.
  • 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.
  • 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.
  • the pan/tilt is used to connect to an aircraft.
  • the aircraft may be an Unmanned Aerial Vehicle (UAV).
  • UAV Unmanned Aerial Vehicle
  • 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.
  • the 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.
  • the motor 222 can be a DC motor or an AC motor.
  • 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.
  • APP 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.
  • UI user interface

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Motor Or Generator Frames (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne une tête de berceau (230), un système de photographie et un véhicule aérien (200). La tête de berceau (230) comprend : au moins un mécanisme d'arbre tournant (110), le mécanisme d'arbre tournant (110) comprenant un moteur (112), le moteur (112) comprenant un rotor (112a) et un stator (112b) ; le rotor (112a) entraîne en déplacement une charge (240) de la tête de berceau (230) ; le stator (112b) est creux, de façon à former un canal de câblage à l'intérieur du moteur (112) ; le canal de câblage sert à recevoir une ligne de transmission de puissance et/ou une ligne de transmission de signal ; la ligne de transmission de puissance sert à fournir de l'énergie au moteur (112), et/ou à fournir de l'énergie à la charge (240) de la tête de berceau (230) ; la ligne de transmission de signal sert à transmettre un signal de communication du moteur (112), et/ou à transmettre un signal de communication de la charge (240). De plus, la tête de berceau (230) peut être mise en œuvre dans un environnement de travail agressif.
PCT/CN2016/103063 2016-10-24 2016-10-24 Tête de berceau, système de photographie et véhicule aérien WO2018076136A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/103063 WO2018076136A1 (fr) 2016-10-24 2016-10-24 Tête de berceau, système de photographie et véhicule aérien
CN201680002823.5A CN106715269A (zh) 2016-10-24 2016-10-24 云台、拍摄系统和飞行器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/103063 WO2018076136A1 (fr) 2016-10-24 2016-10-24 Tête de berceau, système de photographie et véhicule aérien

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WO2018076136A1 true WO2018076136A1 (fr) 2018-05-03

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
US11384894B2 (en) * 2019-09-23 2022-07-12 SZ DJI Technology Co., Ltd. Adjustment structure, adjustment method therefor, sealing member, coaxial cable, gimbal, and mobile apparatus

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WO2018076136A1 (fr) * 2016-10-24 2018-05-03 深圳市大疆创新科技有限公司 Tête de berceau, système de photographie et véhicule aérien
CN109204856A (zh) * 2017-07-03 2019-01-15 深圳市道通智能航空技术有限公司 云台及具有此云台的无人机
JP2019045848A (ja) * 2017-08-31 2019-03-22 キヤノン株式会社 撮像装置
CN207328845U (zh) * 2017-09-26 2018-05-08 深圳市大疆灵眸科技有限公司 云台及无人飞行器
CN207809801U (zh) * 2017-11-08 2018-09-04 深圳市大疆创新科技有限公司 云台的横滚轴组件、相机云台以及无人飞行器
WO2019100313A1 (fr) 2017-11-24 2019-05-31 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote et système d'avionique associé
CN107878773A (zh) * 2017-11-29 2018-04-06 深圳市道通智能航空技术有限公司 云台、拍摄组件及无人飞行器
WO2019105124A1 (fr) * 2017-11-29 2019-06-06 深圳市道通智能航空技术有限公司 Plateforme, composant de capture et véhicule aérien sans pilote
CN109073144B (zh) * 2017-12-29 2020-04-10 深圳市大疆创新科技有限公司 驱动装置、云台、拍摄装置及无人飞行器
CN110637184B (zh) * 2018-04-25 2022-05-24 深圳市大疆创新科技有限公司 云台、机架以及无人机
CN208299576U (zh) * 2018-05-31 2018-12-28 深圳市大疆创新科技有限公司 云台
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CN212401585U (zh) * 2020-04-27 2021-01-26 深圳市大疆创新科技有限公司 云台、拍摄设备及可移动平台
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