WO2018082058A1 - Unmanned aerial vehicle - Google Patents

Abstract

Disclosed is an unmanned aerial vehicle, comprising a vehicle body (2, 5, 9), a pan-tilt (1, 7, 10), wherein a vehicle cavity (203, 503, 903) is formed inside the vehicle body (2, 5, 9), and the pan-tilt (1, 7, 10) is located within the vehicle cavity (203, 503, 903) and is connected to the vehicle body (2, 5, 9). By placing the pan-tilt (1, 7, 10) within the vehicle cavity (203, 503, 903), the problem of unreasonable connection between the unmanned aerial vehicle and the pan-tilt (1, 7, 10) can be solved well, and the structure of the pan-tilt (1, 7, 10) is more compact and can be adapted to various application scenarios and filming requirements.

Description

UAV Technical field

The invention relates to the technical field of drone design, in particular to a drone.

Background technique

At present, the PTZ is widely used in the field of UAV photography. The common UAV aerial photography system adopts the under-mounted PTZ. The PTZ is located below the UAV. The PTZ adjusts the shooting angle of the UAV to achieve the best. Shooting effect.

However, when the hanging pan/tilt and the drone are used together, the combination mode is relatively simple, and can only be hung under the drone. On the one hand, the center of gravity of the drone is turned down, and on the other hand, the setting of the camera device is limited. For example, the shooting angle, the number of camera devices, etc., especially when shooting AR (Augmented Reality)/VR (Virtual Reality) video, the shooting angle is very high, and the existing drone has already Can not meet the needs of the current shooting.

Summary of the invention

In order to solve the problems in the prior art, the embodiments of the present invention provide a cloud platform and a drone, which solve the problem that the connection structure of the UAV and the PTZ existing in the prior art is unreasonable.

The embodiment of the invention provides a drone, comprising: a machine body and a cloud platform, wherein the machine body forms a machine cavity, and the cloud platform is located in the machine cavity and is connected to the machine body.

Compared with the prior art, the present invention has the beneficial effects that the present invention can solve the problem that the connection structure of the UAV and the PTZ connection in the prior art is unreasonable by placing the PTZ in the machine cavity. Make the pan/tilt structure more compact and adapt to different application scenarios and shooting needs.

DRAWINGS

1 is a drone according to a first embodiment of the present invention;

2 is a disassembled diagram of a drone according to a first embodiment of the present invention;

3 is a disassembled diagram of a two-axis unmanned aerial vehicle according to Embodiment 1 of the present invention;

4 is a UAV with a camera device according to Embodiment 1 of the present invention;

Figure 5 is a drone according to a second embodiment of the present invention;

6 is a disassembled diagram of a drone according to a second embodiment of the present invention;

7 is a UAV with a camera device according to Embodiment 2 of the present invention;

Figure 8 is a drone according to a third embodiment of the present invention;

9 is a schematic diagram of a UAV pan/tilt provided by Embodiment 3 of the present invention;

10 is a disassembled diagram of a drone according to a third embodiment of the present invention;

FIG. 11 is a schematic diagram of a drone with an imaging device according to a third embodiment of the present invention.

Reference mark:

1	Yuntai	5021	Vibration isolation plate fixing hole	81	Mounting holes
101	First support arm	5022	Vibration isolation plate fixing hole	82	Mounting holes
102	Second support arm	5023	Vibration isolation plate fixing hole	9	Body
103	Heading axis	5024	Vibration isolation plate fixing hole	901	Upper cover
104	Heading motor	503	Drone chamber	902	lower lid
105	Pitch motor	6	Damping device	903	Machine cavity
106	Rolling motor	601	Second shock plate	10	Yuntai
107	Roller shaft connecting arm	6011	Connection hole	1001	Third support arm
2	Body	6012	Damping plate	1002	Fourth support arm
203	Machine cavity	6013	Damping plate	1003	First motor
3	Damping device	6014	Damping plate	1004	Fifth support arm
31	First damping device	6015	Damping plate	1005	Second motor
311	Damping plate	602	Vibration isolation board	1006	Fixed plate
312	Damping plate	6021	Fixed axis	1007	Fixed plate
313	Damping plate	6022	Fixed axis	11	Mount
314	Damping plate	6023	Fixed axis	1101	Mounting holes
315	First shock plate	6024	Fixed axis	1102	Camera

32	Second damping device	603	First shock plate	1103	Camera
321	Damping plate	6031	Connection hole	12	Damping device
322	Damping plate	6032	Damping plate	1201	Damping plate
323	Damping plate	6033	Damping plate	1202	Damping plate
324	Damping plate	6034	Damping plate	1203	Damping plate
325	Second shock plate	6035	Damping plate	1204	Damping plate
4	Mount	7	Yuntai	1205	Damping plate
43	Camera	701	First support arm	1206	Fixed axis
44	Mounting holes	702	Second support arm	1207	Fixed axis
5	Body	703	Heading axis	1208	Fixed axis
501	Upper cover	704	Heading motor	1209	Fixed axis
5011	Fixed axis	705	Pitch motor	1210	Fixed axis
502	lower lid	8	Mount	1211	Fixed axis

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

By way of example and not limitation, the "fixed connection" described in the following embodiments may be fixed by welding or screwing or the like.

By way of example and not limitation, "active connection" as used in the following embodiments means that the two components are relatively rotatable.

In the embodiment of the present invention, the term "A and/or B" refers to one of the following three cases: A, B, A, and B.

Example 1:

The embodiment 1 of the present invention provides a drone, as shown in FIG. 1-3, the drone includes a body 2, a pan/tilt 1, and a cavity 203 is formed inside the body 2, and the pan/tilt 1 is located at the machine Inside the cavity 203, it is connected to the body 2.

The embodiment of the invention creatively places the gimbal 1 inside the machine cavity of the drone, and subtly adjusts the relationship between the UAV and the pan/tilt in the traditional mode, and on the other hand changes the center of gravity of the drone, which can be better. Adapt to the attitude control of the drone. On the other hand, by placing the gimbal inside the body, the combination of the drone and the pan/tilt is made more compact, reducing the overall volume. At the same time, it also provides more space for the subsequent camera settings.

In this embodiment, the connection between the pan/tilt 1 and the body 2 is various. Optionally, the pan/tilt head 1 is connected to the damper device 3, and the damper device 3 is connected to the outer side of the body 2. That is, the damper device 3 is located outside the machine cavity 203.

When the pan/tilt 1 is a three-axis pan/tilt head, as shown in FIG. 2, the pan/tilt head 1 includes a first support arm 101, a second support arm 102, a heading axis 103, a heading motor 104, a pitch motor 105, and a rollover motor. 106 and the roll shaft connecting arm 107. The stator of the pitch motor 105 is fixedly coupled to the second support arm 102, and the rotor of the pitch motor 105 is fixedly coupled to the roll shaft connecting arm 107. The rotor of the roll motor 106 is fixedly coupled to the heading shaft 103, and the stator of the roll motor 106 is fixedly coupled to the roll shaft connecting arm 107. The rotor of the heading motor 104 is fixedly coupled to the heading shaft 103, and the stator of the heading motor 104 is fixedly coupled to other equipment such as a drone or a damper.

The damper device 3 includes a first damper device 31, and the first damper device 31 includes a damper plate 315 and a damper fixing plate 311-314. The damper plate 315 and the stator of the heading motor 104 are fixedly connected. The first damper device 31 is fixedly coupled to the body 2 via the damper fixing pieces 311-314. When the pan/tilt head 1 is a two-axis pan/tilt head, as shown in FIG. 3, that is, the pan/tilt head has no heading motor, the damper plate 315 and the heading shaft 103 are fixedly connected, and the damper plate 315 is additionally One end is fixedly connected to the body 2 through the damper fixing pieces 311-314.

The first damper device 31 is located outside the body 2, and encloses the platform 1 in the machine cavity 203. By connecting the pan/tilt 1 and the drone 2 together by the first damper device 31, the shock absorbing effect can be better, and the vibration brought by the gimbal during the flight of the drone can be reduced, so that the gimbal can Better shooting.

Optionally, the damper device 3 further includes a second damper device 32, and the second damper device 32 includes a second damper plate 325 and a damper fixing plate 321-324. When the pan/tilt head is a three-axis pan/tilt head, the second damper plate 325 and the heading shaft 103 of the pan/tilt head 1 are movably connected, and the second damper plate 325 is fixedly connected to the body 2 through the damper fixing pieces 321-324. One side. When the pan/tilt is a two-axis pan/tilt, the second damper plate 325 is fixedly coupled to the other end of the heading shaft 103. The second damper device 32 is located on the other side of the first damper device 31 opposite to the corresponding body, and is fixed by the two damper devices on the upper part and the lower part of the pan/tilt.

Optionally, the shock absorbing fixing pieces 311-314, the shock absorbing fixing pieces 321-324 may be a shock absorbing ball, and the shock absorbing ball is a spherical damper device made of silica gel.

It can be seen from the above that the embodiment of the present invention connects the pan/tilt 1 and the drone 2 together by the damper device 3, and the upper and lower damper devices cooperate with each other to better achieve the shock absorbing effect and reduce the The vibration caused by the drone's flight makes the PTZ better able to shoot.

Of course, the combination of the pan/tilt 1 and the drone 2 may not pass through the damper device. When the pan/tilt head 1 is a three-axis pan/tilt head, the pan/tilt head 1 may directly connect the stator of the heading motor 104 and the body 2 to each other. When it is a two-axis pan/tilt head, the pan/tilt head 1 can fix the pan/tilt head to the body 2 directly through the heading axis 103. This connection is simpler and reduces the weight of the gimbal and drone.

It should be noted that the solution of the gimbal in the machine cavity proposed by the embodiment of the present invention has no great relationship with the specific gimbal structure, and the structure of the gimbal can be adapted according to the needs of the use environment. Improvements, such as the support arm of the camera connected to the camera, can be either a single arm or both arms.

Further, the drone of the first embodiment of the present invention further includes a mounting bracket 4 for mounting an image pickup device, as shown in FIG. One end of the first support arm 101 is fixedly connected to the pitch motor 105, and the other end is fixedly connected to the mounting bracket 4.

The embodiment of the invention realizes multi-lens installation of the drone by providing the mounting bracket 4, which can help the drone realize VR multi-lens shooting.

As shown in FIG. 4, the mounting bracket 4 is a cage structure, and the two ends of the first supporting arm 101 are fixedly connected to the upper and lower sides of the mounting bracket 4, respectively. This allows the drone to be placed inside the mounting frame 4, facilitating the mounting of the camera unit on the mounting frame. The mounting bracket 4 is provided with a mounting hole 44 in which the imaging device 43 is placed. The number of the mounting holes 44 is at least one, and the at least one mounting hole 44 is dispersedly mounted on the mounting bracket 4.

At the same time, the design of the cage structure of the cage can also protect the drone from the other side. When the drone is down or collided, the motor and propeller of the drone can be protected from damage.

Preferably, the imaging device is mounted above, below, forward, rear, left, and right of the mounting frame 4, and mounting holes may be provided at all intersections, and the imaging device may be installed according to the needs of the user.

The mounting bracket 4 has an imaging device fixing shaft, and the imaging device fixing shaft fixes the imaging device in the mounting hole. The first support arm 101 and the second support arm 102 are connected to the fixed axis of the camera device, and the pan/tilt 1 and the mounting frame 4 are fixed together to achieve the purpose of shooting at a full angle. Since a plurality of mounting holes 44 are reserved in the mounting bracket 4, the number of the mounting holes 44 is N, where N is an integer greater than or equal to 1, and the N mounting holes 44 are dispersedly mounted on the mounting bracket 4. Of course, the user can also remove the camera when it is not necessary to shoot.

It should be noted that the mounting bracket 4 can be fixedly mounted only by the first supporting arm 101, or can be fixedly mounted by the first supporting arm 101 and the second supporting arm 102 at the same time, and the second supporting arm 102 is connected by The shaft is fixedly coupled to the pitch motor 105 and the other end is fixedly coupled to the mounting bracket 4. The first support arm 101 and the second support arm 102 are distributed on both sides of the gimbal, and the two are fixed together by the connecting shaft, so as to better serve the purpose of fixing the mounting bracket.

The mounting bracket is arranged in a cage shape, and on the one hand, the purpose of installing a plurality of camera devices is achieved, so that a plurality of camera devices can be distributed anywhere in the body of the drone machine. For example, the camera device can be arranged up and down, left and right, front and rear, etc., and can be installed at any position of the mounting frame as needed. On the other hand, the mounting bracket is set to a cage shape, which can protect the drone.

Of course, the mounting bracket 4 may have other shapes, such as two mounting brackets, respectively located on opposite sides of the drone, respectively connected to the two ends of the first supporting arm 101 and/or the second supporting arm 102, each At least one camera device can be installed on the mounting frame, which will be specifically described in the following embodiments, and details are not described herein again.

Example 2:

Embodiment 2 of the present invention proposes another UAV, as shown in FIG. 5-7, the UAV includes a body 5 and a PTZ 7, and the UAV provided in Embodiment 1 has a difference in that the PTZ 7, and the connection between the gimbal and the drone are located inside the machine cavity.

As shown in FIG. 6, the body 5 includes an upper cover 501 and a lower cover 502, and the damper device 6 includes a first damper plate 603.

When the pan/tilt head 5 is a three-axis pan/tilt head, the first damper plate 603 is fixedly coupled to the heading motor 704, and the rotor of the heading motor 704 is fixedly coupled to the heading 703. When the pan/tilt head 5 is a two-axis pan/tilt head, the first damper plate 603 is fixedly coupled to one end of the heading shaft 703.

The damper device 6 further includes a damper fixing piece 6032-6035 and a connecting hole 6031. When the pan/tilt head 7 is a three-axis pan/tilt head, the connecting hole 6031 and the stator of the heading motor 704 are fixedly connected. When the pan/tilt head 7 is a two-axis pan/tilt head, that is, when there is no heading motor 704, the connecting hole 6031 and the heading axis 703 are fixedly connected.

The first damper plate 603 is coupled to the body 5. The first damper plate 603 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.

Optionally, the drone further includes a second shock absorbing plate 601. When the pan/tilt head is a three-axis pan/tilt head, the pan/tilt head includes a heading motor 704, the first dampening plate 603 is fixedly coupled to the stator of the heading motor 704, and the second dampening plate 601 is rotatably movable through the connecting hole 6011 and the heading axis 703. When the pan/tilt head is a two-axis pan/tilt head, the pan/tilt head does not include a heading motor, the first dampening plate 603 is fixedly connected with the heading axis 703, and the second dampening plate 601 is also fixedly connected with the heading axis 703.

In order to achieve a fixed effect, the second damper plate 601 is coupled to the body 5. The second damper plate 601 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.

Optionally, the UAV 5 further includes a vibration isolation plate 602. The vibration isolation plate 602 is located between the first vibration absorption plate 603 and the second vibration absorption plate 601 to serve as a vibration isolation function. They are respectively fixed on the vibration isolation plate 602. Of course, one of the damping plates can be directly fixed to the body, and the other damping plate is directly fixed to the vibration isolating plate 602. The vibration isolation plate 602 includes a fixed shaft 6021-6024, and the vibration isolation plate 602 is connected to the body 5 through the fixed shaft 6021-6024. The vibration isolation plate 602 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.

Of course, the combination of the pan/tilt 7 and the body 5 may not pass through the damper device. When it is a three-axis pan/tilt head, the stator of the heading motor 704 in the pan/tilt head 7 is fixedly connected to the body 5. When In the case of a two-axis pan/tilt, the pan/tilt head 7 can fix the pan/tilt head to the body 5 directly through the heading axis 703. The latter connection is simpler, reducing the weight of the gimbal and drone. It is also possible to place the connecting device inside the machine cavity, which will not be described here.

It can be seen from the embodiment that the pan/tilt is fixed inside the fuselage by a flat pan/tilt fixing method, and at the same time, the fixing component is also hidden inside the fuselage, and the volume of the fuselage is fully utilized, so that The drone is more compact and its center of gravity is more balanced. At the same time, by increasing the damping device, the vibration of the gimbal relative to the drone is reduced, and the effect of the drone shooting can be better improved.

Further, the drone includes a mounting bracket 8. The gimbal is fixedly connected to the mounting bracket 8 by a support arm. Wherein, the support arm comprises at least one of the following: a first support arm 101 and a second support arm 102. By adding the mounting bracket 8, the multi-lens installation of the drone is realized, which can help the drone achieve VR multi-lens shooting.

As can be seen from Fig. 7, the mounting bracket 8 in the embodiment of the present invention is significantly different from the mounting bracket 4 in the first embodiment. In this embodiment, there are two mounting brackets, which are respectively installed on both sides of the body. Specifically, the two mounting brackets 8 are respectively mounted on both sides of the body through the support arms. Each mounting bracket includes one or more mounting holes 81-82, each of which can mount one or more camera devices. In this way, multi-lens shooting is achieved, which satisfies the shooting requirements of VR content.

It should be noted that the installation manner of the pan/tilt 7 and the mounting bracket 8 can be various. For example, the mounting bracket 8 can be fixed on the first supporting arm 101 and the second supporting arm 102 of the pan/tilt head 7, or can be fixed only in the first A support arm 101 or a second support arm 102.

It should be noted that the mounting bracket may be provided only on one side (for example, the upper side or the lower side of the body) as needed, and the number of the mounting brackets is one. In addition, the number of camera units in the mount can also be adjusted.

It should be noted that the cage mounting bracket 4 described in the first embodiment can also be used. It is applied to this embodiment. The specific installation manner is the same as that of Embodiment 1, and details are not described herein again.

The connecting parts of the gimbal and the drone (such as the damping device) are placed inside the body to make full use of the volume of the fuselage, making the drone more compact and the flying center of gravity more balanced. By mounting the mounting brackets on the upper and lower sides of the drone, the camera units can be installed in front, back, left and right, up and down, respectively, to achieve full-angle panoramic shooting, which solves the problem of VR shooting.

Example 3:

Embodiment 3 of the present invention proposes another drone, as shown in Figures 8-11. In this embodiment, the drone includes a body 9 and a platform 10, and the platform 10 is fixedly coupled to the body 9 by a damper device 12.

The pan/tilt head 10 is a two-axis pan/tilt head, and includes a third support arm 1001, a first motor 1003, a second motor 1005, a fourth support arm 1002, a fifth support arm 1004, a first fixing plate 1006 and a second fixing plate. 1007. The third support arm 1001 and the fourth support arm 1002 are fixedly connected, and the fourth support arm 1002 is fixedly connected to the rotor of the first motor 1003. The stator of the first motor 1003 and the fifth support arm 1004 are fixedly coupled. The rotor of the second motor 1005 and the fifth support arm 1004 are fixedly connected. The stator of the second motor 1005 and the first fixing plate 1006 are fixedly connected, and the first fixing plate 1006 and the damper device 12 are fixedly connected.

One end of the fifth support arm 1004 opposite to the second motor 1005 is movably connected to the second fixing plate 1007, and the second fixing plate 1007 is fixedly connected to the damper device 12.

The damper device 12 includes a damper plate 1201-1203, a damper fixing piece 1204-1205, and a fixed shaft 1206-1211. The damper device 12 and the second motor 1005 are fixedly coupled together by a first fixing plate 1006.

In order to be firm, the second fixing plate 1007, the second fixing plate 1007 and the fifth may be added. The support arm 1004 is movably connected and fixedly coupled to the damper device 12.

It should be noted that the damping plates are at least two. The shock absorbing fixing piece may be a shock absorbing ball, and the shock absorbing ball is a spherical damper device made of silica gel. The damper plates are held together by a shock absorbing tab.

As shown in FIG. 10, the body 9 includes an upper cover 901 and a lower cover 902, and the damper plate 12 is fixed to the upper cover 901 or the lower cover 902. Of course, for the sake of security, it can also be fixed to the upper cover 901 and the lower cover 902 at the same time. In the embodiment of the present invention, the fixed shafts 1206-1211 are respectively disposed on the side of the damper plate and the lower booklet, and the damper device 12 is fixed inside the body 9 through the fixed shafts 1206-1211.

It should be noted that the damper device 12 can also adopt the damper device mentioned in Embodiment 2, such as adding a vibration isolating plate, changing the damper device into a circular shape, etc., and the same applies in this embodiment. I will not repeat them here.

Of course, the combination of the pan/tilt head 10 and the drone 9 may not pass through the damper device. The stator of the second motor 1005 in the pan/tilt 10 can be directly fixed to the body 9. This connection is simpler and reduces the weight of the pan/tilt and drone.

Further, as shown in FIG. 11, the drone further includes a mounting bracket 11. The mounting bracket 11 includes an image pickup device 1103 and mounting holes 1101-1102 for mounting the image pickup device 1103. The mounting bracket 11 includes one or more mounting holes 1101-1102 that are dispersedly mounted on the mounting bracket.

The number of mounting brackets 11 is two, and the two mounting brackets are fixedly coupled to the support arms 1001, respectively. The two mounting brackets are respectively located at two sides of the body 9.

It should be noted that the mounting bracket 11 of the embodiment of the present invention may also adopt the mounting brackets mentioned in Embodiment 1 and Embodiment 2. When the cage mounting bracket mentioned in Embodiment 1 is used, the PTZ and The drones are located inside the mounting bracket.

The embodiment of the invention adopts a two-axis pan/tilt head, and uses a support arm to be fixedly connected with the mounting frame. The implementation is relatively simple. Setting up multiple mounting brackets can also achieve multi-lens shooting, which better meets the needs of VR video shooting. At the same time, the gimbal is fixed inside the drone through the shock absorbing device, fully utilizing the volume of the fuselage, making the drone more compact, and the flying center of gravity is more balanced.

In summary, according to any one of the embodiments of the present invention, the problem that the connection mode between the airframe and the pan/tilt existing in the prior art is unreasonable can be well solved. The technical solution proposed by the embodiment of the invention makes the structure of the pan/tilt more compact, and can adapt to the unused application scenarios and shooting requirements. At the same time, the UAV provided by the embodiment of the invention realizes simultaneous multi-lens shooting, can better perform VR video shooting, and solves the problem that the VR video shooting in the prior art is difficult.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims (15)

1. An unmanned aerial vehicle includes: a body (2, 5, 9) and a pan/tilt head (1, 7, 10), wherein the body (2, 5, 9) internally forms a machine cavity (203, 503, 903) The pan/tilt (1, 7, 10) is located in the machine cavity (203, 503, 903) and is connected to the body (2, 5, 9).
2. The drone according to claim 1, further comprising a damping device (3);

   The pan/tilt (1) is connected to a damper device (3), and the damper device (3) is connected to an outer side of the body (2).
3. The drone according to claim 2, characterized in that the damper device (3) comprises a first damper plate (315) and a damper fixing plate (311-314), the pan/tilt head (1) a heading motor (104) and a heading shaft (103), the heading shaft (103) being fixedly coupled to a rotor of the heading motor (104);

   The first damper plate (315) is fixedly connected to the stator of the heading motor (104), and the first damper plate (315) is fixed to the body (2) by the damper fixing piece (311-314). Outside.
4. The drone according to claim 2, characterized in that the damper device (3) comprises a first damper plate (315) and a damper fixing plate (311-314), the pan/tilt head (1) Including the heading axis (103);

   The first damper plate (315) is fixedly connected to one end of the heading shaft (103), and the first damper plate (315) is fixed to the outside of the body (2) by the damper fixing piece (311-314).
5. The drone according to claim 3, wherein the damper device (3) further comprises a second damper plate (325) and a damper fixing plate (321-324);

   The second damper plate (325) is movably connected to one end of the heading shaft (103), and the second damper plate (325) is fixed to the outside of the body (2) by a damper fixing piece (321-324).
6. The drone according to claim 4, wherein the damper device (3) further comprises a second damper plate (325) and a damper fixing plate (321-324);

   The second damper plate (325) is fixedly connected to one end of the heading shaft (103);

   The second damper plate (325) is fixed to the other side of the body (2) by a damper fixing piece (321-324).
7. The drone according to claim 1, characterized in that said pan/tilt (7, 10) is connected to said body (5, 9) via a damper device (6, 12), said damper device ( 6,12) is located inside the machine cavity (503, 903).
8. The drone according to claim 7, wherein said pan/tilt (7) comprises a heading motor (704) and a heading axis (703), and said damper device (6) comprises a first damper plate ( 603);

   The heading shaft (703) is fixedly coupled to the rotor of the heading motor (704), and the first damper plate (603) is fixedly coupled to the heading motor (704) stator.
9. The drone according to claim 7, wherein said pan/tilt (7) includes a heading shaft (703), and said damper device (6) includes a first damper plate (603), said A damper plate (603) is fixedly coupled to one end of the heading shaft (703).
10. The drone according to claim 8 or 9, wherein the body (5) comprises an upper cover (501) and a lower cover (502), and the first damper plate (603) is fixed by shock absorption. The sheets (6032, 6033, 6034, 6035) are fixedly coupled to the upper cover (501) and/or the lower cover (502).
11. The drone according to claim 8, wherein the damper device (6) further comprises a second damper plate (601);

    The second damper plate (601) is rotatably and movably coupled to the heading shaft (703).
12. The drone according to claim 9, wherein the damper device (6) further comprises a second damper plate (601);

    The second damper plate (601) is fixedly coupled to the other end of the heading shaft (703).
13. The drone according to claim 11 or 12, characterized in that the body (5) comprises an upper cover (501) and a lower cover (502), and the second damping plate (601) is fixed by vibration damping. The sheets (6012, 6013, 6014, 6015) are fixedly coupled to the upper cover (501) and/or the lower cover (502).
14. The drone according to any one of claims 8 to 13, further comprising a vibration isolating plate (602), one side of the vibration isolating plate (602) is passed through a shock absorbing fixing piece (6032-6035, 6012-6015) fixedly connected to the first damping plate (603) and/or the second damping plate (601);

    The other side of the vibration isolating plate (602) is fixedly coupled to the upper cover (501) and/or the lower cover (502).
15. The drone according to claim 1, characterized in that said pan/tilt (1, 7) comprises a heading motor (104, 704), and the stator and body (2, 5) of the heading motor (104, 704) are fixed. connection.

Images