WO2018082065A1 - 一种云台和无人机 - Google Patents

一种云台和无人机 Download PDF

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Publication number
WO2018082065A1
WO2018082065A1 PCT/CN2016/104780 CN2016104780W WO2018082065A1 WO 2018082065 A1 WO2018082065 A1 WO 2018082065A1 CN 2016104780 W CN2016104780 W CN 2016104780W WO 2018082065 A1 WO2018082065 A1 WO 2018082065A1
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WO
WIPO (PCT)
Prior art keywords
connecting arm
motor
pan
shaft
heading
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/104780
Other languages
English (en)
French (fr)
Inventor
张正力
潘相熙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Priority to PCT/CN2016/104780 priority Critical patent/WO2018082065A1/zh
Priority to CN201680028784.6A priority patent/CN108064210B/zh
Publication of WO2018082065A1 publication Critical patent/WO2018082065A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to the technical field of drone design, in particular to a cloud platform and a drone.
  • 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.
  • the hanging pan/tilt structure currently used is very complicated. When combined with the drone, it can only be hung under the drone, which limits the setting of the shooting lens, such as the shooting angle, the number of shooting lenses, etc., especially for When shooting AR (Augmented Reality)/VR (Virtual Reality) video, the shooting angle is very high, and the existing pan/tilt and drone can no longer meet the needs of current shooting.
  • AR Augmented Reality
  • VR Virtual Reality
  • the embodiments of the present invention provide a cloud platform and a drone, which can solve the problem that the structure of the cloud platform is unreasonable in the prior art.
  • the embodiment of the present invention provides a pan/tilt head, comprising: a first lens connecting arm 101, a tilting motor 109, a rollover motor 110, a roll axis connecting arm 103, and a heading axis 106;
  • the first end of the pitch motor 109 is fixedly connected to the roll shaft connecting arm 103;
  • the second end of the pitch motor 109 is fixedly connected to the first lens connecting arm 101;
  • the first end of the roll motor 110 and the heading shaft 106 are fixedly connected;
  • the second end of the roll motor 110 is fixedly coupled to the roll shaft connecting arm 103.
  • the embodiment of the invention further provides a drone, comprising a body and a cloud platform, forming a machine cavity inside the body, the cloud platform being located in the machine cavity and connected to the body.
  • the pan/tilt in the above-mentioned UAV can adopt the pan/tilt proposed in the embodiment of the present invention.
  • the pan/tilt provided by the embodiment of the invention has a simple structure, and the free adjustment of the pan/tilt is realized by the roll-over shaft connecting arm.
  • the camera device can be conveniently fixed by providing the first lens connecting arm and the heading axis.
  • the drone provided by the embodiment of the invention creatively places the gimbal in the unmanned aircraft body, and the aircraft fuselage adopts a structural inner hollow design, thereby minimizing the size of the drone, and at the same time, passing the drone
  • the heading motor is fixed on the fuselage body, which realizes the combination of the drone and the pan/tilt, which greatly facilitates the shooting of the drone.
  • Embodiment 1 is a structural diagram of a gimbal provided by Embodiment 1 of the present invention.
  • FIG. 2 is a structural diagram of a gimbal provided by Embodiment 2 of the present invention.
  • Embodiment 3 is a structural diagram of a gimbal provided by Embodiment 3 of the present invention.
  • Embodiment 4 is a structural diagram of a gimbal provided by Embodiment 4 of the present invention.
  • Figure 5 is a structural diagram of a gimbal provided by Embodiment 5 of the present invention.
  • FIG. 6 is a structural diagram of a gimbal provided by Embodiment 6 of the present invention.
  • FIG. 7 is a disassembled diagram of a gimbal structure according to Embodiment 6 of the present invention.
  • Figure 8 is a cross-sectional view showing a structure of a gimbal provided in Embodiment 6 of the present invention.
  • FIG. 9 is a structural diagram of a pan/tilt head according to Embodiment 6 of the present invention.
  • FIG. 10 is a structural diagram of a pan/tilt head according to Embodiment 7 of the present invention.
  • Figure 11 is a structural diagram of a drone according to Embodiment 8 of the present invention.
  • FIG. 12 is a disassembled diagram of a drone according to Embodiment 8 of the present invention.
  • FIG. 13 is a structural diagram of a drone according to Embodiment 9 of the present invention.
  • FIG. 15 is a schematic diagram of an additional mounting frame of a drone according to Embodiment 10 of the present invention.
  • FIG. 16 is a disassembled diagram of an additional mounting bracket of a drone according to Embodiment 10 of the present invention.
  • FIG. 17 is a schematic diagram of an additional installation frame of a drone according to Embodiment 11 of the present invention.
  • Damping plate 603 First shock plate 214 Damping plate 6031 Heading shaft connecting hole 215 Damping plate 6032 Damping plate twenty two Second damping device 6033 Damping plate 221 Damping plate 6034 Damping plate 222 Damping plate 6035 Damping plate 223 Damping plate 7 Yuntai 224 Damping plate 701 First lens connecting arm 225 Damping plate 702 Second lens connecting arm twenty three Machine cavity 703 Heading axis twenty four Body 704 Heading motor 3 Mount 705 Pitch motor 8 Mount
  • the "fixed connection” described in the following embodiments may be fixed by welding or screwing or the like.
  • active connection means that the two components are relatively rotatable.
  • the motor includes a stator and a rotor, and the rotor is one end of the motor with a rotating shaft, and the stator is a stationary end of the motor. Driven by electrical energy, the rotor of the motor will rotate.
  • the stator of the motor is fixed, and the object that is fixedly connected to the rotor of the motor will follow The rotation of the rotor rotates.
  • the rotor of the motor can also be fixed. At this time, when the motor starts to work, the stator will rotate because the rotor is fixed.
  • a and/or B means any one of the following three cases: A, B, A and B.
  • FIG. 1 is a general effect diagram of the pan-tilt structure.
  • the pan-tilt head 1 includes: a first lens connecting arm 101 , a tilting motor 109 , and a roll motor 110, roll shaft connecting arm 103, heading shaft 106.
  • a first end of the pitch motor 109 is fixedly connected to the roll axis connecting arm 103;
  • a second end of the pitch motor 109 is fixedly connected to the first lens connecting arm 101;
  • One end portion and the heading shaft 106 are fixedly connected; the second end portion of the roll motor 110 is fixedly connected to the roll shaft connecting arm 103.
  • the structure of the above-mentioned roll shaft connecting arm 103 may be circular or semi-circular, square or semi-square, or may be L-shaped or other structures for the purpose of the roll motor 110 and the pitch motor 109. When connected, it is possible to adjust the pan/tilt separately during the tilting and tumbling operations.
  • heading shaft 106 and the first lens connecting arm 101 can be interchanged without affecting the implementation of the embodiments of the present invention.
  • one end of the first lens connecting arm 101 is connected to the lens, and the other end can be stopped at the tilting motor 109, or can be extended to the other end, and the other end can also be connected to the lens, so that the double lens can be used. Effect.
  • the pitch motor 109 rotates to drive the roll axis connecting arm 103 to perform pitch adjustment
  • the roll motor 110 rotates to drive the roll axis connecting arm 103 to perform roll adjustment.
  • the first end of the tumble motor 110 is the stator of the tumble motor 110
  • the second end of the tumble motor 110 is the rotor of the tumble motor 110. That is, the stator of the tumbling motor 110 is fixedly coupled to the heading shaft 106, and the rotor of the tumbling motor 110 is fixedly coupled to the tumbling shaft connecting arm 103. When the rotor of the tumble motor 110 rotates, the roll shaft connecting arm 103 is rotated together.
  • the first end of the pitch motor 109 is the rotor of the pitch motor 109
  • the second end of the pitch motor 109 is the stator of the pitch motor 109.
  • the rotor of the pitch motor 109 is fixedly coupled to the roll shaft connecting arm 103
  • the stator of the pitch motor 109 is fixedly coupled to the first lens connecting arm 101.
  • first end of the pitch motor 109 may also be the stator of the pitch motor 109
  • second end of the pitch motor 109 is the rotor of the pitch motor 109
  • the rotor of the pitch motor 109 and the A lens connecting arm 101 is fixedly coupled
  • a stator of the pitch motor is fixedly coupled to the roll shaft connecting arm 103.
  • the axial direction of the pitch motor 109 is perpendicular to the axial direction of the tumble motor 110.
  • the first lens attachment arm 101 is a linear axial arm.
  • the pan/tilt provided in the first embodiment of the present invention has a simple structure, and the free adjustment of the pan/tilt is realized very skillfully by the roll shaft connecting arm 103.
  • the first lens connecting arm 103 and the heading shaft 106 the fixing of the lens can be easily performed, and the structure is also compact.
  • Embodiment 2 of the present invention provides another PTZ structure, as shown in FIG.
  • Embodiment 2 adds a roll shaft 107 to the first embodiment.
  • One end of the roll shaft 107 is fixedly coupled to the first end of the roll motor 110, and the other end of the roll shaft 107 is fixedly coupled to the heading shaft 106.
  • the first end of the tumble motor 110 may be the rotor of the tumble motor 110
  • the second end of the tumble motor 110 may be the stator of the tumble motor 110.
  • the rotor of the tumble motor 110 is fixedly coupled to one end of the roll shaft 107
  • the stator of the roll motor 110 and the roll shaft connecting arm 103 are fixedly coupled.
  • the stator of the roll motor 110 can also be fixedly connected to one end of the roll shaft 107, and the rotor of the roll motor 110 and the roll shaft connecting arm 103 are fixedly connected.
  • the other end of the roll shaft 107 is movably passed through the roll shaft connecting arm 103 and is fixedly connected to the heading shaft 106.
  • the other end of the roll shaft connecting arm 103 can be fixedly connected to the heading shaft 106 in an L-shape, or Type of fixed connection, you can also The type is fixedly connected. When the connection is fixed in the L-shaped manner, the space occupation can be reduced, and the structure of the gimbal can be more simplified. When The type is fixedly connected, and the other end of the roll shaft 107 can move through the roll shaft connecting arm 103. This increases the support of the roll shaft connecting arm 103 to the roll shaft 107, and can achieve a better stabilizing effect.
  • the fixed connection of the type can increase the range of the roll and expand the roll angle to nearly 180 degrees.
  • the balance of the gimbal can be increased, the weight distribution is more balanced, and the center of gravity is relatively stable.
  • the platform 1 further includes a pitch axis 104.
  • One end of the pitch axis 104 is fixedly connected to the first end of the pitch motor 109, and the other end is fixedly connected to the roll axis connecting arm 103.
  • the first end of the pitch motor 109 is the rotor of the pitch motor 109. That is, the rotor of the pitch motor 109 can be directly connected to the roll shaft connecting arm 103, or can be fixedly connected by adding a pitch axis 104 and the roll shaft connecting arm 103, so that the structure of the pan/tilt can be better adjusted, which can be better. Play a fixed effect.
  • the first end of the pitch motor 109 may also be the stator of the pitch motor 109, and details are not described herein again.
  • the pan/tilt head provided by the embodiment of the present invention ingeniously connects the roll motor, the pitch motor and the heading shaft through the roll shaft connecting arm 103 and the roll shaft 107, and the roll shaft 107 is located in the middle of the roll shaft connecting arm 103, so that the pan/tilt structure More compact, the center of gravity is also located in the center of the gimbal, making it more convenient to use.
  • Embodiment 3 of the present invention provides another PTZ structure, as shown in FIG.
  • the heading motor 108 is added.
  • the rotor of the heading motor 108 is fixedly coupled to the heading shaft 106, and the stator of the heading motor 108 and the heading link arm 111 are fixedly coupled.
  • the heading link arm 111 includes a hand-held handle, or a body of the drone, or a damping device.
  • Embodiment 3 of the present invention upgrades the two-axis pan/tilt to a three-axis pan/tilt by adding a heading motor 108.
  • One end of the heading shaft 106 is fixedly connected to the roll shaft 107, and the other end is fixedly connected to the rotor of the heading motor 108.
  • the stator of the heading motor 108 and the heading link arm 111 are fixedly connected.
  • the heading link arm 111 can be in various forms. When used as a handheld head, the heading link arm 111 can be a hand-held handle; when used with a drone, the heading link arm 111 can be unmanned
  • the body of the machine can also be a shock absorbing device. The body of the drone and the pan/tilt are connected by a shock absorbing device.
  • the heading link arm 111 can also be another connector that connects the head of the pan/tilt and the drone.
  • the axial direction of the heading motor 108 is perpendicular to the axial direction of the tumble motor 110.
  • the pan/tilt provided by Embodiment 3 of the present invention realizes the connection of the motors through the lens connecting arm 101, the pitch axis 104, the roll axis 107, the roll axis connecting arm 103, the heading axis 106 and the heading link arm 111.
  • the three-dimensional lens adjustment of the X, Y, and Z axes is simple and compact.
  • Embodiment 4 of the present invention is further optimized on the basis of Embodiments 1, 2 and 3.
  • the pan/tilt further includes a second lens connecting arm 102, and the second lens connecting arm 102 passes
  • the fixed shaft 1023 is movably connected to the roll shaft connecting arm 103 via the connecting hole 1033.
  • active connection is meant a rotatably connected connection.
  • the second lens connecting arm 102 and the fixed shaft 1023 provide support for the roll shaft connecting arm 103, and the lens is connected to the lens through the two lens connecting arms, thereby making the lens more secure.
  • the roll shaft connecting arm 103 is provided with a rotating hole
  • the second lens connecting arm 102 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole
  • the second lens connecting arm 102 is provided with a rotating hole
  • the rolling shaft connecting arm 103 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole.
  • the purpose is to provide support for the roll shaft connecting arm 103 through the second lens connecting arm 102, which can make the pan/tilt more firm.
  • the support by the second lens connecting arm 102 also simplifies the structure of the pan/tilt, enabling the lens to be rotated 360 degrees, increasing the angle of shooting.
  • the second lens attachment arm 102 is a linear shaft arm.
  • the roll connecting shaft 103 can be better supported, the structure is simple, and the rotation angle of the pan/tilt is not affected, so that the rolling angle reaches 360 degrees. Better achieve the shooting effect.
  • Embodiment 5 of the present invention is further optimized on the basis of Embodiments 1, 2, and 3.
  • the PTZ further includes a pitch axis connecting arm 105, and the pitch axis connecting arm 105 and the first
  • the lens connecting arm 101 is fixedly connected, and the other end of the pitch axis connecting arm 105 passes through the fixing shaft 1023, passes through the connecting hole 1033, and is movably connected to the roll shaft connecting arm 103.
  • the pitch axis connecting arm 105 may be directly welded to the first lens connecting arm 101, or may be fixed between the first lens connecting arm 101 and the roll axis connecting arm 103, and the pitch axis 104 passes through the pitch axis connecting arm 105.
  • the roll shaft connecting arm 103 is supported by the pitch axis 104 alone, and is converted to be supported by the pitch shaft connecting arm 105, so that the roll shaft connecting arm 103 can be made stronger.
  • the roll shaft connecting arm 103 is provided with a rotating hole, the pitch axis connecting arm 105 and the fixed shaft 1023 are fixedly connected, and the fixed shaft 1023 is movably inserted into the rotating hole; or the pitching
  • the shaft connecting arm 105 is provided with a rotating hole, and the rolling shaft connecting arm 103 is fixedly coupled to the fixed shaft 1023, and the fixed shaft 1023 is movably inserted into the rotating hole.
  • the interval between the roll axis connecting arm 103 and the pitch axis connecting arm 105 is large.
  • the roll shaft connecting arm 103 can be freely rotated by the roll motor 110 in the pitch axis connecting arm 105, thereby further expanding the angle of the lens.
  • the roll shaft connecting arm 103 is circular or square.
  • the pitch axis connecting arm 105 has a semicircular arc shape or a semicircular arc shape.
  • the pitch axis connecting arm 105 when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 has a semicircular arc shape; when the roll axis connecting arm 103 is square, the pitch axis connecting arm 105 has a semicircular arc shape.
  • the shape of the roll shaft connecting arm 103 is not limited to a circular or semi-circular shape, and the shape of the roll shaft connecting arm 103 may be other shapes.
  • the pitch axis connecting arm 105 when the roll connecting arm 103 is square, the pitch axis connecting arm 105 may have a semicircular arc shape; when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 may be a half square arc.
  • the roll shaft connecting arm 103 can be better supported, and at the same time, there is no more weight increase of the pan/tilt, which is very good in practical applications. Effect.
  • Embodiment 6 of the present invention is further improved on the basis of Embodiments 1, 2, 3, 4, and 5.
  • the PTZ includes both a pitch axis connecting arm 105 and a second lens connecting arm 102.
  • the pitch axis connecting arm 105 and the second lens connecting arm 102 are fixedly coupled together, and are movably connected by the fixed shaft 1023 and the roll shaft connecting arm 103.
  • the roll shaft connecting arm 103 is supported by the tilt motor 109 alone, and is converted to be supported by the pitch axis connecting arm 105 and the lens connecting arm 102, so that the roll shaft connecting arm 103 and The heading shaft 106 can be more secure.
  • Embodiment 6 of the present invention will be further described in detail below with reference to FIGS. 6 and 7.
  • a pan/tilt head includes a first lens connecting arm 101, a second lens connecting arm 102, a pitch motor 109, a pitch axis 104, a roll motor 110, a roll axis 107, a roll axis connecting arm 103, and a heading The motor 108, the heading axis 106, the heading link arm 111, and the pitch axis connecting arm 105.
  • the first lens connecting arm 101 and the second lens connecting arm 102 are connected to the arm 105 by a pitch axis Fixed connection at both ends.
  • a pitch axis Fixed connection at both ends.
  • the pitch motor 109 is the rotor of the pitch motor 109
  • one end of the pitch axis 104 is fixedly coupled to the rotor 1094 of the pitch motor 109, and the other end and the connection hole 1034 on the roll shaft connecting arm 103 are connected.
  • the pitch motor 109 is fixed to the first lens connecting arm 101, and the pitch axis 104 is moved through the pitch axis connecting arm 105.
  • the roll shaft connecting arm 103 Corresponding to the connecting hole 1034, the roll shaft connecting arm 103 has a connecting hole 1033 which is movably connected to the fixed shaft 1023.
  • both ends 1071 and 1072 of the roll shaft 107 move through the connecting hole 1031 and the connecting hole 1032, respectively.
  • the first end of the tumbling motor 110 is the rotor of the tumbling motor 110
  • the tumbling shaft connecting end 1071 and the rotor 1101 of the tumbling motor 110 are fixedly connected, and the stator of the tumbling motor 110 and the connecting hole 1031 are fixedly connected, and the connection manner thereof It can be welded or fixed by screws.
  • the above-mentioned roll shaft connecting end 1072 may not pass through the connecting hole 1032.
  • the pitch axis 104 and the roll axis 107 are horizontally perpendicular, but there is no intersection between the two.
  • the heading shaft 106 has a heading shaft connection end 1063 and a heading shaft connection end 1064, and the heading shaft 106 and the roll shaft 107 are vertically crossed to form an integral body.
  • the heading shaft connection 1063 and the rotor 1083 of the heading motor 108 are fixedly coupled together.
  • the stator of the heading motor 108 and the heading link arm 111 are fixedly coupled together.
  • FIG. 8 a cross-sectional view of the pan/tilt head provided in Embodiment 6 of the present invention, it can be seen that the pitch motor 109 is fixedly connected to the roll axis connecting arm 103 through the pitch axis connecting arm 105 through the pitch axis 104.
  • the interval between the roll axis connecting arm 103 and the pitch axis connecting arm 105 is larger than the thickness of the roll motor 110, so that the roll axis connecting arm 103 can carry the roll motor 110 on the pitch axis connecting arm 105.
  • the free rotation inside can further enlarge the shooting angle of the lens.
  • the roll shaft connecting arm 103 is circular or square.
  • the pitch axis connecting arm 105 has a semicircular arc shape or a semicircular arc shape.
  • the pitch axis connecting arm 105 has a semicircular arc shape; when the roll axis connecting arm 103 is square, the pitch axis connecting arm 105 has a semicircular arc shape.
  • the shape of the roll shaft connecting arm 103 is not limited to a circular or semi-circular shape, and the shape of the roll shaft connecting arm 103 may be other shapes.
  • the pitch axis connecting arm 105 may have a semicircular arc shape; when the roll axis connecting arm 103 is circular, the pitch axis connecting arm 105 may be a half square arc.
  • the first lens connecting arm 101 and the second lens connecting arm 102 may be extended in both directions or may be extended in one direction.
  • the purpose is to better fix the camera lens.
  • the lens can be mounted on one side or on both sides. Two-way stretching enables better multi-lens mounting, and one-way stretching reduces the weight of the gimbal.
  • Embodiment 6 of the present invention With the pan/tilt provided by Embodiment 6 of the present invention, the installation of the photographing lens is better realized, the angle of photographing is better ensured, and the implementation is relatively simple, and the problems existing in the prior art are solved very well.
  • Embodiment 7 of the present invention provides another type of pan/tilt based on Embodiments 1-6. As shown in FIG. 10, the structure is substantially the same as that of Embodiments 1-6, and will not be described in detail herein.
  • the first lens connecting arm 101 and the second lens connecting arm 102 can be more deformed.
  • the lens attachment arm can be bent or an asymmetrical structure.
  • the roll axis connecting arm 103 and the pitch axis connecting arm 105 may also be deformed into a circular arc shape.
  • the roll shaft 107 and the heading shaft 106 are formed The type of fixed connection can also be better flipped and fixed.
  • the heading link arm 112 is coupled to the stator of the heading motor 108 to be connected in a horizontal manner.
  • the pan/tilt provided by the embodiment can better adapt to different drone structures and application environments, and at the same time, the roll shaft 107 and the heading axis 106 are formed.
  • the fixed connection can reduce the weight of the gimbal and achieve better use.
  • Embodiment 8 of the present invention provides a new type of drone, as shown in FIGS. 11-12, the drone includes a pan/tilt 1, a body 24, and a cavity 23 is formed inside the body 24, the pan/tilt 1 is located in the machine cavity 23 and is connected to the body 24.
  • the pan/tilt 1 adopts any one of the pan/tilt heads proposed in the embodiment 1-7 of the present invention.
  • the structure of the gimbal has been described in detail in Embodiments 1-7, and will not be described again in this embodiment, and the focus will be directed to the combination thereof with the UAV.
  • the unmanned aerial vehicle provided by the embodiment of the invention has a hollow body 12 formed by the hollow body 1 in the machine cavity 12, thereby reducing the area occupied by the gimbal and better fixing the lens.
  • the pan/tilt head 1 is fixedly connected to the body 24 via its heading link arm 111 (for example, a damper device).
  • the stator of the heading motor 108 of the pan/tilt 1 is directly connected to the body 24 .
  • the heading link arm 111 is specifically a first damper device 21 .
  • the first damper device 21 includes a damper plate 215 and a damper fixing piece 211-214.
  • the damper plate 215 is fixedly coupled to the stator of the heading motor 108 of the pan/tilt head 1, and the rotor of the heading motor 108 and the heading shaft 106 are fixedly connected.
  • the first damper device 21 is fixed to the outside of the body 24 by the damper fixing pieces 211, 212, 213, 214.
  • the shock absorbing fixing pieces 211-214 may be shock absorbing balls, which are spherical damping devices made of silica gel.
  • the first damper device 21 is located outside the body 24, and the gimbal is enclosed in the machine chamber 23.
  • the shock absorbing effect can be better, the vibration brought by the gimbal during the flight of the drone can be reduced, and the gimbal can be better. Shooting at the ground.
  • stator of the heading motor 108 can be directly connected to the body 24 directly, and the structure is simpler, and the fixed combination of the drone and the pan/tilt can also be realized.
  • the drone further includes a second damper 22, and the second damper 22 includes a damper plate 225 and the damper fixing pieces 221-224, the damper plate 225 of the second damper device 22 and the other end of the heading shaft 106 of the pan/tilt head 1 are movably connected, and the second damper device 22 is damped by the second damper device 22.
  • the fixing pieces 221, 222, 223, 224 are fixed to the outside of the body 24, that is, the second damper device 22 is connected to the side of the body 24 facing the outside of the machine cavity.
  • the second damper device 22 is located on the other side of the first damper device 21 opposite to the corresponding body, and is fixed by the two damper devices respectively at the upper and lower portions of the pan/tilt, the first damper device 21 and the heading motor
  • the stator of the 108 is fixedly connected, and the second damper device 22 and the other end of the heading shaft 106 are movably connected, which better serves to fix the pan/tilt.
  • the body 24 includes an upper cover and a lower cover.
  • the first damper 21 is fixed to the outside of the upper cover, and the second damper 22 is fixed to the outside of the lower cover.
  • the eighth embodiment of the present invention creatively places the gimbal 1 in the unmanned aircraft body, and the aircraft fuselage adopts a four-rotor structure inner space design, thereby minimizing the size of the drone, and at the same time, by heading the drone
  • the motor is fixed on the UAV body through the heading arm of the heading, which realizes the combination of the UAV and the PTZ.
  • a damping device can also be used for damping.
  • Embodiment 1-7 of the present invention is applicable to the unmanned aerial vehicle proposed in Embodiment 8 of the present invention, for example, a single lens connecting arm is adopted, and a lens connecting arm is semi-stretched. The manner in which the arm 105 is connected without the pitch axis and the like is omitted here.
  • the head of the drone does not have a heading motor.
  • the gimbal is a two-axis pan/tilt. In this case, an improvement in the way the shock absorbing device is connected to the gimbal is required.
  • the damper plate 215 of the first damper device 21 and one end of the heading shaft 106 are fixedly connected, and the damper plate 225 of the second damper device 22 and the other end of the heading shaft 106 are fixedly connected.
  • the flat platform is fixed in the interior of the fuselage by a flat pan/tilt fixing method, and the volume of the fuselage is fully utilized, so that the drone is more compact, and the flying center of gravity is also more Add balance.
  • the damping device 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.
  • Embodiment 9 of the present invention provides another novel drone, as shown in Figs. 13 and 14, which employs any of the gimbals proposed in Embodiments 1-7 of the present invention.
  • the structure of the gimbal has been described in detail in Embodiments 1-7, and will not be described again in this embodiment, and the focus will be directed to the combination thereof with the UAV.
  • the drone includes a body 5 and a pan/tilt 7, and the drone provided in the embodiment 8 differs in that the pan-tilt 7, and the connecting means of the pan-tilt and the drone are located inside the machine cavity.
  • the body 5 includes an upper cover 501 and a lower cover 502.
  • the damper device 6 includes a first damper plate 603, and the first damper plate 603 is fixedly coupled to the heading motor 704; or the first damper plate 603 is fixedly coupled to one end of the heading shaft 703.
  • the first damper plate 603 is fixed to the inner side of the body 5.
  • the first shock absorbing plate 603 includes shock absorbing fixing pieces 6032-6035.
  • the first damper plate 603 is provided with a heading shaft connecting hole 6031.
  • the heading shaft connecting hole 6031 and the stator of the heading motor 704 are fixedly connected.
  • the pan/tilt head 7 is a two-axis pan/tilt head, that is, when there is no heading motor 704, the heading shaft connecting hole 6031 and the heading axis 703 are fixedly connected.
  • the first damper plate 603 may be fixed to the inside of the body 5 directly or indirectly.
  • first damper plate 603 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • the drone further includes a second shock absorbing plate 601.
  • the second shock absorbing plate 601 is fixed to the inner side of the body 5.
  • the first damper plate 603 is fixedly coupled to the heading motor 704
  • the second damper plate 601 is rotatably and movably connected to the other end of the heading shaft 703; when the first damper plate 603 is at one end and heading
  • the second damper plate 601 is fixedly coupled to the other end of the heading shaft 703.
  • the pan/tilt head When the pan/tilt head is a three-axis pan/tilt head, the pan/tilt head includes a heading motor 704, the first damper plate 603 is fixedly connected with the stator of the heading motor 704, and the second damper plate 601 is rotatably and movably connected with the heading axis 703; Taiwan In the case of a two-axis pan/tilt head, the pan/tilt head does not include a heading motor, the first damper plate 603 is fixedly coupled to the heading axis 703, and the second damper plate 601 is also fixedly coupled to the heading axis 703.
  • the second damper plate 601 may be directly or indirectly fixed to the inside of the body 5.
  • the second damper plate 601 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • the drone provided by the embodiment of the present invention further includes a vibration isolation plate 602, and the vibration isolation plate 602 is fixed to the inner side of the body 5.
  • the vibration isolation plate 602 is located between the first damping plate 603 and the second damping plate 601 to function as a vibration isolation.
  • the two damping plates are respectively fixed on the vibration isolation plate 602.
  • 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 vibration isolation plate fixing shaft 6021-6024, and the vibration isolation plate 602 is connected to the body 5 through the vibration isolation plate fixing shaft 6021-6024.
  • the vibration isolation plate 602 is fixed to the inner side of the body 5 through the vibration isolation plate fixing shafts 6021-6024.
  • the vibration isolation plate 602 may be directly fixed to the inner side of the upper cover 501, or may be directly fixed to the inner side of the lower cover 502, or may be fixed to the inner side of the upper cover 501 and the lower cover 502 at the same time.
  • 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.
  • the damping device 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.
  • Embodiment 10 of the present invention is based on Embodiments 8 and 9 of the present invention, and provides a drone including a mounting bracket 3 for mounting an image pickup apparatus.
  • the pan/tilt head 1 is fixedly coupled to the mounting bracket 3 through a lens connecting arm, wherein the lens connecting arm includes at least one of the following: a first lens connecting arm 101 and a second lens connecting arm 102.
  • the mounting bracket 3 is added through the lens connecting arm, and the multi-lens installation of the drone is realized, which can help the drone realize the VR multi-lens shooting.
  • the mounting frame 3 is a cage structure.
  • the mounting bracket 3 includes a camera for mounting Mounting holes 33-34 of the device.
  • Both ends of the lens connecting arm are fixedly connected to the fixing shaft 32 above and below the mounting frame 3, respectively. This allows the drone to be placed inside the mounting frame 3 to facilitate mounting of the camera units 331, 341 on the mounting frame. At least one mounting hole 33 is left in the mounting bracket 3, and the at least one mounting hole is dispersedly mounted on the mounting bracket 3.
  • the cage structure of the cage can also protect the drone from the other side.
  • the motor and propeller of the drone can be protected from damage.
  • the imaging devices 331 and 341 are attached to the upper side, the lower side, the front side, the rear side, the left side, and the right side of the mounting frame 3, and mounting holes may be provided at all the intersections, and the imaging device may be installed according to the needs of the user.
  • the mounting bracket 3 has a fixed shaft 32 and a lens fixing shaft 31, and the image pickup devices 331, 341 are fixed in the mounting holes 33, 34 through the lens fixing shaft 31.
  • the first lens connecting arm 101 and the second lens connecting arm 102 are respectively coupled to the fixed shaft 32. Fixing the pan/tilt 1 and the mounting frame 3 together achieves the purpose of shooting at a full angle.
  • the number of the mounting holes 33 is N, where N is an integer greater than or equal to 1, and the N mounting holes 33 are dispersedly mounted on the mounting frame 3.
  • the user can also perform various processing on the mounting frame 3.
  • the camera device can be removed when shooting is not required.
  • the installation of the pan/tilt 1 and the mounting bracket 3 can be performed in various manners.
  • the first lens connecting arm 101 and the second lens connecting arm 102 can be directly fixed on the mounting frame 3 at the same time, or One of the lens connecting arm 101 and the second lens connecting arm 102 is fixedly coupled to the mounting bracket 3.
  • the mounting bracket 3 can be fixedly mounted only by the first lens connecting arm 101 or the second lens connecting arm 102, or can be fixedly mounted through the first lens connecting arm 101 and the second lens connecting arm 102 at the same time. .
  • the embodiment of the invention provides a cage-like mounting frame, on the one hand, achieves the purpose of installing a plurality of camera devices, so that the plurality of camera devices can be distributed anywhere in the aircraft body, such as up and down, left and right, front and rear, etc. On the other hand, it can also protect the drone.
  • Embodiment 11 of the present invention is based on Embodiments 8 and 9 of the present invention, and another drone with a mounting bracket 8 is proposed, as shown in FIG.
  • the mounting bracket 8 is used to mount an image pickup device.
  • the lens connecting arm and the mounting bracket 8 are fixedly connected.
  • the lens connecting arm comprises at least one of the following: a first lens connecting arm 101 and a second lens connecting arm 102.
  • a mounting hole for mounting the image pickup device is provided on the mounting frame 8.
  • the mounting bracket 8 is added through the lens connecting arm, and the multi-lens mounting of the drone is realized, which can help the drone realize the VR multi-lens shooting.
  • the form of the mounting bracket 8 is substantially different from the cage mounting frame of the embodiment 10.
  • the two mounting brackets 8 are respectively mounted on both sides of the body 5 through the lens connecting arms.
  • Each mounting bracket includes one or more mounting holes, each of which can be mounted with one or more camera units. In this way, multi-lens shooting is achieved, which satisfies the shooting requirements of VR content.
  • the mounting manner of the pan/tilt 7 and the mounting bracket 8 can be various.
  • the mounting bracket 8 can be fixed on the first lens connecting arm 101 and the second lens connecting arm 102 of the pan/tilt head 7, or can be fixed only. On the first lens connecting arm 101 or the second lens connecting arm 102.
  • mounting bracket 8 is only one way of installing the camera device, and the camera device may be installed in other manners, and details are not described herein.
  • the mounting brackets are respectively installed on the upper and lower sides of the drone.
  • the camera can be installed on the front, back, left and right, up and down of the mounting frame, thus achieving full-angle panoramic shooting, which solves the problem of VR shooting.
  • the user can also set the mounting bracket on the side of the body of the drone according to his own needs, or freely adjust the number of camera devices installed on the mounting bracket.
  • the problem that the structure of the gimbal existing in the prior art is unreasonable can be well solved, the structure of the gimbal is more compact, and it can adapt to the unused application scenarios and The need for shooting, at the same time, through the drone provided by the embodiment of the present invention, can better perform VR viewing
  • the frequency shooting solves the problem that the VR video shooting in the prior art is difficult.

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Abstract

一种云台，包括：第一镜头连接臂（101），俯仰电机（109），翻滚电机（110），翻滚轴连接臂（103），航向轴（106）；俯仰电机（109）的第一端部与翻滚轴连接臂（103）固定相连；俯仰电机（109）的第二端部和所述第一镜头连接臂（101）固定相连；翻滚电机（110）的第一端部和航向轴（106）固定相连；翻滚电机（110）的第二端部和所述翻滚轴连接臂（103）固定相连。该云台结构简单，通过翻滚轴连接臂能够非常巧妙的实现云台的自由调整，同时，通过设置第一镜头连接臂和航向轴,能够方便对摄像装置进行固定，更好的解决了现有技术中存在的问题。

Description

一种云台和无人机 技术领域
本发明涉及无人机设计技术领域，特别是涉及一种云台和无人机。
背景技术
目前云台在无人机拍摄领域应用广泛，常见的无人机航拍系统均采用下挂式云台，云台位于无人机的下方，通过云台调整无人机的拍摄角度以达到最佳的拍摄效果。
但目前采用的挂式云台结构非常复杂，和无人机结合使用时，只能悬挂在无人机下方，造成拍摄镜头的设置存在限制，比如拍摄角度、拍摄镜头的数量等，特别是对于拍摄AR(Augmented Reality，增强现实)/VR(Virtual Reality，虚拟现实)视频时，对拍摄的角度要求非常高，现有的云台及无人机已经无法满足目前拍摄的需要。
发明内容
为了解决现有技术中存在的问题，本发明实施例提供一种云台和无人机，能够解决现有技术中云台结构不合理的问题。
本发明实施例提出了一种云台，包括：第一镜头连接臂101，俯仰电机109，翻滚电机110，翻滚轴连接臂103，航向轴106；
所述俯仰电机109的第一端部与所述翻滚轴连接臂103固定相连；
所述俯仰电机109的第二端部和所述第一镜头连接臂101固定相连；
所述翻滚电机110的第一端部和航向轴106固定相连；
所述翻滚电机110的第二端部和所述翻滚轴连接臂103固定相连。
本发明实施例还提出了一种无人机，包括机体和云台，在所述机体的内部形成机腔，所述云台位于所述机腔内，并和机体连接。
优选的，上述无人机中的云台可以采用本发明实施例提出的云台。
与现有技术相比，本发明的有益效果在于：
本发明实施例提供的云台，结构简单，通过翻滚轴连接臂非常巧妙地实现了云台的自由调整，同时，通过设置第一镜头连接臂和航向轴,能够方便地对摄像装置进行固定。
本发明实施例提供的无人机，创造性的将云台放置在无人机体内，飞机机身采用结构内空设计，这样最大程度的减少了无人机的体积，同时，通过将无人机的航向电机固定在无人机机身上，实现了无人机和云台的结合，极大的方便了无人机拍摄。
附图说明
图1是本发明实施例1提供的一种云台结构图；
图2是本发明实施例2提供的一种云台结构图；
图3是本发明实施例3提供的一种云台结构图；
图4是本发明实施例4提供的一种云台结构图；
图5是本发明实施例5提供的一种云台结构图；
图6是本发明实施例6提供的一种云台结构图；
图7是本发明实施例6提供的一种云台结构拆解图；
图8是本发明实施例6提供的一种云台结构剖面图；
图9为本发明实施例6提供的一种云台结构图；
图10为本发明实施例7提供的一种云台结构图；
图11为本发明实施例8提供的一种无人机结构图；
图12为本发明实施例8提供的一种无人机拆解图；
图13为本发明实施例9提供的一种无人机结构图；
图14为本发明实施例9提供的一种无人机拆解图；
图15为本发明实施例10提供的一种无人机增加安装架效果图；
图16为本发明实施例10提供的一种无人机增加安装架拆解图；
图17为本发明实施例11提供的一种无人机增加安装架效果图。
附图标记：
1 云台 31 镜头固定轴
101 第一镜头连接臂 32 固定轴
102 第二镜头连接臂 33 安装孔
1023 固定轴 331 摄像装置
103 翻滚轴连接臂 34 安装孔
1031 连接孔 341 摄像装置
1032 连接孔 5 机体
1033 连接孔 501 上盖
1034 连接孔 5011 隔震板固定轴
104 俯仰轴 502 下盖
105 俯仰轴连接臂 5021 隔震板固定孔
106 航向轴 5022 隔震板固定孔
1063 航向轴连接端 5023 隔震板固定孔
1064 航向轴连接端 5024 隔震板固定孔
1065 航向轴连接臂 503 无人机腔
107 翻滚轴 6 减震装置
1071 翻滚轴连接端 601 第二减震板
1072 翻滚轴连接端 6011 航向轴连接孔
108 航向电机 6012 减震固定片
109 俯仰电机 6013 减震固定片
110 翻滚电机 6014 减震固定片
111 航向轴连接臂 6015 减震固定片
112 航向轴连接臂 602 隔震板
2 无人机 6021 隔震板固定轴
21 第一减震装置 6022 隔震板固定轴
211 减震固定片 6023 隔震板固定轴
212 减震固定片 6024 隔震板固定轴
213 减震固定片 603 第一减震板
214 减震固定片 6031 航向轴连接孔
215 减震板 6032 减震固定片
22 第二减震装置 6033 减震固定片
221 减震固定片 6034 减震固定片
222 减震固定片 6035 减震固定片
223 减震固定片 7 云台
224 减震固定片 701 第一镜头连接臂
225 减震板 702 第二镜头连接臂
23 机腔 703 航向轴
24 机体 704 航向电机
3 安装架 705 俯仰电机
    8 安装架
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
作为示例而非限定，以下实施例中所述的“固定连接”可以通过焊接或螺钉等方式固定。
作为示例而非限定，以下实施例中所述的“活动连接”是指两个部件可以相对转动。
在本发明实施例中，电机包括定子和转子，转子是电机中带转动轴的一端，定子是电机中固定不动的一端。在电能的驱动下，电机的转子会转动。在一般的场景下，电机的定子固定不动，这时，与电机的转子固定连接的物体会随着 转子的转动而转动。在某些特殊场景下，也可以将电机的转子固定不动，这时，当电机开始工作之后，由于转子固定不动，定子反而会转动。
在本发明实施例中，术语“A和/或B”是指下述3种情况中的任意一种：A，B，A和B。
实施例1:
如图1所示，本发明实施例1提供了一种云台1，图1为该云台结构的总体效果图，该云台1包括：第一镜头连接臂101，俯仰电机109，翻滚电机110，翻滚轴连接臂103，航向轴106。所述俯仰电机109的第一端部与所述翻滚轴连接臂103固定相连；所述俯仰电机109的第二端部和所述第一镜头连接臂101固定相连；所述翻滚电机110的第一端部和航向轴106固定相连；所述翻滚电机110的第二端部和所述翻滚轴连接臂103固定相连。
上述翻滚轴连接臂103的结构可以是圆形的或半圆形的，也可以为方形的或半方形的，也可以为L形的或其他结构，其目的在于将翻滚电机110和俯仰电机109连接起来，能够在进行俯仰和翻滚的动作时，分别对云台进行调整。
需要指出的是，上述航向轴106和第一镜头连接臂101可以进行相互调换，并不影响本发明实施例的实施。
本发明实施例1提供的云台，第一镜头连接臂101一端连接镜头，另一端可以止于俯仰电机109，也可以延伸到另外一端，另外一端也可以连接镜头，这样就可以达到使用双镜头的效果。当拍摄时，俯仰电机109通过转动带动翻滚轴连接臂103进行俯仰调整；翻滚电机110通过转动，带动翻滚轴连接臂103进行翻滚调整。
在本发明实施例中，翻滚电机110的第一端部是翻滚电机110的定子，翻滚电机110的第二端部是翻滚电机110的转子。也就是说，翻滚电机110的定子与航向轴106固定连接，翻滚电机110的转子与翻滚轴连接臂103固定连接。翻滚电机110的转子转动时，会带动翻滚轴连接臂103一起转动。
优选地，俯仰电机109第一端部是所述俯仰电机109的转子，俯仰电机109的第二端部是俯仰电机109的定子。俯仰电机109的转子与翻滚轴连接臂103固定相连，俯仰电机109的定子和第一镜头连接臂101固定相连。
当然，本领域的技术人员应当理解，俯仰电机109第一端部还可以是所述俯仰电机109的定子，俯仰电机109的第二端部是俯仰电机109的转子，俯仰电机109的转子与第一镜头连接臂101固定连接，俯仰电机的定子与翻滚轴连接臂103固定连接。
在本发明实施例中，俯仰电机109的轴向垂直于翻滚电机110的轴向。
作为示例而非限定，第一镜头连接臂101为直线形轴臂。
本发明实施例1提供的云台，结构简单，通过翻滚轴连接臂103非常巧妙地实现了云台的自由调整。另外，通过设置第一镜头连接臂103和航向轴106,能够方便的进行镜头的固定，而且结构也很紧凑。
实施例2：
在实施例1的基础上，本发明实施例2提供了另外一种云台结构，如图2所示。
实施例2在实施例1的基础上增加了翻滚轴107。所述翻滚轴107的一端和翻滚电机110的第一端部固定相连，翻滚轴107的另一端和航向轴106固定相连。
可选的，作为其中一种改进方式，翻滚电机110的第一端部可以是翻滚电机110的转子，翻滚电机110的第二端部可以是翻滚电机110的定子。在这种情况下，所述翻滚电机110的转子和翻滚轴107的一端固定连接，所述翻滚电机110的定子和所述翻滚轴连接臂103固定连接。当然翻滚电机110的定子也可以和翻滚轴107的一端固定连接，所述翻滚电机110的转子和翻滚轴连接臂103固定连接。
当翻滚电机110的转子和翻滚轴107固定连接时，由于翻滚轴107与航向 轴106固定连接，所以在航向轴106不动的情况下，翻滚轴电机110的转子不会转动。在翻滚轴电机110通电时，由于翻滚轴电机110的转子不会转动，翻滚轴电机110的定子会带动翻滚轴连接臂103转动。
可选的，所述翻滚轴107的另一端活动的穿过所述翻滚轴连接臂103，并与所述航向轴106固定连接。翻滚轴连接臂103另一端可与航向轴106以L型的方式固定连接，也可以以
Figure PCTCN2016104780-appb-000001
型的方式固定连接，还可以以
Figure PCTCN2016104780-appb-000002
型的方式固定连接。当以L型方式固定连接时，可以减少空间的占用，使云台结构更加简洁。当以
Figure PCTCN2016104780-appb-000003
型的方式固定连接，翻滚轴107的另一端可以活动穿过翻滚轴连接臂103。这样就增加了翻滚轴连接臂103对翻滚轴107的支撑，能够起到更好的稳定效果。同时，以
Figure PCTCN2016104780-appb-000004
型方式固定连接，能够增加翻滚的幅度，使翻滚角度扩大到将近180度。当以
Figure PCTCN2016104780-appb-000005
型的方式固定连接时，能够增加云台的平衡度，使其重量分布更加均衡，重心比较稳定。
可选的，该云台1还包括俯仰轴104，所述俯仰轴104的一端和所述俯仰电机109的第一端部固定连接，另一端和所述翻滚轴连接臂103固定连接。
优选地，俯仰电机109第一端部是所述俯仰电机109的转子。即俯仰电机109的转子可以直接和翻滚轴连接臂103固定连接，也可以通过增加一个俯仰轴104和翻滚轴连接臂103进行固定连接，这样能够更好的调整云台的结构，能够更好的起到固定的效果。
当然，需要说明的是，俯仰电机109的第一端部也可以是俯仰电机109的定子，在此不再赘述。
本发明实施例提供的云台，通过翻滚轴连接臂103和翻滚轴107巧妙的将翻滚电机、俯仰电机以及航向轴连接在一起，同时翻滚轴107位于翻滚轴连接臂103中间，使云台结构更加紧凑，重心也位于云台的中心，使用起来更加的方便。
实施例3：
在实施例1和实施例2的基础上，本发明实施例3提供了另外一种云台结构，如图3所示。
本实施例3在实施例1和实施例2的基础上，增加了航向电机108。所述航向电机108的转子与所述航向轴106固定连接，所述航向电机108的定子和航向轴连接臂111固定连接。其中，航向轴连接臂111包括手持手柄，或者无人机的机体，或者减震装置。
本发明实施例3通过增加航向电机108，将两轴云台升级为三轴云台。所述航向轴106一端和翻滚轴107固定相连，另一端和航向电机108的转子固定相连，所述航向电机108的定子和所述航向轴连接臂111固定相连。航向轴连接臂111可以为多种形态，当作为手持云台使用时，该航向轴连接臂111可以为一个手持手柄；当和无人机配合使用时，该航向轴连接臂111可以为无人机的机体，也可以为减震装置。通过减震装置将无人机的机体和云台连接在一起。当然，航向轴连接臂111也可以是其他的将云台和无人机的机体连接在一起的连接件。
在本发明实施例中，航向电机108的轴向垂直于翻滚电机110的轴向。
本发明实施例3提供的云台，通过镜头连接臂101、俯仰轴104、翻滚轴107、翻滚轴连接臂103、航向轴106和航向轴连接臂111，巧妙的将电机连接在一起，实现了X，Y，Z轴三个维度的镜头调整，实现简单，结构紧凑。
实施例4：
本发明实施例4在实施例1,2和3的基础上，进行了进一步的优化，如图4所示，该云台进一步包括第二镜头连接臂102，所述第二镜头连接臂102通过固定轴1023，经连接孔1033，与翻滚轴连接臂103活动连接。所谓“活动连接”是指可旋转地连接。
通过第二镜头连接臂102和固定轴1023，为翻滚轴连接臂103提供了支撑，同时，通过两个镜头连接臂和镜头连接，也使镜头能够更加的牢固。
可选的，所述翻滚轴连接臂103设有旋转孔，所述第二镜头连接臂102与固定轴1023固定连接，所述固定轴1023可活动地插入所述旋转孔内；或者，所述第二镜头连接臂102设有旋转孔，所述翻滚轴连接臂103与固定轴1023固定连接，所述固定轴1023可活动地插入所述旋转孔内。其目的都是为了能够通过第二镜头连接臂102为翻滚轴连接臂103提供支撑，能够使云台更加的牢固。同时，通过第二镜头连接臂102进行支撑，也简化了云台结构，能够使镜头可以360度进行旋转，增加了拍摄的角度。
作为示例而非限定，第二镜头连接臂102为直线型轴臂。
本发明实施例通过增加第二镜头连接臂102和固定轴1023，能够更好的对翻滚轴连接臂103进行支撑，结构简单，而且不影响云台的旋转角度，使其翻滚角度达到360度，更好的实现了拍摄效果。
实施例5：
本发明实施例5在实施例1,2,3的基础上，进行了进一步的优化，如图5所示，该云台进一步包括俯仰轴连接臂105，所述俯仰轴连接臂105和第一镜头连接臂101固定相连，俯仰轴连接臂105另一端通过固定轴1023，穿过连接孔1033，和所述翻滚轴连接臂103活动连接。俯仰轴连接臂105可以直接焊接在第一镜头连接臂101上，也可以固定在第一镜头连接臂101和翻滚轴连接臂103之间，俯仰轴104穿过俯仰轴连接臂105。通过新增俯仰轴连接臂105，从单纯依靠俯仰轴104支撑翻滚轴连接臂103，转换为通过俯仰轴连接臂105共同支撑，使得翻滚轴连接臂103能够更加牢固。
可选的，所述翻滚轴连接臂103设有旋转孔，所述俯仰轴连接臂105和固定轴1023固定连接，所述固定轴1023可活动地插入所述旋转孔内；或者，所述俯仰轴连接臂105设有旋转孔，所述翻滚轴连接臂103与固定轴1023固定连接，所述固定轴1023可活动地插入所述旋转孔内。
同时，可选的，所述翻滚轴连接臂103和俯仰轴连接臂105之间的间隔大 于所述翻滚电机110的厚度，这样翻滚轴连接臂103就可以带着翻滚电机110在俯仰轴连接臂105内进行自由的转动，能够进一步扩大镜头的拍摄角度。
同时，需要指出的是，所述翻滚轴连接臂103为圆形或方形。俯仰轴连接臂105为半圆弧形或者半方弧形。
优选地，当翻滚轴连接臂103为圆形时，俯仰轴连接臂105为半圆弧形；当翻滚轴连接臂103为方形时，俯仰轴连接臂105为半方弧形。本领域的技术人员可以理解，翻滚轴连接臂103的形状不局限与圆形或半圆弧形，翻滚轴连接臂103的形状可以为其他形状。本领域的技术人员还应当理解，当翻滚轴连接臂103为方形时，俯仰轴连接臂105可以为半圆弧形；当翻滚轴连接臂103为圆形时，俯仰轴连接臂105可以为半方弧形。
本发明实施例通过增加俯仰轴连接臂105和固定轴1023，能够更好的对翻滚轴连接臂103进行支撑，同时，也没有更多的增加云台的重量，在实际应用中有很好的使用效果。
实施例6：
本发明实施例6在实施例1,2,3,4,5的基础上，进行了进一步改进，如图6所示，该云台同时包括俯仰轴连接臂105和第二镜头连接臂102，俯仰轴连接臂105和第二镜头连接臂102固定连接在一起，通过固定轴1023和翻滚轴连接臂103活动连接。通过新增俯仰轴连接臂105和镜头连接臂102，从单纯依靠俯仰电机109支撑翻滚轴连接臂103，转换为通过俯仰轴连接臂105和镜头连接臂102共同支撑，使得翻滚轴连接臂103和航向轴106能够更加牢固。
下面将结合图6和图7对本发明实施例6做进一步详细的说明。
本发明实施例6提出的一种云台，包括第一镜头连接臂101，第二镜头连接臂102，俯仰电机109，俯仰轴104，翻滚电机110，翻滚轴107，翻滚轴连接臂103，航向电机108，航向轴106,航向轴连接臂111，俯仰轴连接臂105。
所述第一镜头连接臂101和第二镜头连接臂102通过俯仰轴连接臂105的 两端固定连接。作为示例，当俯仰电机109的第一端部是俯仰电机109的转子时，所述俯仰轴104的一端和俯仰电机109的转子1094固定相连，另一端和翻滚轴连接臂103上的连接孔1034固定相连。俯仰电机109固定在第一镜头连接臂101上，俯仰轴104活动穿过俯仰轴连接臂105。和连接孔1034相对应，翻滚轴连接臂103上有连接孔1033，和固定轴1023活动相连。
在翻滚轴连接臂103的另外两侧分别有连接孔1031和连接孔1032，翻滚轴107的两端1071和1072分别活动穿过连接孔1031和连接孔1032。作为示例，当翻滚电机110的第一端部是翻滚电机110的转子时，翻滚轴连接端1071和翻滚电机110的转子1101固定相连，翻滚电机110的定子和连接孔1031固定相连，其连接方式可以焊接，也可以通过螺钉固定。需要注意的是，上述翻滚轴连接端1072也可以不穿过连接孔1032。由上可以看出，俯仰轴104和翻滚轴107成水平垂直，但是两者不存在交叉。
航向轴106具有航向轴连接端1063和航向轴连接端1064，航向轴106和翻滚轴107垂直交叉在一起，形成一体。航向轴连接端1063和航向电机108的转子1083固定连接在一起。航向电机108的定子和航向轴连接臂111固定连接在一起。
如图8所示，为本发明实施例6提供的云台的剖面视图，可以看出俯仰电机109通过俯仰轴104穿过俯仰轴连接臂105与翻滚轴连接臂103进行固定连接。
同时，优选的，所述翻滚轴连接臂103和俯仰轴连接臂105之间的间隔大于所述翻滚电机110的厚度，这样翻滚轴连接臂103就可以带着翻滚电机110在俯仰轴连接臂105内进行自由的转动，能够进一步扩大镜头的拍摄角度。
同时，需要指出的是，翻滚轴连接臂103为圆形或方形。俯仰轴连接臂105为半圆弧形或者半方弧形。
优选地，当翻滚轴连接臂103为圆形时，俯仰轴连接臂105为半圆弧形；当翻滚轴连接臂103为方形时，俯仰轴连接臂105为半方弧形。本领域的技术 人员可以理解，翻滚轴连接臂103的形状不局限与圆形或半圆弧形，翻滚轴连接臂103的形状可以为其他形状。本领域的技术人员还应当理解，当翻滚轴连接臂103为方形时，俯仰轴连接臂105可以为半圆弧形；当翻滚轴连接臂103为圆形时，俯仰轴连接臂105可以为半方弧形。
同时，需要指出的是，如图9所示，第一镜头连接臂101和第二镜头连接臂102可以双向伸展，也可以单向伸展。其目的都是为了更好的固定摄像镜头，镜头可以安装在一侧，也可以安装在两侧。双向伸展能够更好的实现多镜头安装，单向伸展可以减轻云台的重量。
通过本发明实施例6提供的云台，更好的实现了拍摄镜头的安装，更好的保证了拍摄的角度，并且实现起来比较简单，非常好的解决了现有技术中存在的问题。
实施例7：
本发明实施例7基于实施例1-6提供了另外一种云台，如图10所示，其结构和实施例1-6大致相同，在这里不一一详细的介绍。
由图10可知，第一镜头连接臂101和第二镜头连接臂102可以有更多的变形。镜头连接臂可以进行弯曲，或采用不对称的结构。
翻滚轴连接臂103和俯仰轴连接臂105也可以变形为圆弧形。翻滚轴107和航向轴106成
Figure PCTCN2016104780-appb-000006
型固定连接，也能够更好的进行翻转和固定。航向轴连接臂112和航向电机108的定子相连，以水平的方式进行连接。
以上的种种变形，仅仅是为了说明本发明实施例提供的云台的结构的变化，某些部件形状的变化并不能改变本发明的实质，同样属于本发明实施例保护的范畴。
通过本实施例提供的云台，能够更好的适应不同的无人机结构和应用环境，同时，将翻滚轴107和航向轴106成
Figure PCTCN2016104780-appb-000007
型固定连接，可以减小云台的重量，达到更好的使用效果。
实施例8：
本发明实施例8提供了一种新型无人机，如图11-12所示，该无人机包括云台1，机体24，在所述机体24的内部形成机腔23，所述云台1位于所述机腔23内，并和机体24连接。
云台1采用了本发明实施例1-7提出的任意一种云台。云台的结构已经在实施例1-7中进行了详细的描述，本实施例将不再赘述，将重点针对其和无人机的结合进行描述。
本发明实施例提供的无人机，其机体中空形成机腔12，通过将云台1置于机腔12内，减小了云台所占的面积，能够更好地固定镜头。
在本发明实施例中，所述云台1通过其航向轴连接臂111(例如，减震装置)和机体24固定连接。当然也可以是所述云台1的航向电机108的定子直接和机体24固定连接。
当通过航向轴连接臂111和机体24固定连接时，所述航向轴连接臂111可以为多种形式。可选的，所述航向轴连接臂111具体为第一减震装置21。第一减震装置21包括减震板215和减震固定片211-214，所述减震板215和云台1的航向电机108的定子固定连接，航向电机108的转子和航向轴106固定连接。所述第一减震装置21通过减震固定片211,212,213,214固定于机体24外侧。减震固定片211-214可以是减震球，减震球是由硅胶做成的球形减震装置。
如图11和12所示，第一减震装置21位于机体24的外侧，将云台封闭在机腔23内。通过减震装置21将云台1和无人机2连接在一起，能够更好的起到减震效果，减小云台在无人机飞行过程中带来的震动，使云台能够更好地进行拍摄。
当然，也可以将航向电机108的定子直接和机体24进行固定连接，结构更为简单，也能够实现无人机和云台的固定结合。
可选的，该无人机还包括第二减震装置22，第二减震装置22包括减震板 225和减震固定片221-224，第二减震装置22的减震板225和云台1的航向轴106另一端活动连接，第二减震装置22通过第二减震装置22的减震固定片221,222,223,224固定于机体24外侧，即将第二减震装置22连接在机体24上朝向机腔外的一侧。
所述第二减震装置22位于第一减震装置21相对对应的机体的另一侧，通过两个减震装置在云台的上部和下部分别进行固定，第一减震装置21和航向电机108的定子固定连接，第二减震装置22和航向轴106另一端活动连接，更好的起到了对云台的固定的效果。
作为示例，机体24包括上盖和下盖，第一减震装置21固定于上盖外侧，第二减震装置22固定于下盖外侧。
本发明实施例8创造性的将云台1放置在无人机体内，飞机机身采用四旋翼结构内空设计，这样最大程度的减少了无人机的体积，同时，通过将无人机的航向电机通过航向轴连接臂固定在无人机机身上，实现了无人机和云台的结合。
通过该种设计，既达到了固定无人机的目的，又能够减小无人机和云台之间的震动，起到了非常好的效果。
当然，在震动比较小的情况下，也可以采用一个减震装置来进行减震。
同时，本发明实施例1-7提供的任意一种云台，都适用于本发明实施例8提出的无人机，比如：采用单镜头连接臂的方式，采用镜头连接臂半伸展的方式，采用无俯仰轴连接臂105的方式等等，在这里不再赘述。
需要说明的是，在某些情况下，该无人机的云台没有设置航向电机。此时，该云台为两轴云台。在这种情况下，需要对减震装置与云台的连接方式作出改进。第一减震装置21的减震板215和航向轴106的一端固定连接，第二减震装置22的减震板225和航向轴106的另一端固定连接。
通过本实施例可以看出，通过一种扁平化的云台固定方式，将云台固定在机身内部，更加充分利用了机身的体积，使无人机更加紧凑，其飞行重心也更 加平衡。同时，通过增加减震装置，减少了云台相对于无人机的震动，能够更好的提升无人机拍摄的效果。
实施例9：
本发明实施例9提供了另外一种新型无人机，如图13和14所示，其采用了本发明实施例1-7提出的任意一种云台。云台的结构已经在实施例1-7中进行了详细的描述，本实施例将不再赘述，将重点针对其和无人机的结合进行描述。
该无人机包括机体5和云台7，和实施例8提供的无人机的差别在于，该云台7，以及云台和无人机的连接装置都位于机腔内部。
如图14所示，所述机体5包括上盖501和下盖502。所述减震装置6包括第一减震板603，第一减震板603与航向电机704定子固定连接；或者所述第一减震板603与航向轴703一端固定连接。
第一减震板603固定于机体5内侧。第一减震板603包括减震固定片6032-6035。第一减震板603上设置有航向轴连接孔6031。当所述云台7为三轴云台时，所述航向轴连接孔6031和航向电机704的定子固定连接。当所述云台7为两轴云台时，即没有航向电机704时，则所述航向轴连接孔6031和航向轴703固定连接。第一减震板603可以直接或间接地固定于机体5内侧。
需要说明的是，第一减震板603可以直接固定在上盖501内侧，也可以直接固定在下盖502内侧，也可以同时固定在上盖501和下盖502的内侧。
可选的，所述无人机还包括第二减震板601。第二减震板601固定于机体5内侧。当所述第一减震板603与航向电机704定子固定连接时，所述第二减震板601与航向轴703另一端可旋转地活动连接；当所述第一减震板603一端与航向轴703一端固定连接时，所述第二减震板601与航向轴703另一端固定连接。当云台为三轴云台时，云台包括航向电机704，第一减震板603与航向电机704的定子固定连接，第二减震板601与航向轴703可旋转地活动连接；当云台 为两轴云台时，云台不包括航向电机，第一减震板603与航向轴703固定连接，第二减震板601也与航向轴703固定连接。
为了达到固定效果，第二减震板601可以直接或间接地固定于机体5内侧。第二减震板601可以直接固定在上盖501内侧，也可以直接固定在下盖502内侧，也可以同时固定在上盖501和下盖502的内侧。
可选的，本发明实施例提供的无人机还包括隔震板602，隔震板602固定于机体5内侧。隔震板602位于第一减震板603和第二减震板601之间，起到对震动隔离的作用，两个减震板分别固定在隔震板602上。当然也可以其中一个减震板直接固定在机体上，另外一个减震板直接固定在隔震板602上。所述隔震板602包括隔震板固定轴6021-6024，隔震板602通过隔震板固定轴6021-6024和机体5连接。具体地，隔震板602通过隔震板固定轴6021-6024固定于机体5内侧。隔震板602可以直接固定在上盖501内侧，也可以直接固定在下盖502内侧，也可以同时固定在上盖501和下盖502的内侧。
通过本实施例可以看出，通过一种扁平化的云台固定方式，将云台固定在机身内部，同时，其固定部件也隐藏在机身内部，更加充分利用了机身的体积，使无人机更加紧凑，其飞行重心也更加平衡。同时，通过增加减震装置的方式，减少了云台相对于无人机的震动，能够更好的提升无人机拍摄的效果。
实施例10：
本发明实施例10在本发明实施例8和9的基础上，提出一种包括安装架3的无人机，安装架3用于安装摄像装置。云台1通过镜头连接臂和安装架3固定相连，其中，镜头连接臂包括以下至少之一：第一镜头连接臂101和第二镜头连接臂102。
本发明实施例通过镜头连接臂增加了安装架3，实现了无人机多镜头安装，可以帮助无人机实现VR多镜头拍摄。
如图15-16所示，所述安装架3为笼状结构。安装架3包括用于安装摄像 装置的安装孔33-34。
镜头连接臂两端分别和安装架3上方和下方的固定轴32固定连接。这样可使无人机置于安装架3内部，便于将摄像装置331，341安装在安装架上。安装架3上留有至少一个安装孔33，所述至少一个安装孔分散安装在安装架3上。
同时，笼状结构的安装架从另一方面也能对无人机起到保护作用，在无人机掉机或发生碰撞时，能够保护无人机的电机、螺旋桨等不受损害。
优选的，在所述安装架3的上方、下方、前方、后方、左方、右方安装摄像装置331,341，也可以在所有十字交叉处设置安装孔，根据用户的需要安装摄像装置。
如图15和图16所示，所述安装架3上有固定轴32和镜头固定轴31，通过镜头固定轴31将摄像装置331，341固定在安装孔33,34内。所述第一镜头连接臂101和第二镜头连接臂102分别和固定轴32连接。将云台1和安装架3固定在一起，达到了全角度进行拍摄的目的。
安装孔33的数量为N，其中N为大于或等于1的整数，所述N个安装孔33分散安装在安装架3上。当然，用户也可以对安装架3进行各种处理，比如，不需要拍摄时，可以将摄像装置去掉。
需要指出的是，云台1和安装架3的安装可以采用多种方式，比如第一镜头连接臂101和第二镜头连接臂102可以同时直接固定在安装架3上，或者，也可以使用第一镜头连接臂101和第二镜头连接臂102中的一个与安装架3固定连接。
需要指出的是，所述安装架3可以只通过第一镜头连接臂101或第二镜头连接臂102进行固定安装，也可以同时通过第一镜头连接臂101和第二镜头连接臂102进行固定安装。
本发明实施例提供一种笼状的安装架，一方面达到了安装多个摄像装置的目的，使多个摄像装置能够分布在飞机机体外的任何位置，比如可以布置在上下、左右、前后等，另一方面，也可以对无人机起到很好的保护作用。
实施例11：
本发明实施例11在本发明实施例8和9的基础上，提出另外一种带安装架8的无人机，如图17所示。安装架8用于安装摄像装置。镜头连接臂和安装架8固定相连。其中，镜头连接臂包括以下至少之一：第一镜头连接臂101和第二镜头连接臂102。
安装架8上设置有用于安装摄像装置的安装孔。
在本发明实施例8和9提供的无人机的基础上，通过镜头连接臂增加了安装架8，实现了无人机多镜头安装，可以帮助无人机实现VR多镜头拍摄。
由图17可以看出，安装架8的形式和实施例10中的笼状的安装架有较大不同。本实施例中，有两个安装架，分别安装在机体的两侧。具体地，两个安装架8通过镜头连接臂分别安装在机体5的两侧。
每个安装架都包括一个或多个安装孔，每个安装孔可以安装一个或多个摄像装置。这样，就实现了多镜头拍摄，满足了VR内容的拍摄需求。
需要指出的是，云台7和安装架8的安装方式可以有多种，比如安装架8可以固定在云台7的第一镜头连接臂101和第二镜头连接臂102上，也可以仅仅固定在第一镜头连接臂101或第二镜头连接臂102上。
需要指出的是，安装架8仅仅为安装摄像装置的一种方式，还可以采用其他方式安装摄像装置，在这里不再赘述。
本发明实施例将安装架分别安装在无人机的上下两侧。可以分别在安装架的前后、左右、上、下安装拍摄装置，从而实现了全角度全景拍摄，很好的解决了VR拍摄的问题。当然，用户也可以根据自己的需要只在无人机的机体一侧设置安装架，或者自由调整安装架上所安装的摄像装置的数量。
综上所述，通过本发明1-11任意一项实施例，能够很好的解决现有技术中存在的云台结构不合理的问题，使云台结构更加紧凑，能够适应不用的应用场景和拍摄需求，同时，通过本发明实施例提供的无人机，能够更好的进行VR视 频的拍摄，解决了现有技术中存在的VR视频拍摄困难的问题。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (40)

  1. 一种云台，其特征在于，包括：第一镜头连接臂(101)，俯仰电机(109)，翻滚电机(110)，翻滚轴连接臂(103)，航向轴(106)；
    所述俯仰电机(109)的第一端部与所述翻滚轴连接臂(103)固定相连；
    所述俯仰电机(109)的第二端部和所述第一镜头连接臂(101)固定相连；
    所述翻滚电机(110)的第一端部和航向轴(106)固定相连；
    所述翻滚电机(110)的第二端部和所述翻滚轴连接臂(103)固定相连。
  2. 如权利要求1所述的云台，其特征在于，还包括翻滚轴(107)，所述翻滚轴(107)的一端和所述翻滚电机(110)的第一端部固定相连，所述翻滚轴(107)的另一端和航向轴(106)固定相连。
  3. 如权利要求2所述的云台，其特征在于，所述翻滚电机(110)的第一端部是所述翻滚电机(110)的转子，所述翻滚电机(110)的第二端部是所述翻滚电机(110)的定子。
  4. 如权利要求2所述的云台，其特征在于，所述翻滚电机(110)的第一端部是所述翻滚电机(110)的定子，所述翻滚电机(110)的第二端部是翻滚电机(110)的转子。
  5. 如权利要求2-4中任一所述的云台，其特征在于，所述翻滚轴(107)的另一端活动地穿过所述翻滚轴连接臂(103)，并与所述航向轴(106)固定连接。
  6. 如权利要求1所述的云台，其特征在于，所述翻滚电机(110)的第一端部是所述翻滚电机(110)的定子，所述翻滚电机(110)的第二端部是所述翻滚电机(110)的转子。
  7. 如权利要求1-6中任一所述的云台，其特征在于，还包括俯仰轴(104)，所述俯仰轴(104)的一端和所述俯仰电机(109)的第一端部固定连接，所述俯仰轴(104)的另一端与所述翻滚轴连接臂(103)固定连接。
  8. 如权利要求1-7中任一所述的云台，其特征在于，所述俯仰电机(109)的第一端部是所述俯仰电机(109)的转子，所述俯仰电机(109)的第二端部是所述俯仰电机(109)的定子。
  9. 如权利要求1-8中任一所述的云台，其特征在于，还包括航向电机(108)；
    所述航向电机(108)的转子与所述航向轴(106)固定相连。
  10. 如权利要求9所述的云台，其特征在于，所述航向电机(108)的定子和以下任一设备固定相连：
    手持手柄，无人机的机体，减震装置。
  11. 如权利要求1-10中任一所述的云台，其特征在于，还包括第二镜头连接臂(102)，所述第二镜头连接臂(102)通过固定轴(1023)和翻滚轴连接臂(103)活动连接。
  12. 如权利要求11所述的云台，其特征在于，所述翻滚轴连接臂(103)设有旋转孔，所述第二镜头连接臂(102)与固定轴(1023)固定连接，所述固定轴(1023)可活动地插入所述旋转孔内；或者，
    所述第二镜头连接臂(102)设有旋转孔，所述翻滚轴连接臂(103)与固定轴(1023)固定连接，所述固定轴(1023)可活动地插入所述旋转孔内。
  13. 如权利要求1-10所述的云台，其特征在于，还包括俯仰轴连接臂(105)，所述俯仰轴连接臂(105)一端与第一镜头连接臂(101)固定相连，俯仰轴连接臂(105)另一端通过固定轴(1023)和所述 翻滚轴连接臂(103)活动连接。
  14. 如权利要求11或12所述的云台，其特征在于，还包括俯仰轴连接臂(105)，所述俯仰轴连接臂(105)一端与第一镜头连接臂(101)固定相连，俯仰轴连接臂(105)另一端与第二镜头连接臂(102)固定连接。
  15. 如权利要求13或14所述的云台，其特征在于，所述翻滚轴连接臂(103)和俯仰轴连接臂(105)之间的间隔大于所述翻滚电机(110)的厚度。
  16. 如权利要求1-15中任意一项所述的云台，其特征在于，所述翻滚轴连接臂(103)为圆形或方形。
  17. 如权利要求13-16中任一所述的云台，其特征在于，所述俯仰轴连接臂(105)为半圆弧形或者半方弧形。
  18. 如权利要求2-5中任一所述的云台，其特征在于，所述翻滚轴(107)和航向轴(106)以下述任一方式进行连接：
    L型固定连接，
    Figure PCTCN2016104780-appb-100001
    型固定连接，
    Figure PCTCN2016104780-appb-100002
    型固定连接。
  19. 一种无人机，其特征在于，包括如权利要求1至17中任意一项所述的云台(1，7)和机体(5，24)；
    在所述机体(5，24)的内部形成机腔(23，503)，所述云台(1，7)位于所述机腔(23,503)内，并和机体(5，24)连接。
  20. 如权利要求19所述的无人机，其特征在于，所述云台(1，7)通过第一减震装置(21，603)和机体(5，24)固定连接。
  21. 如权利要求20所述的无人机，其特征在于，第一减震装置(21)包括减震板(215)和减震固定片(211)，所述减震板(215)和云台(1)的航向电机(108)的定子固定连接，航向电机(108)的转子与航向轴(106)固定连接，所述第一减震装置(21)通过减震固 定片(211)固定于机体(24)外侧。
  22. 如权利要求21所述的无人机，其特征在于，还包括第二减震装置(22)，第二减震装置(22)包括减震板(225)和减震固定片(221)，第二减震装置(22)的减震板(225)和云台(1)的航向轴(106)活动连接，第二减震装置(22)通过第二减震装置(22)的减震固定片(221)固定于机体(24)外侧。
  23. 如权利要求20所述的无人机，其特征在于，第一减震装置(21)包括减震板(215)和减震固定片(211)，所述减震板(215)和云台(1)的航向轴(106)固定连接，所述第一减震装置(21)通过减震固定片(211)固定于机体(24)外侧。
  24. 如权利要求23所述的无人机，其特征在于，还包括第二减震装置(22)，第二减震装置(22)包括减震板(225)和减震固定片(221)，第二减震装置(22)的减震板(225)和航向轴(106)固定连接，第二减震装置(22)通过第二减震装置(22)的减震固定片(221)固定于机体(24)外侧。
  25. 如权利要求22或24所述的无人机，其特征在于，所述机体(24)包括上盖和下盖；
    所述第一减震装置(21)固定于上盖外侧，所述第二减震装置(22)固定于下盖外侧。
  26. 如权利要求20所述的无人机，其特征在于，
    所述第一减震板(603)与云台(7)的航向电机(704)的定子固定连接，所述第一减震板(603)固定于机体(5)内侧。
  27. 如权利要求20所述的无人机，其特征在于，所述第一减震板(603)与云台(7)的航向轴(703)一端固定连接，所述第一减震板(603)固定于机体(5)内侧。
  28. 如权利要求26所述的无人机，其特征在于，所述无人机还包括第二减震板(601)，所述第二减震板(601)与航向轴(703)另一端可旋转地活动连接；
    所述第二减震板(601)固定于机体(5)内侧。
  29. 如权利要求27所述的无人机，其特征在于，所述无人机还包括第二减震板(601)，所述第二减震板(601)与航向轴(703)另一端固定连接；
    所述第二减震板(601)固定于机体(5)内侧。
  30. 如权利要求28或29所述的无人机，其特征在于，机体(5)包括上盖(501)和下盖(502)；
    所述第一减震板(603)固定于下盖(502)内侧或上盖(501)内侧；
    第二减震板(601)固定于上盖(501)内侧或下盖(502)内侧。
  31. 如权利要求26-30中任一所述的无人机，其特征在于，还包括隔震板(602),所述隔震板(602)的一侧与第一减震板(603)和/或第二减震板(601)固定连接；
    所述隔震板(602)另一侧固定于机体(5)内侧。
  32. 如权利要求19所述的无人机，其特征在于，所述云台(1)的航向电机(108)的定子与机体(24)固定连接。
  33. 如权利要求19-32中任一项所述的无人机，其特征在于，还包括用于安装摄像装置的安装架(3,8)，所述云台(1)通过以下至少一种结构与安装架(3,8)固定相连：
    第一镜头连接臂(101)和第二镜头连接臂(102)。
  34. 如权利要求33所述的无人机，其特征在于，所述安装架(3)为笼状结构，所述无人机位于所述安装架(3)内。
  35. 如权利要求33所述的无人机，其特征在于，所述安装架(8)的数量为两个，所述两个安装架(8)分别位于机体(24)的两侧。
  36. 如权利要求33-35中任一所述的无人机，其特征在于，所述安装架(3,8)包括用于安装摄像装置(331,341)的安装孔(33,34)。
  37. 如权利要求36所述的无人机，其特征在于，还包括摄像装置，所述摄像装置安装在安装孔(33)中。
  38. 如权利要求33或34所述的无人机，其特征在于，安装孔(33)的数量为N，其中N为大于或等于1的整数，所述N个安装孔(33)分散安装在安装架(3,8)上。
  39. 一种无人机，其特征在于，包括云台(1,7)和机体(5,24)；
    在所述机体(5，24)内部形成机腔(503，23)，所述云台(1，7)位于所述机腔(503，23)内，并和机体(5，24)连接。
  40. 如权利要求39所述的无人机，其特征在于，所述云台(1)为权利要求1-18中任意一项所述的云台。
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