WO2018120556A1 - 云台结构 - Google Patents

云台结构 Download PDF

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Publication number
WO2018120556A1
WO2018120556A1 PCT/CN2017/082610 CN2017082610W WO2018120556A1 WO 2018120556 A1 WO2018120556 A1 WO 2018120556A1 CN 2017082610 W CN2017082610 W CN 2017082610W WO 2018120556 A1 WO2018120556 A1 WO 2018120556A1
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WO
WIPO (PCT)
Prior art keywords
arm
heading
axis
pan
battery
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PCT/CN2017/082610
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English (en)
French (fr)
Inventor
李卫东
赵岩崇
Original Assignee
深圳市大疆灵眸科技有限公司
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Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201780052150.9A priority Critical patent/CN109642699A/zh
Publication of WO2018120556A1 publication Critical patent/WO2018120556A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand

Definitions

  • the present invention relates to the field of cloud platform equipment technology, and in particular, to a cloud platform structure.
  • a typical camera generally includes a three-axis pan/tilt (including a three-axis handheld pan/tilt) and a shooting unit mounted on the pan/tilt.
  • the pan/tilt is used to fix the camera, adjust the attitude of the camera (for example: change the height and direction of the camera) and keep the camera in a stable posture, thus achieving stable, smooth and multi-angle shooting of the camera.
  • the camera can be a VR camera group, camera or video camera.
  • the pan/tilt can be compatible with a variety of cameras and lenses.
  • the center of gravity of each axis of the pan/tilt can be adjusted.
  • the head of the head of the pan/tilt can be adjusted in length, adapting to various types of cameras and accessories.
  • the heading arm and the heading arm of the heading axis are vertically arranged, and the battery is placed on the vertical arm.
  • the head of the head of the gimbal needs to adjust the balance, it will cause the distance required for the balance of the heading arm to be balanced.
  • the battery is placed on the back of the head of the heading axis, the heading will be affected by the greater moment of inertia when the head is working.
  • the invention provides a gimbal structure.
  • a pan/tilt structure includes a heading arm transverse arm and a heading axis arm connected to the heading arm of the heading axis, wherein the heading arm of the heading axis is inclined with respect to the cross arm of the heading axis, and the heading axis is vertical Set on the arm There are PTZ batteries.
  • connection mechanism includes a first connection portion and a second connection portion, the first connection portion is connected to the traveling axis cross arm, and the second connection portion is perpendicular to the heading axis Arm connection.
  • the second connecting portion is disposed obliquely with respect to the heading arm of the heading axis.
  • first connecting portion is sleeved on the heading shaft cross arm, and the heading shaft arm is movable in the axial direction relative to the first connecting portion.
  • first connecting portion and the second connecting portion are integrally formed.
  • the heading axis vertical arm includes a first axle arm section and a second axle arm section, wherein the first axle arm section is connected to the heading axis cross arm and is inclined relative to the heading axis cross arm,
  • the second axle arm segment is coupled to the first axle arm segment and disposed perpendicular to the heading axis cross arm.
  • first axial arm segment and the second axial arm segment are integrally formed.
  • a battery slot is disposed on a first side of the heading arm of the heading shaft facing away from the cross-arm of the heading axis, and the pan-tilt battery is disposed in the battery slot.
  • a battery slot is disposed on the second side of the heading arm of the heading shaft facing the head of the heading shaft, and the head battery is disposed in the battery slot.
  • a first receiving member is disposed on the vertical axis of the heading arm of the heading arm adjacent to the heading arm, and the second free end of the heading arm of the heading arm away from the heading arm of the heading axis is disposed There is a second receiving member, and the battery bracket is formed between the first receiving member and the second receiving member.
  • first receiving member is provided with a first receiving groove
  • second receiving member is provided with a second supporting groove
  • first receiving groove and the second supporting groove The notches are disposed opposite to each other to form the battery well.
  • the method further includes: a heading axis motor disposed on the traveling arm transverse arm, a roll axis motor connected to the heading axis vertical arm, a roll axis assembly connected to the roll axis motor, and connected to a pitch axis motor of the roll axis assembly, and a pitch axis assembly coupled to the pitch axis motor, the pitch axis assembly for carrying a load.
  • the heading axis vertical arm is facing away from the heading axis motor from the heading axis
  • the direction is inclined to increase the space formed between the heading arm and the roll axle assembly.
  • the pan/tilt structure of the present invention is configured by tilting the heading arm of the heading axis with respect to the cross arm of the heading axis, and setting the head of the pan-tilt head on the vertical arm of the heading axis, so that the head of the pan-tilt battery is also tilted accordingly, thereby reducing the cloud
  • the influence of the center of gravity of the battery on the output of the heading motor reduces the load of the heading motor and shortens the distance adjustment of the balance of the heading arm of the heading axis, thereby improving the stabilizing effect and the torsional rigidity in the direction of the heading axis.
  • FIG. 1 is a schematic perspective view of a gimbal structure according to an embodiment of the present invention.
  • Figure 2 is a front elevational view of the gimbal structure shown in Figure 1.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information without departing from the scope of the invention.
  • second information may also be referred to as the first information.
  • word "if” as used herein may be interpreted as "when” or “when” or “in response to a determination.”
  • the pan/tilt structure 1 of the present invention includes a heading axis cross arm 10 and a heading axis arm 20 connected to the heading axis arm 10, the heading axis arm 20 being compared to The heading axis cross arm 10 is obliquely disposed, and the heading axis arm 20 is provided with a pan-tilt battery 30.
  • the pan/tilt structure 1 further includes a connection mechanism 40, the connection mechanism 40 includes a first connection portion 410 and a second connection portion 420, the first connection portion 410 and the heading axis
  • the cross arm 10 is coupled, and the second connecting portion 420 is coupled to the heading axis vertical arm 20.
  • the first connecting portion 410 is sleeved on the heading shaft cross arm 10, so that the heading shaft arm 10 can move relative to the first connecting portion 410 of the connecting mechanism 40 in the axial direction, thereby realizing The purpose of adjusting the length of the heading arm 10 of the heading axis.
  • the second connecting portion 420 of the connecting mechanism 40 is inclined relative to the heading axis cross arm 10 such that the heading axis arm 20 and the second connection The portion 420 is forced in the same oblique direction to improve the strength and stability of the gimbal structure.
  • the second connecting portion 420 of the connecting mechanism 40 may also be other arrangements.
  • the second connecting portion 420 may also be vertically disposed compared to the heading arm of the heading axis 10, as long as the heading can be achieved.
  • the shaft vertical arm 20 and the heading shaft cross arm 10 may be connected to each other.
  • the first connecting portion 410 and the second connecting portion 420 of the connecting mechanism 40 are integrally formed.
  • the heading axis vertical arm 20 includes a first axle arm section 210 and a second axle arm section 220, and the first axle arm section 210 passes through the second connecting portion 420 of the connecting mechanism 40.
  • the second axle arm section 220 is coupled to the first axle arm section 210 and transverse to the heading axis
  • the arm 10 is vertically disposed, and the second arm arm segment 220 can be used to connect other components of the pan-tilt structure 1 while also supporting the first axle arm segment 210, so that the heading arm of the heading axis
  • the force of 20 is more reasonable, which can improve the strength and stability of the gimbal structure.
  • the first axle arm segment 210 and the second axle arm segment 220 are integrally formed.
  • the first axial arm segment 210 of the heading axis vertical arm 20 is provided with a battery slot, and the length of the battery slot is matched with the length of the pan-tilt battery 30, the cloud
  • the battery 30 is disposed in the battery compartment.
  • the first side of the first axial arm section 210 of the heading axis vertical arm 20 facing away from the heading cross arm 10 is provided with the battery slot, so that the pan-tilt battery 30 is set in the heading The back of the axle arm 20.
  • the second side portion of the first axial arm segment 210 of the heading axis vertical arm 20 facing the heading axis cross arm 10 is provided with the battery slot, so that the pan-tilt battery 30 is disposed on the heading axis The inner side of the vertical arm 20.
  • the pan-tilt battery 30 is disposed on the back of the heading vertical arm 20, and the first-axis arm segment 210 of the heading-axis vertical arm 20 can support the pan-tilt battery 30, and the pan-tilt battery 30 can be The installation effect is more stable.
  • the pan-tilt battery 30 is disposed on the inner side of the heading arm 20, so that the pan-tilt battery 30 can no longer protrude outward relative to the pan-tilt structure, thereby avoiding affecting the user experience.
  • a first support member 510 is disposed on the first axial arm segment 210 of the heading axis vertical arm 20 adjacent to the heading axis cross arm 10, and the heading axis arm 20 is away from the first arm member 20
  • the second free end of the heading cross arm 10 is provided with a second receiving member 520.
  • the first receiving member 510 and the second receiving member 520 are interposed to form the battery slot for installation.
  • the first receiving member 510 is provided with a first receiving slot
  • the second receiving member 520 is provided with a second receiving slot
  • the first receiving slot and the second receiving slot The slots of the receiving slots are disposed opposite to each other to form the battery slots for mounting the pan-tilt battery 30.
  • the pan/tilt structure 1 further includes a heading axis motor 120 disposed on the heading axis cross arm 10, a roll axis motor 610 connected to the heading axis arm 20, and connected to a roll axis assembly 620 of the roll axis motor 610, a pitch axis motor 710 coupled to the roll axis assembly 620, and a pitch axis assembly 720 coupled to the pitch axis motor 710, the pitch axis assembly 720
  • the heading axis motor 120 is further provided with a pan/tilt interface 110.
  • the load 80 is a camera, which may be a VR camera set, a camera or a video camera.
  • the roll axis assembly 620 is rotated about the roll axis by the drive of the roll axis motor 610, and the pitch axis assembly 720 is rotated about the pitch axis by the drive of the pitch axis motor 710, thereby achieving the purpose of changing the shooting attitude of the camera.
  • the heading axis vertical arm 20 is inclined from the heading axis cross arm 10 in a direction away from the heading axis motor 120 to increase the heading axis cross arm 10 and the horizontal direction.
  • the space formed between the roller assemblies 620, while shortening the distance L of the balance axis cross arm 10 balance adjustment, can improve the torsional resistance of the heading cross arm 10 when the length of the heading arm cross arm 10 needs to be adjusted.
  • the pan/tilt structure of the present invention is configured by tilting the heading axis vertical arm 20 with respect to the heading axis cross arm 10 by the description of the above embodiments and embodiments, and placing the pan-tilt battery 30 on the heading axis vertical arm 20 to make the cloud
  • the battery 30 is correspondingly inclined with respect to the heading arm 10, which can reduce the influence of the center of gravity of the head battery 30 on the output of the heading motor, reduce the load of the heading motor, and shorten the balance adjustment of the heading arm 10 of the heading axis.
  • the distance is increased to improve the stabilizing effect and the torsional rigidity in the direction of the heading axis.
  • the volume of the gimbal can be reduced as a whole, so that the structure of the gimbal is more compact, more convenient to operate, and the utilization of the overall space of the gimbal is improved.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Toys (AREA)

Abstract

一种云台结构（1），包括航向轴横臂（10）和与航向轴横臂（10）连接的航向轴竖臂（20），航向轴竖臂（20）相较于航向轴横臂（10）倾斜设置，且航向轴竖臂（20）上设置有云台电池（30）。通过将航向轴竖臂（20）相较于航向轴横臂（10）倾斜设置，并把云台电池（30）设置在航向轴竖臂（20）上，使云台电池（30）相应地也倾斜设置，能够减小云台电池（30）重心对航向轴电机（120）输出的影响，减小航向轴电机（120）的负荷，缩短航向轴横臂（10）平衡调节的距离，从而提高其增稳效果和航向轴方向上的抗扭转刚度。

Description

云台结构 技术领域
本发明涉及云台设备技术领域，特别涉及一种云台结构。
背景技术
通常的拍摄装置一般包括三轴云台(包括三轴手持云台)和搭载在云台上的拍摄组件。云台用以实现拍摄器的固定、调节拍摄器的姿态(例如：改变拍摄器的高度和方向)和使拍摄器稳定保持在确定姿态上，从而实现拍摄器的稳定、流畅且多角度拍摄。拍摄器可以为VR相机组、照相机或摄像机。云台可以兼容多种相机及镜头，云台各轴重心可以调节，云台的航向轴轴臂可调节长度，适配多种类的相机及配件。
目前大部分的三轴手持云台，航向轴横臂和航向轴竖臂为垂直设置，电池放置在竖臂上。当云台的航向轴横臂需要调节平衡时，会导致航向轴横臂调节平衡所需要的距离比较长。而且，如果将电池放置在航向轴竖臂的背部，当云台工作时会使航向轴受到更大转动惯量的影响。
由于电池的体积较大，将电池设置在航向轴竖臂的背部会使电池相对云台向外凸出，影响到用户的使用体验。另外，如何将电池更好的安装固定，也是需要思考和解决的问题。
发明内容
本发明提供一种云台结构。
一种云台结构，包括航向轴横臂和与所述航向轴横臂连接的航向轴竖臂，所述航向轴竖臂相较于所述航向轴横臂倾斜设置，且所述航向轴竖臂上设置 有云台电池。
进一步地，还包括连接机构，所述连接机构包括第一连接部和第二连接部，所述第一连接部与所述航向轴横臂连接，所述第二连接部与所述航向轴竖臂连接。
进一步地，所述第二连接部相较于所述航向轴横臂倾斜设置。
进一步地，所述第一连接部套设于所述航向轴横臂，所述航向轴横臂能够沿轴向相对所述第一连接部移动。
进一步地，所述第一连接部和所述第二连接部为一体成型。
进一步地，所述航向轴竖臂包括第一轴臂段和第二轴臂段，所述第一轴臂段与所述航向轴横臂连接并相较于所述航向轴横臂倾斜设置，所述第二轴臂段与所述第一轴臂段连接并相较于所述航向轴横臂垂直设置。
进一步地，所述第一轴臂段和所述第二轴臂段为一体成型。
进一步地，所述航向轴竖臂上背向所述航向轴横臂的第一侧部设置有电池槽，所述云台电池设置于所述电池槽内。
进一步地，所述航向轴竖臂上面向所述航向轴横臂的第二侧部设置有电池槽，所述云台电池设置于所述电池槽内。
进一步地，所述航向轴竖臂上靠近所述航向轴横臂的第一自由端设置有第一承托件，所述航向轴竖臂上远离所述航向轴横臂的第二自由端设置有第二承托件，所述第一承托件与所述第二承托件之间夹设形成所述电池槽。
进一步地，所述第一承托件上设置有第一承托槽，所述第二承托件上设置有第二承托槽，所述第一承托槽与所述第二承托槽的槽口相向设置以夹设形成所述电池槽。
进一步地，还包括：设置于所述航向轴横臂上的航向轴电机、连接于所述航向轴竖臂的横滚轴电机、连接于所述横滚轴电机的横滚轴组件、连接于所述横滚轴组件的俯仰轴电机、以及连接于所述俯仰轴电机的俯仰轴组件，所述俯仰轴组件用于搭载负载。
进一步地，所述航向轴竖臂自所述航向轴横臂朝向远离所述航向轴电机 的方向倾斜，以增大所述航向轴横臂和所述横滚轴组件之间形成的空间。
本发明的云台结构，通过将航向轴竖臂相较于航向轴横臂倾斜设置，并把云台电池设置在航向轴竖臂上，使云台电池相应地也倾斜设置，能够减小云台电池重心对航向轴电机输出的影响，减小航向轴电机的负荷，缩短航向轴横臂平衡调节的距离，从而提高其增稳效果和航向轴方向上的抗扭转刚度。
附图说明
图1是本发明实施例示出的云台结构的立体示意图。
图2是图1所示的云台结构的正视图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
下面结合附图，对本发明的云台结构进行详细说明。在不冲突的情况下， 下述的实施例及实施方式中的特征可以相互组合。
参见图1和图2所示，本发明的云台结构1，包括航向轴横臂10和与所述航向轴横臂10连接的航向轴竖臂20，所述航向轴竖臂20相较于所述航向轴横臂10倾斜设置，且所述航向轴竖臂20上设置有云台电池30。
在本发明一实施方式中，所述云台结构1还包括连接机构40，所述连接机构40包括第一连接部410和第二连接部420，所述第一连接部410与所述航向轴横臂10连接，所述第二连接部420与所述航向轴竖臂20连接。可选地，所述第一连接部410套设于所述航向轴横臂10，使所述航向轴横臂10能够沿轴向相对所述连接机构40的第一连接部410移动，进而实现调节航向轴横臂10长度的目的。
进一步地，与所述航向轴竖臂20相应地，所述连接机构40的第二连接部420相较于所述航向轴横臂10倾斜设置，使航向轴竖臂20和所述第二连接部420沿同样的倾斜方向受力，能够提高云台结构的强度和稳定性。当然，所述连接机构40的第二连接部420也可以是其他的设置方式，比如所述第二连接部420也可以是相较于所述航向轴横臂10垂直设置，只要能够达到将航向轴竖臂20和航向轴横臂10相互连接即可。可选地，所述连接机构40的所述第一连接部410和所述第二连接部420为一体成型。
在本发明一实施方式中，所述航向轴竖臂20包括第一轴臂段210和第二轴臂段220，所述第一轴臂段210通过所述连接机构40的第二连接部420与所述航向轴横臂10连接并相较于所述航向轴横臂10倾斜设置，所述第二轴臂段220与所述第一轴臂段210连接并相较于所述航向轴横臂10垂直设置，所述第二轴臂段220可以用来连接所述云台结构1的其他部件，同时也对所述第一轴臂段210起到承托的作用，使航向轴竖臂20的受力更合理，能够提高云台结构的强度和稳定性。可选地，所述第一轴臂段210和所述第二轴臂段220为一体成型。
在本发明一实施方式中，所述航向轴竖臂20的第一轴臂段210上设置有电池槽，所述电池槽的长度与所述云台电池30的长度相适配，所述云台电池30设置于所述电池槽内。
可选地，所述航向轴竖臂20的第一轴臂段210上背向所述航向轴横臂10的第一侧部设置有所述电池槽，使所述云台电池30设置在航向轴竖臂20的背部。可选地，所述航向轴竖臂20的第一轴臂段210上面向所述航向轴横臂10的第二侧部设置有所述电池槽，使所述云台电池30设置在航向轴竖臂20的内侧部。其中，将所述云台电池30设置在航向轴竖臂20的背部，航向轴竖臂20的第一轴臂段210可以对云台电池30起到承托的作用，可以使云台电池30的安装效果更加稳固。将所述云台电池30设置在航向轴竖臂20的内侧部，可以使云台电池30不再相对云台结构向外凸出，避免影响到用户的使用体验。
进一步地，所述航向轴竖臂20的第一轴臂段210上靠近所述航向轴横臂10的第一自由端设置有第一承托件510，所述航向轴竖臂20上远离所述航向轴横臂10的第二自由端设置有第二承托件520，所述第一承托件510与所述第二承托件520之间夹设形成所述电池槽，以供安装所述云台电池30。可选地，所述第一承托件510上设置有第一承托槽，所述第二承托件520上设置有第二承托槽，所述第一承托槽与所述第二承托槽的槽口相向设置以夹设形成所述电池槽，以供安装所述云台电池30。
在本发明一实施方式中，所述云台结构1还包括设置于所述航向轴横臂10上的航向轴电机120、连接于所述航向轴竖臂20的横滚轴电机610、连接于所述横滚轴电机610的横滚轴组件620、连接于所述横滚轴组件620的俯仰轴电机710、以及连接于所述俯仰轴电机710的俯仰轴组件720，所述俯仰轴组件720用于搭载负载80，所述航向轴电机120上还设有云台外挂接口110。可选地，负载80为拍摄器，所述拍摄器可以是VR相机组、照相机或摄像机。其中，横滚轴组件620通过横滚轴电机610的驱动绕横滚轴转动，俯仰轴组件720通过俯仰轴电机710的驱动绕俯仰轴转动，从而实现改变拍摄器的拍摄姿态的目的。
进一步地，结合图2所示，所述航向轴竖臂20自所述航向轴横臂10朝向远离所述航向轴电机120的方向倾斜，以增大所述航向轴横臂10和所述横滚轴组件620之间形成的空间，同时缩短了航向轴横臂10平衡调节的距离L，当需要调节航向轴横臂10的长度时，能够提高航向轴横臂10的抗扭效果。
本发明的云台结构通过上述实施例和实施方式的描述，将航向轴竖臂20相较于航向轴横臂10倾斜设置，并把云台电池30设置在航向轴竖臂20上，使云台电池30相应地也相较于航向轴横臂10倾斜设置，能够减小云台电池30的重心对航向轴电机输出的影响，减小航向轴电机的负荷，缩短航向轴横臂10平衡调节的距离，提高其增稳效果和航向轴方向上的抗扭转刚度，同时也可以从整体上缩小云台的体积，使云台结构更加紧凑，更便于操作，提高云台整体空间的利用率。
以上所述仅是本发明的较佳实施例而已，并非对本发明做任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案的范围内，当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露

Claims (13)

  1. 一种云台结构，包括航向轴横臂和与所述航向轴横臂连接的航向轴竖臂，其特征在于，所述航向轴竖臂相较于所述航向轴横臂倾斜设置，且所述航向轴竖臂上设置有云台电池。
  2. 根据权利要求1所述的云台结构，其特征在于，还包括连接机构，所述连接机构包括第一连接部和第二连接部，所述第一连接部与所述航向轴横臂连接，所述第二连接部与所述航向轴竖臂连接。
  3. 根据权利要求2所述的云台结构，其特征在于，所述第二连接部相较于所述航向轴横臂倾斜设置。
  4. 根据权利要求2所述的云台结构，其特征在于，所述第一连接部套设于所述航向轴横臂，所述航向轴横臂能够沿轴向相对所述第一连接部移动。
  5. 根据权利要求2所述的云台结构，其特征在于，所述第一连接部和所述第二连接部为一体成型。
  6. 根据权利要求1所述的云台结构，其特征在于，所述航向轴竖臂包括第一轴臂段和第二轴臂段，所述第一轴臂段与所述航向轴横臂连接并相较于所述航向轴横臂倾斜设置，所述第二轴臂段与所述第一轴臂段连接并相较于所述航向轴横臂垂直设置。
  7. 根据权利要求6所述的云台结构，其特征在于，所述第一轴臂段和所述第二轴臂段为一体成型。
  8. 根据权利要求1所述的云台结构，其特征在于，所述航向轴竖臂上背向所述航向轴横臂的第一侧部设置有电池槽，所述云台电池设置于所述电池槽内。
  9. 根据权利要求1所述的云台结构，其特征在于，所述航向轴竖臂上面向所述航向轴横臂的第二侧部设置有电池槽，所述云台电池设置于所述电池槽内。
  10. 根据权利要求8或9所述的云台结构，其特征在于，所述航向轴竖臂上靠近所述航向轴横臂的第一自由端设置有第一承托件，所述航向轴竖臂上远离所述航向轴横臂的第二自由端设置有第二承托件，所述第一承托件与所述第二承托件之间夹设形成所述电池槽。
  11. 根据权利要求10所述的云台结构，其特征在于，所述第一承托件上设置有第一承托槽，所述第二承托件上设置有第二承托槽，所述第一承托槽与所述第二承托槽的槽口相向设置以夹设形成所述电池槽。
  12. 根据权利要求1所述的云台结构，其特征在于，还包括：设置于所述航向轴横臂上的航向轴电机、连接于所述航向轴竖臂的横滚轴电机、连接于所述横滚轴电机的横滚轴组件、连接于所述横滚轴组件的俯仰轴电机、以及连接于所述俯仰轴电机的俯仰轴组件，所述俯仰轴组件用于搭载负载。
  13. 根据权利要求12所述的云台结构，其特征在于，所述航向轴竖臂自所述航向轴横臂朝向远离所述航向轴电机的方向倾斜，以增大所述航向轴横臂和所述横滚轴组件之间形成的空间。
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