WO2018219006A1 - 一种云台组件及具有此云台组件的无人机 - Google Patents

一种云台组件及具有此云台组件的无人机 Download PDF

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Publication number
WO2018219006A1
WO2018219006A1 PCT/CN2018/078600 CN2018078600W WO2018219006A1 WO 2018219006 A1 WO2018219006 A1 WO 2018219006A1 CN 2018078600 W CN2018078600 W CN 2018078600W WO 2018219006 A1 WO2018219006 A1 WO 2018219006A1
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WIPO (PCT)
Prior art keywords
bearing
rotating
axis
rotating member
pan
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Ceased
Application number
PCT/CN2018/078600
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English (en)
French (fr)
Inventor
彭淮
吉志鹏
张文超
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2018219006A1 publication Critical patent/WO2018219006A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • 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 present invention relates to the field of aircraft, and in particular to a pan/tilt assembly and a drone having the same.
  • UAVs have broad application prospects in disaster investigation and rescue, air surveillance, transmission line inspection, aerial photography, aerial survey and military.
  • the panoramic shooting of the drone can be achieved by setting one or more lenses for image or video shooting, and then stitching the captured images or videos.
  • the PTZ is usually placed in the center of the UAV body, and the UAV is excluded from the line of sight through the wide-angle lens to achieve no shooting. Panoramic image of a dead end.
  • the gimbal since the gimbal is in the abdomen of the drone's fuselage, its size directly affects the size of the drone.
  • the UAV's fuselage is too large, causing the distance between the wide-angle lenses to become larger to avoid the UAV's body blockage, but the distance between the wide-angle lenses increases the moment of inertia of the gimbal, which in turn causes the motor components to become larger and eventually makes the cloud
  • the volume of the table becomes larger, and the volume of the gimbal becomes larger, so that the drone's fuselage becomes correspondingly larger, thus forming a contradictory cycle; therefore, it is crucial to make the size of the gimbal small.
  • an embodiment of the present invention provides a compact and small-sized pan-tilt assembly and a drone having the same.
  • the embodiment of the present invention provides the following technical solutions:
  • a pan/tilt assembly includes: a first rotating member, a second rotating member, a support member, a first motor, a second motor, and a camera assembly.
  • the second rotating member is received in the first rotating member.
  • the support member is movably coupled to the second rotating member.
  • the first motor includes a first rotating shaft, and the first rotating shaft is coupled to the first rotating member for driving the first rotating member and the supporting member to rotate together about the first rotating axis.
  • the second motor includes a second rotating shaft, and the second rotating shaft is coupled to the second rotating member for driving the second rotating member and the supporting member to rotate together about the second rotating axis,
  • the first axis of rotation intersects the second axis of rotation, the support passing through the intersection of the first axis of rotation and the second axis of rotation.
  • the first axis of rotation intersects the second axis of rotation and is perpendicular to each other.
  • the pan/tilt assembly includes a bracket, the bracket includes a first receiving cavity; the first rotating member includes a second receiving cavity; and the second rotating member is received in the second receiving cavity; Both the first rotating member and the second rotating member are received in the first receiving cavity.
  • the bracket includes a first mounting hole; the first rotating shaft passes through the first mounting hole and is coupled to one side of the first rotating member; The other side hinges the bracket.
  • the number of the first mounting holes is two, and the two first mounting holes are disposed along the first rotation axis and communicate with the first receiving cavity.
  • the first rotating shaft passes through and is mounted to one of the two first mounting holes; the first connecting arm passes through and is mounted to two The other of the first mounting holes.
  • the first bearing and the second bearing are further included; the first rotating shaft passes through the first bearing and is fixedly coupled to the first rotating member, and the first bearing is mounted to the two bearings One of the first mounting holes, the first rotating shaft is rotatable relative to the first bearing; the first connecting arm passes through the second bearing and connects the first rotating member, a second bearing for mounting to the other of the two first mounting holes, the first connecting arm being rotatable relative to the second bearing; wherein the first rotating shaft and the first connection A central axis of both arms coincides with the first axis of rotation.
  • the first rotating member includes a first sliding slot, the first sliding slot is in communication with the second receiving cavity; the support member passes through the first sliding slot, and the first sliding slot is used for the first sliding slot
  • the guiding support rotates in a first plane, the first axis of rotation being in a first plane.
  • the number of the first sliding slots is two, the two first sliding slots are respectively disposed on opposite sides of the first rotating member, and the supporting member passes through the two first Sliding groove.
  • the bracket includes a second mounting hole; the second rotating shaft passes through the second mounting hole and is coupled to one side of the second rotating member; The other side hinges the bracket.
  • the number of the second mounting holes is two, and the two second mounting holes are disposed along the second axis of rotation and communicate with the first receiving cavity.
  • the second rotating shaft passes through and is mounted to one of the two second mounting holes;
  • the second connecting arm passes through and is mounted to the two The other of the second mounting holes.
  • a third bearing and a fourth bearing are further included; the second rotating shaft passes through the third bearing and is fixedly coupled to the second rotating member, and the third bearing is mounted to the two bearings One of the second mounting holes, the second rotating shaft is rotatable relative to the third bearing; the second connecting arm passes through the fourth bearing and is coupled to the second rotating member, a fourth bearing for mounting to the other of the two of the second mounting holes, the first connecting arm being rotatable relative to the fourth bearing; wherein the second rotating shaft and the second connection A central axis of both arms coincides with the second axis of rotation.
  • the second rotating member includes a rotating body, the rotating body includes a second sliding slot, the supporting member passes through the second sliding slot, and the second sliding slot is used for guiding the guiding
  • the support rotates in a second plane, the second axis of rotation being in a second plane, the first plane being perpendicular to the second plane.
  • the second rotating member further includes a connecting member, a fifth bearing and a sixth bearing; the fifth bearing and the sixth bearing are fixedly mounted on opposite sides of the rotating body; a connecting member passes through the support member, and two ends of the connecting member are respectively inserted into the fifth bearing and the sixth bearing, and the connecting member is rotatable relative to the fifth bearing and the sixth bearing; Wherein, the rotation axis of the connecting member coincides with the first rotation axis, and when the connecting member rotates, the support member can be rotated about the first rotation axis.
  • the pan/tilt assembly further includes a camera assembly, the camera assembly being at least two mounted on opposite sides of the support.
  • the pan/tilt assembly further includes a camera assembly mounted to one end of the support.
  • a drone includes: a fuselage and the pan/tilt assembly.
  • the body includes a receiving groove; the first rotating member and the second rotating member are both received in the receiving groove.
  • the drone further includes: a camera assembly, the camera assembly is at least two, mounted on opposite sides of the support; the camera assembly is disposed in the vertical direction on the body Two opposite sides; the receiving groove penetrates the body in a vertical direction.
  • the first rotating shaft is configured to drive the first rotating member and the supporting member to rotate together about a first rotation axis
  • the second rotating shaft is used for Driving the second rotating member and the supporting member to rotate together about the second rotation axis, the first rotation axis intersecting the second rotation axis, and the support member passes the intersection point of the first rotation axis and the second rotation axis
  • the two rotating members are housed in the first rotating member, so that the structure of the pan/tilt assembly is compact, thereby reducing the volume of the pan/tilt assembly.
  • the drone includes a compact and small-sized pan/tilt assembly, so that the volume of the fuselage can be correspondingly reduced, and the camera assembly is not easily blocked by the fuselage during the shooting process.
  • FIG. 1 is a perspective view of a pan/tilt assembly according to an embodiment of the present invention
  • Figure 2 is a cross-sectional view of the pan/tilt assembly of Figure 1;
  • FIG. 3 to 5 are exploded views of different angles of the pan/tilt assembly shown in Fig. 1;
  • Figure 6 is an exploded view of the first rotating member of the pan/tilt assembly of Figure 1;
  • FIG. 7 is a perspective view of a drone according to another embodiment of the present invention, wherein a motor and a blade of the drone are omitted.
  • a pan/tilt assembly 100 includes a bracket 10, a first motor assembly 20, a second motor assembly 30, a first rotating member 40, a second rotating member 50, and a support member. 60 and camera assembly 70.
  • the number of the camera assemblies 70 is two, and the two camera assemblies 70 are respectively mounted on opposite sides of the support member 60.
  • the support member 60 is movably mounted on the second rotating member 50, and the second rotating member 50 is received.
  • the first motor assembly 20 is mounted on the bracket 10, and the first motor assembly 20 is fixedly coupled to the first rotating member 40.
  • the first motor assembly 20 is configured to drive the first rotating member 40 to rotate about the first rotating axis, thereby driving the supporting member 60. Rotation relative to the second rotating member 50 about the first axis of rotation.
  • the second motor assembly 30 is mounted on the bracket 10, and the second motor assembly 30 is fixedly coupled to the second rotating member 50 for driving the second rotating member 50 to rotate about the second axis of rotation, thereby driving the supporting member 60 about the second axis of rotation.
  • the first axis of rotation intersects the second axis of rotation and is perpendicular to each other.
  • the support member 60 passes through a point of intersection of the first axis of rotation and the second axis of rotation.
  • the number of camera assemblies 70 may be one, three, four, five, six or more.
  • the camera assembly is mounted on one end of the support member 60; when the number of the camera assemblies 70 is three or more, the camera assembly 70 is mounted on opposite sides of the support member 60, such as two At the opposite end, it is only necessary to ensure that the weights of the camera assemblies 70 received at both ends of the support member 60 are the same or substantially the same.
  • the bracket 10 is substantially a hollow cylindrical structure, and includes a first receiving cavity 102, a first mounting hole 104 and a second mounting hole 106.
  • the first receiving cavity 102 is configured to receive the first rotating member 40 and the second rotating member 50.
  • the number of the first mounting holes 104 is two, and the two first mounting holes 104 are disposed along the first rotation axis and communicate with the first receiving cavity 102.
  • the first mounting hole 104 described above is for mounting the first motor assembly 20.
  • the number of the second mounting holes 106 is two, and the two second mounting holes 106 are disposed along the second axis of rotation and communicate with the first receiving cavity 102.
  • the second mounting hole 106 described above is for mounting the second motor assembly 30.
  • the bracket 10 is not a separate component, and may be a bracket formed by a plurality of internal components of the body, as long as the first motor component 20 and the second motor component 30 can be installed. .
  • the first motor assembly 20 described above includes a first motor 202, a first bearing 204, a second bearing 208, and a first connecting arm 209.
  • the first motor 202 includes a first rotating shaft 206 that passes through the first bearing 204 and is used to securely connect the first rotating member 40.
  • the first bearing 204 is for mounting to one of the two first mounting holes 104, and the first rotating shaft 206 is rotatable relative to the first bearing 204.
  • the first connecting arm 209 passes through the second bearing 208 and is used to connect the first rotating member 40.
  • the second bearing 208 is for mounting to the other of the two first mounting holes 104, and the first connecting arm 209 is rotatable relative to the second bearing 208.
  • the central axis of both the first rotational shaft 206 and the first connecting arm 209 coincides with the first rotational axis.
  • first bearing 204 and the second bearing 208 can be omitted, and the first rotating shaft 206 and the first connecting arm 209 can pass directly through and be mounted to the first mounting hole 104, respectively. Between the first rotating shaft 206 and the first mounting hole 104, a lubricant may be added between the first connecting arm 209 and the first mounting hole 104.
  • the second motor assembly 30 includes a second motor 302, a third bearing 304, a fourth bearing 308, and a second connecting arm 309.
  • the second motor 302 includes a second rotating shaft 306 that passes through the third bearing 304 and is used to securely connect the second rotating member 50.
  • the third bearing 304 is for mounting to one of the two second mounting holes 106, and the second rotating shaft 306 is rotatable relative to the third bearing 304.
  • the second connecting arm 309 passes through the fourth bearing 308 and is used to connect the second rotating member 50.
  • the fourth bearing 308 is for mounting to the other of the two second mounting holes 106, and the second connecting arm 309 is rotatable relative to the fourth bearing 308.
  • the central axes of both the second rotational shaft 306 and the second connecting arm 309 coincide with the second rotational axis.
  • the third bearing 304 and the fourth bearing 308 may be omitted, and the second pivot shaft 306 and the second connecting arm 309 may pass directly through and be mounted to the second mounting aperture 106, respectively.
  • Lubricant may be added between the second rotating shaft 306 and the second mounting hole 106, and between the second connecting arm 309 and the second mounting hole 106.
  • the first rotating member 40 is substantially a hollow cylindrical structure and is a separable component for conveniently arranging on the second rotating member 50.
  • the first rotating member 40 includes a second receiving cavity 402 and a first sliding groove 404.
  • the second receiving cavity 402 is configured to receive the second rotating member 50.
  • the number of the first sliding grooves 404 is two, and the two first sliding grooves 404 are disposed on opposite sides of the first rotating member 40 and communicate with the second receiving cavity 402.
  • the first sliding groove 404 is for allowing the support member 60 to pass therethrough and for guiding the support member 60 to rotate in the first plane.
  • the first axis of rotation is in a first plane.
  • the first rotating member 40 further includes a first through hole 406 and a second through hole 409.
  • the first through hole 406 and the second through hole 409 are disposed on two opposite sides of the first rotating member 40 in a straight line.
  • the first through hole 406 is for allowing the first rotating shaft 206 to be inserted, and the first rotating shaft 206 can be fixed in the first through hole 406 by solder or glue.
  • the second through hole 409 is for allowing the first connecting arm 209 to pass therethrough such that the other side of the first rotating member 40 hinges the first connecting arm 209.
  • the first rotating member 40 is mounted to the bracket 10 through the first rotating shaft 206 and the first connecting arm 209.
  • the first rotating shaft 206 can be coupled to the first rotating member 40 by other connecting means, as long as the first rotating shaft 206 can drive the first rotating member 40 to rotate about the first rotating axis.
  • a gear connection or a stop structure in the direction of rotation of the first rotating shaft or the like can be coupled to the first rotating member 40 by other connecting means, as long as the first rotating shaft 206 can drive the first rotating member 40 to rotate about the first rotating axis.
  • the second bearing 208 and the first connecting arm 209 may be replaced with other components as long as other components may articulate the first rotating member 40 away from the first motor 202 from the bracket 10. Just fine.
  • the second rotating member 50 includes a rotating body 501, a connecting member 504, a fifth bearing 506, and a sixth bearing 509.
  • the rotating body 501 includes a second sliding groove 502 for allowing the support member 60 to pass therethrough and for guiding the support member 60 to rotate in the second plane.
  • the second axis of rotation is in a second plane, the first plane being perpendicular to the second plane.
  • the fifth bearing 506 and the sixth bearing 509 are fixedly mounted on opposite sides of the rotating body 501.
  • the connecting member 504 passes through the support member 60, and the two ends of the connecting member 504 are respectively inserted into the fifth bearing 506 and the sixth bearing 509, and the connecting member 504 is rotatable relative to the fifth bearing 506 and the sixth bearing 509.
  • the axis of rotation of the connector 504 coincides with the first axis of rotation, and when the connector 504 is rotated, the support member 60 can be rotated about the first axis of rotation.
  • a limiting structure is provided between the connecting member 504 and the supporting member 60 in the rotating direction of the connecting member 504 for restricting the rotation of the connecting member 504 relative to the supporting member 60 when the connecting member 504 is rotated, so that The support member 60 can be rotated with the connector 504; alternatively, the connector 504 can be fixedly coupled to the support member 60.
  • the support member 60 is a cylindrical straight rod, and the two camera assemblies 70 are respectively mounted on both ends of the support member 60.
  • the two camera assemblies 70 are disposed in opposite directions, and the optical axes of the two camera assemblies 70 are coincident.
  • the two camera assemblies 70 can collectively complete a 360 degree panoramic shot.
  • the support member 60 can have other shapes, as long as the camera assembly 70 can be supported, and can pass through the second sliding slot 502 and rotate in the second sliding slot 502.
  • the optical axis of the camera assembly 70 can be at an angle, and the panoramic image can be synthesized as long as the image obtained by the camera assembly 70 can be satisfied.
  • the number of camera assemblies 70 can be one, two, three, four, five, six or more.
  • the support member 60 is passed through the second sliding slot 502
  • the connecting member 504 passes through the support member 60 and the rotating body 501
  • the fifth bearing 506 and the sixth bearing 509 are respectively sleeved.
  • the fifth bearing 506 and the sixth bearing 509 are fixedly mounted on opposite sides of the rotating body 501.
  • the separated first rotating member 40 is sleeved on the second rotating member 50, so that the second rotating member 50 is received in the second receiving cavity 402, and the supporting member 60 passes through the two first sliding grooves 404. Then, the separated first rotating member 40 is assembled into a single piece, and the first rotating member 40 and the second rotating member 50 are housed together in the first receiving cavity 102 of the bracket 10.
  • the first rotating shaft 206 is inserted from the outside of the bracket 10 through a first mounting hole 104, inserted into the first through hole 406, and the first rotating shaft 206 is inserted into the first through hole 406.
  • the first bearing 204 is fixedly mounted to the first mounting hole 104 through which the first rotating shaft 206 passes.
  • the first connecting arm 209 passes through the other first mounting hole 104, is inserted into the second through hole 409, and inserts the first connecting arm 209 into the second through hole 409.
  • the first rotating block 40 is mounted to the bracket 10 through the first rotating shaft 206 and the first connecting arm 209.
  • the second rotating shaft 306 is passed from the outside of the bracket 10 through a second mounting hole 106, and then the second rotating shaft 306 is fixedly coupled to one side of the second rotating member 50, and the third bearing 304 is fixedly mounted to the second rotating shaft.
  • the second mounting hole 106 passes through 306.
  • the second connecting arm 309 is fixedly mounted on the other side of the second rotating member 50, and the fourth bearing 308 is fixedly mounted to the other second mounting hole 106.
  • the second rotating member 50 is mounted to the bracket 10 through the second rotating shaft 306 and the second connecting arm 309. It will be appreciated that in some other embodiments, the fourth bearing 308 and the second connecting arm 309 may be replaced with other components as long as other components may articulate the second rotating member 50 away from the second motor 302 from the bracket 10. Just fine.
  • the two camera assemblies 70 are mounted on opposite sides of the support member 60, respectively, and the two camera assemblies 70 are disposed in opposite directions, and the optical axes of the two camera assemblies 70 are coincident.
  • the first rotating shaft 206 rotates to drive the first rotating member 40 to rotate
  • the first rotating member 40 drives the supporting member 60 to rotate about the first rotating axis
  • the support member 60 is guided by the second sliding slot 502. Down, it can smoothly rotate in the second sliding groove 502.
  • the second motor 302 is in operation
  • the second rotating shaft 306 rotates, and the driving rotating body 501 and the supporting member 60 rotate together with respect to the first rotating member 40 about the second rotating axis, and the connecting rod 60 is guided by the first sliding groove 404. It can be smoothly rotated in the first sliding groove 404.
  • the second rotating member 50 is received in the second receiving cavity 402, and the first rotating member 40 and the second rotating member 50 are received together in the first receiving cavity 102, so that the pan/tilt assembly 100
  • the compact structure reduces the volume of the pan/tilt assembly 100.
  • the support member 60 can reduce the shaking during the rotation, and the imaging assembly 70 can obtain a higher quality image.
  • a drone 300 includes a body 200 and a pan/tilt assembly 100 of the above embodiment.
  • the body 200 includes a receiving groove 210 that penetrates the body 200 in a vertical direction.
  • the bracket 10 of the pan/tilt head assembly 100, the first motor 202, the second motor 302, the first rotating member 40 and the second rotating member 50 are received in the receiving slot 210, and the two camera assemblies 70 are disposed outside the body 200. And disposed on the upper and lower sides of the body 200 in the vertical direction.
  • the receiving slot 210 can penetrate the body 200 in a horizontal direction, and the two camera assemblies 70 are disposed on opposite sides of the body 200 in a horizontal direction.
  • bracket 10 may be omitted, and the first motor 202, the second bearing 208 and the first connecting arm 209 may be mounted on the body 200; similarly, the second motor 302
  • the fourth bearing 308 and the second connecting arm 309 may be mounted to the body 200 described above.
  • the UAV 300 of the embodiment of the present invention includes a compact and small-sized PTZ assembly 100, so that the volume of the body 200 can be correspondingly reduced, and the two camera assemblies 70 are not easily blocked by the body 200 during shooting.

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

一种云台组件（100）及具有该云台组件（100）的无人机，该云台组件（100）包括：第一转动件（40）、收容于第一转动件（40）的第二转动件（50），活动连接于第二转动件（50）的支撑件（60），具有第一转动轴（206）的第一电机（202）、具有第二转动轴（306）的第二电机（302）以及摄像组件（70）。第一转动轴（206）与第一转动件（40）连接，用于驱动第一转动件（40）和支撑件（60）一同绕第一转动轴线转动。第二转动轴（306）与第二转动件（50）连接，用于驱动第二转动件（50）和支撑件（60）一同绕第二转动轴线转动，第一转动轴线与第二转动轴线相交，支撑件（60）通过第一转动轴线与第二转动轴线的相交点。该云台组件（100）结构紧凑。

Description

一种云台组件及具有此云台组件的无人机
申请要求于2017年6月2日申请的、申请号为201710408747.4、发明名称为“一种云台组件及具有此云台组件的无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及飞行器领域，尤其涉及一种云台组件及具有此云台组件的无人机。
【背景技术】
无人机在灾情调查和救援、空中监控、输电线路巡检、航拍、航测以及军事领域有着广泛的应用前景。
目前，无人机的全景拍摄可以通过设置一个或者多个镜头进行图像或视频拍摄，再将拍摄的图像或视频进行拼接来实现。为实现全景技术在无人机上的运用，同时避免无人机机身遮挡镜头，通常把云台设置在无人机机身中心腹部，通过广角镜头把无人机排除在视线之外，实现拍摄无死角的全景图像。
但，由于云台处于无人机机身腹部，其体积大小直接影响无人机的体积大小。无人机机身过大会造成广角镜头之间距离变大以避免无人机机身遮挡，但广角镜头之间的距离变大会增大云台的转动惯量，进而造成电机组件体积变大，最终使得云台体积变大，而云台体积变大使得无人机机身相应的变大，如此形成了一个矛盾的循环；因此把云台体积做小成为关键。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种结构紧凑、体积小的云台组件及具有此云台组件的无人机。
为了解决上述技术问题，本发明实施例提供以下技术方案：
一种云台组件，包括：第一转动件，第二转动件，支撑件，第一电机， 第二电机，以及摄像组件。所述第二转动件收容于所述第一转动件。所述支撑件活动连接于所述第二转动件。所述第一电机包括第一转动轴，所述第一转动轴与所述第一转动件连接，用于驱动所述第一转动件和所述支撑件一同绕第一转动轴线转动。所述第二电机包括第二转动轴，所述第二转动轴与所述第二转动件连接，用于驱动所述第二转动件和所述支撑件一同绕第二转动轴线转动，所述第一转动轴线与第二转动轴线相交，所述支撑件通过所述第一转动轴线与所述第二转动轴线的相交点。
在一些实施例中，所述第一转动轴线与所述第二转动轴线相交并相互垂直。
在一些实施例中，所述云台组件包括支架，所述支架包括第一收容腔；所述第一转动件包括第二收容腔；所述第二转动件收容于所述第二收容腔；所述第一转动件和所述第二转动件两者皆收容于所述第一收容腔。
在一些实施例中，所述支架包括第一安装孔；所述第一转动轴穿过所述第一安装孔，并与所述第一转动件的一侧连接；所述第一转动件的另一侧铰接所述支架。
在一些实施例中，所述第一安装孔的数量为两个，两个所述第一安装孔沿所述第一转动轴线设置，并与所述第一收容腔相连通。
在一些实施例中，还包括第一连接臂；所述第一转动轴穿过并安装于两个所述第一安装孔中的一个；所述第一连接臂穿过并安装于两个所述第一安装孔中的另一个。
在一些实施例中，还包括第一轴承和第二轴承；所述第一转动轴穿过所述第一轴承，并固定连接所述第一转动件，所述第一轴承安装于两个所述第一安装孔中的一个，所述第一转动轴可相对于所述第一轴承转动；所述第一连接臂穿过所述第二轴承，并连接所述第一转动件，所述第二轴承用于安装于两个所述第一安装孔中的另一个，所述第一连接臂可相对于所述第二轴承转动；其中，所述第一转动轴和所述第一连接臂两者的中心轴与所述第一转动轴线重合。
在一些实施例中，所述第一转动件包括第一滑动槽，所述第一滑动槽与第二收容腔相连通；所述支撑件穿过第一滑动槽，所述第一滑动槽用于导引支撑件在第一平面内转动，所述第一转动轴线位于第一平面内。
在一些实施例中，所述第一滑动槽的数量为两个，所述两个第一滑动槽分别设置于第一转动件的两相对侧，所述支撑件穿过所述两个第一滑动槽。
在一些实施例中，所述支架包括第二安装孔；所述第二转动轴穿过所述第二安装孔，并与所述第二转动件的一侧连接；所述第二转动件的另一侧铰接所述支架。
在一些实施例中，所述第二安装孔的数量为两个，两个所述第二安装孔沿所述第二转动轴线设置，并与所述第一收容腔相连通。
在一些实施例中，还包括第二连接臂；所述第二转动轴穿过并安装于两个所述第二安装孔中的一个；所述第二连接臂穿过并安装于两个所述第二安装孔中的另一个。
在一些实施例中，还包括第三轴承和第四轴承；所述第二转动轴穿过所述第三轴承，并固定连接所述第二转动件，所述第三轴承安装于两个所述第二安装孔中的一个，所述第二转动轴可相对于所述第三轴承转动；所述第二连接臂穿过所述第四轴承，并连接所述第二转动件，所述第四轴承用于安装于两个所述第二安装孔中的另一个，所述第一连接臂可相对于所述第四轴承转动；其中，所述第二转动轴和所述第二连接臂两者的中心轴与所述第二转动轴线重合。
在一些实施例中，所述第二转动件包括转动本体，所述转动本体包括第二滑动槽，所述支撑件穿过所述第二滑动槽，所述第二滑动槽用于导引所述支撑件在第二平面内转动，所述第二转动轴线位于第二平面内，所述第一平面垂直于所述第二平面。
在一些实施例中，所述第二转动件还包括连接件、第五轴承和第六轴承；所述第五轴承和所述第六轴承固定安装于所述转动本体的两相对侧；所述连接件穿过所述支撑件，所述连接件的两端分别插入所述第五轴承和所述第六轴承，所述连接件可相对于所述第五轴承和所述第六轴承转动；其中，所述连接件的旋转轴线与所述第一转动轴线重合，在所述连接件转动时，可带动所述支撑件绕所述第一转动轴线转动。
在一些实施例中，所述云台组件还包括摄像组件，所述摄像组件为至少两个，安装于所述支撑件的两相对侧。
在一些实施例中，所述云台组件还包括摄像组件，所述摄像组件安装于 所述支撑件的一端。
本发明实施例还提供以下技术方案：
一种无人机，包括：机身和所述云台组件。所述机身包括收容槽；所述第一转动件和第二转动件两者皆收容于收容槽。
在一些实施例中，所述无人机还包括：摄像组件，所述摄像组件为至少两个，安装于所述支撑件的两相对侧；所述摄像组件沿竖直方向设置于机身的两相对侧；所述收容槽沿竖直方向贯穿机身。
与现有技术相比较，在本发明实施例的云台组件中，所述第一转动轴用于驱动第一转动件和支撑件一同绕第一转动轴线转动，所述第二转动轴用于驱动第二转动件和支撑件一同绕第二转动轴线转动，所述第一转动轴线与第二转动轴线相交，所述支撑件通过第一转动轴线与第二转动轴线的相交点，所述第二转动件收容于第一转动件，使得云台组件的结构紧凑，从而减小了云台组件的体积。所述无人机包括结构紧凑、体积小的云台组件，使得机身的体积可相应减小，摄像组件在拍摄过程中，不易被机身遮挡。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。另外，显而易风地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明其中一实施例提供的一种云台组件的立体图；
图2为图1所示云台组件的剖面图；
图3至图5为图1所示云台组件的不同角度的分解图；
图6为图1所示云台组件的第一转动件的分解图；
图7为本发明另一实施例提供的无人机的立体图，其中无人机的电机和桨叶被省略。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施方式，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图2，本发明其中一实施例提供的云台组件100包括支架10，第一电机组件20，第二电机组件30，第一转动件40，第二转动件50，支撑件60以及摄像组件70。
在本实施例中，摄像组件70的数量为两个，两个上述摄像组件70分别安装于支撑件60的两相对侧，支撑件60活动安装于第二转动件50，第二转动件50收容于第一转动件40。上述第一电机组件20安装于支架10，第一电机组件20与第一转动件40固定连接，第一电机组件20用于驱动第一转动件40绕第一转动轴线转动，从而带动支撑件60绕第一转动轴线相对于第二转动件50转动。上述第二电机组件30安装于支架10，第二电机组件30与第二转动件50固定连接，用于驱动第二转动件50绕第二转动轴线转动，从而带动支撑件60绕第二转动轴线相对于第一转动件40转动。第一转动轴线与第二转动轴线相交并相互垂直。上述支撑件60通过第一转动轴线与第二转动轴线的相交点。
可以理解的是，在一些其他实施例中，摄像组件70的数量可以为一个、三个、四个、五个、六个或者更多个。当摄像组件70的数量为一个时，摄像组件安装于支撑件60的一端；当摄像组件70的数量为三个或者三个以上时，摄像组件70安装于支撑件60的两相对侧，如两相对端，只需要保证支撑件60的两端承受的摄像组件70的重量相同或大致相同。
请参图3至图5，上述支架10大致为中空圆柱体结构，包括第一收容腔 102，第一安装孔104和第二安装孔106。上述第一收容腔102用于收容第一转动件40和第二转动件50。上述第一安装孔104的数量为两个，两个第一安装孔104沿第一转动轴线设置，并与第一收容腔102相连通。上述第一安装孔104用于安装第一电机组件20。相似地，上述第二安装孔106的数量为两个，两个第二安装孔106沿第二转动轴线设置，并与第一收容腔102相连通。上述第二安装孔106用于安装第二电机组件30。
可以理解的是，在一些其他实施例中，支架10并非单独的一个部件，也可以是由多个机体内部部件形成的支架，只要能实现安装第一电机组件20和第二电机组件30即可。
上述第一电机组件20包括第一电机202，第一轴承204，第二轴承208，以及第一连接臂209。上述第一电机202包括第一转动轴206，第一转动轴206穿过第一轴承204，并用于固定连接第一转动件40。第一轴承204用于安装于两个第一安装孔104中的一个，第一转动轴206可相对于第一轴承204转动。第一连接臂209穿过第二轴承208，并用于连接第一转动件40。第二轴承208用于安装于两个第一安装孔104中的另一个，第一连接臂209可相对于第二轴承208转动。第一转动轴206和第一连接臂209两者的中心轴与第一转动轴线重合。
可以理解的是，在一些其他实施例中，第一轴承204和第二轴承208可以省略，第一转动轴206和第一连接臂209可分别直接穿过并安装于第一安装孔104。第一转动轴206与第一安装孔104之间，第一连接臂209与第一安装孔104之间可添加润滑剂。
上述第二电机组件30包括第二电机302，第三轴承304，第四轴承308及第二连接臂309。上述第二电机302包括第二转动轴306，第二转动轴306穿过第三轴承304，并用于固定连接第二转动件50。第三轴承304用于安装于两个第二安装孔106中的一个，第二转动轴306可相对于第三轴承304转动。第二连接臂309穿过第四轴承308，并用于连接第二转动件50。第四轴承308用于安装于两个第二安装孔106中的另一个，第二连接臂309可相对于第四轴承308转动。第二转动轴306和第二连接臂309两者的中心轴与第二转动轴线重合。
可以理解的是，在一些其他实施例中，第三轴承304和第四轴承308可 以省略，第二转动轴306和第二连接臂309可分别直接穿过并安装于第二安装孔106。第二转动轴306与第二安装孔106之间，以及第二连接臂309与第二安装孔106之间可添加润滑剂。
请一并参阅图6，上述第一转动件40大致为中空圆柱体结构，为可分离组件，用于方便套设于第二转动件50上。第一转动件40包括第二收容腔402和第一滑动槽404。上述第二收容腔402，用于收容第二转动件50。上述第一滑动槽404的数量为两个，两个第一滑动槽404设置于第一转动件40的两相对侧，并与第二收容腔402相连通。第一滑动槽404用于容许上述支撑件60穿过，并用于导引支撑件60在第一平面内转动。第一转动轴线位于第一平面内。上述第一转动件40还包括第一通孔406和第二通孔409，第一通孔406和第二通孔409沿一直线设置于第一转动件40的两相对侧。第一通孔406用于容许第一转动轴206插入，第一转动轴206可以通过焊锡或胶水固定于第一通孔406中。第二通孔409用于容许第一连接臂209穿过，以使得第一转动件40的另一侧铰接第一连接臂209。第一转动件40通过第一转动轴206和第一连接臂209安装于支架10。
可以理解的是，在一些其他实施例中，第一转动轴206可以通过其他连接方式与第一转动件40连接，只要第一转动轴206可以驱动第一转动件40绕第一转动轴线转动即可，例如，齿轮连接或沿第一转动轴的转动方向的限位结构等。
可以理解的是，在一些其他实施例中，第二轴承208和第一连接臂209可以用其他部件替代，只要其他部件可以将第一转动件40远离第一电机202的一侧与支架10铰接即可。
上述第二转动件50包括转动本体501，连接件504，第五轴承506和第六轴承509。转动本体501包括第二滑动槽502，第二滑动槽502用于容许支撑件60穿过，并用于导引支撑件60在第二平面内转动。上述第二转动轴线位于第二平面内，上述第一平面垂直于第二平面。第五轴承506和第六轴承509固定安装于转动本体501的两相对侧。连接件504穿过支撑件60，连接件504的两端分别插入第五轴承506和第六轴承509，连接件504可相对于第五轴承506和第六轴承509转动。连接件504的旋转轴线与第一转动轴线重合，在连接件504转动时，可带动支撑件60绕第一转动轴线转动。
在一些实施例中，连接件504与支撑件60之间设有沿连接件504的转动方向的限位结构，用于在连接件504转动时，限制连接件504相对于支撑件60转动，使得支撑件60可随连接件504一起转动；或者，连接件504固定连接支撑件60。
上述支撑件60为圆柱体直杆，两个所述摄像组件70分别安装于支撑件60的两端。两个所述摄像组件70朝相反方向设置，两个摄像组件70的光轴重合。两个所述摄像组件70可以共同完成360度的全景拍摄。
可以理解的是，在其他一些实施例中，上述支撑件60可为其他形状，只要能支承摄像组件70，可穿过上述第二滑动槽502，并在第二滑动槽502中转动即可。所述摄像组件70的光轴可呈一定角度，只要能满足摄像组件70获得的图像可以合成全景图像即可。摄像组件70的数量可以为一个、二个、三个、四个、五个、六个或者更多个。
装配本实施例的云台组件100时，将上述支撑件60穿过第二滑动槽502，连接件504穿过支撑件60和转动本体501，将第五轴承506和第六轴承509分别套设于连接件504的两端，并将第五轴承506和第六轴承509固定安装于转动本体501的两相对侧。
将分离的第一转动件40套设于第二转动件50，使得第二转动件50收容于第二收容腔402内，支撑件60穿过两个第一滑动槽404。然后，将分离的第一转动件40组装成整件，并将第一转动件40和第二转动件50一同收容于支架10的第一收容腔102。
将上述第一转动轴206从支架10的外部穿过一个第一安装孔104，插入第一通孔406，并将第一转动轴206插入第一通孔406中。第一轴承204固定安装于第一转动轴206穿过的第一安装孔104。第一连接臂209穿过另一第一安装孔104，插入第二通孔409，并将第一连接臂209插入于第二通孔409中。第一转动块40通过第一转动轴206和第一连接臂209安装于支架10。
将上述第二转动轴306从支架10的外部穿过一个第二安装孔106，然后第二转动轴306固定连接第二转动件50的一侧边，第三轴承304固定安装于第二转动轴306穿过的第二安装孔106。第二连接臂309固定安装于第二转动件50的另一侧边，第四轴承308固定安装于另一第二安装孔106。第二转动件50通过第二转动轴306和第二连接臂309安装于支架10。可以理解的是， 在一些其他实施例中，第四轴承308和第二连接臂309可以用其他部件替代，只要其他部件可以将第二转动件50远离第二电机302的一侧与支架10铰接即可。
最后，将两个摄像组件70分别安装于支撑件60的两相对侧，并使两个摄像组件70朝相反方向设置，两个摄像组件70的光轴重合。
第一电机202工作时，第一转动轴206转动，驱动第一转动件40转动，第一转动件40带动支撑件60绕第一转动轴线转动，支撑件60在第二滑动槽502的导引下，可平稳地在第二滑动槽502中转动。第二电机302工作时，第二转动轴306转动，驱动转动本体501和支撑件60一同绕第二转动轴线相对于第一转动件40转动，连接杆60在第一滑动槽404的导引下，可平稳地在第一滑动槽404中转动。
在本发明实施例的云台组件100中，第二转动件50收容于第二收容腔402，第一转动件40和第二转动件50一同收容于第一收容腔102，使得云台组件100的结构紧凑，从而减小了云台组件100的体积。
另外，支撑件60在第一滑动槽404和第二滑动槽502的导引下，可减少转动过程中的晃动，可使得摄像组件70获得更高质量的图像。
请参阅图7，本发明另一实施提供的无人机300包括机身200和上述实施例的云台组件100。上述机身200包括收容槽210，收容槽210沿竖直方向贯穿机身200。上述云台组件100的支架10，第一电机202，第二电机302，第一转动件40和第二转动件50收容于收容槽210内，两个摄像组件70设置于机身200的外部，并沿竖直方向设置于机身200的上下两侧。
可以理解的是，在一些其他实施例中，收容槽210可沿水平方向贯穿机身200，而两个摄像组件70沿水平方向设置于机身200的两相对侧。
可以理解的是，在一些其他实施例中，上述支架10可以省略，上述第一电机202，第二轴承208和第一连接臂209可安装于上述机身200；相似地，上述第二电机302，第四轴承308和第二连接臂309可安装于上述机身200。
本发明实施例的无人机300包括结构紧凑、体积小的云台组件100，使得机身200的体积可相应减小，两个摄像组件70在拍摄过程中，不易被机身200遮挡。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (19)

  1. 一种云台组件(100)，其特征在于，包括：
    第一转动件(40)；
    第二转动件(50)，其收容于所述第一转动件(40)；
    支撑件(60)，其活动连接于所述第二转动件(50)；
    第一电机(202)，其包括第一转动轴(206)，所述第一转动轴(206)与所述第一转动件(40)连接，用于驱动所述第一转动件(40)和所述支撑件(60)一同绕第一转动轴线转动；
    第二电机(302)，其包括第二转动轴(306)，所述第二转动轴(306)与所述第二转动件(50)连接，用于驱动所述第二转动件(50)和所述支撑件(60)一同绕第二转动轴线转动；
    所述第一转动轴线与第二转动轴线相交，所述支撑件(60)通过所述第一转动轴线与所述第二转动轴线的相交点。
  2. 根据权利要求1所述的云台组件(100)，其特征在于，所述第一转动轴线与所述第二转动轴线相交并相互垂直。
  3. 根据权利要求1或2所述的云台组件(100)，其特征在于，包括支架(10)，所述支架(10)包括第一收容腔(102)；所述第一转动件(40)包括第二收容腔(402)；所述第二转动件(50)收容于所述第二收容腔(402)；所述第一转动件(40)和所述第二转动件(50)皆收容于所述第一收容腔(102)。
  4. 根据权利要求3所述的云台组件(100)，其特征在于，所述支架(10)包括第一安装孔(104)；所述第一转动轴(206)穿过所述第一安装孔(104)，并与所述第一转动件(40)的一侧连接；所述第一转动件(40)的另一侧铰接所述支架(10)。
  5. 根据权利要求4所述的云台组件(100)，其特征在于，所述第一安装孔(104)的数量为两个，两个所述第一安装孔(104)沿所述第一转动轴线 设置，并与所述第一收容腔(102)相连通。
  6. 根据权利要求5所述的云台组件(100)，其特征在于，还包括第一连接臂(209)；
    所述第一转动轴(206)穿过并安装于两个所述第一安装孔(104)中的一个；所述第一连接臂(209)穿过并安装于两个所述第一安装孔(104)中的另一个。
  7. 根据权利要求6所述的云台组件(100)，其特征在于，还包括第一轴承(204)和第二轴承(208)；
    所述第一转动轴(206)穿过所述第一轴承(204)，并固定连接所述第一转动件(40)，所述第一轴承(204)安装于两个所述第一安装孔(104)中的一个，所述第一转动轴(206)可相对于所述第一轴承(204)转动；
    所述第一连接臂(209)穿过所述第二轴承(208)，并连接所述第一转动件(40)，所述第二轴承(208)用于安装于两个所述第一安装孔(104)中的另一个，所述第一连接臂(209)可相对于所述第二轴承(208)转动；
    其中，所述第一转动轴(206)和所述第一连接臂(209)两者的中心轴与所述第一转动轴线重合。
  8. 根据权利要求3～7任一项所述的云台组件(100)，其特征在于，所述第一转动件(40)包括第一滑动槽(404)，所述第一滑动槽(404)与第二收容腔(402)相连通；所述支撑件(60)穿过第一滑动槽(404)，所述第一滑动槽(404)用于导引支撑件(60)在第一平面内转动，所述第一转动轴线位于第一平面内。
  9. 根据权利要求8所述的云台组件(100)，其特征在于，所述第一滑动槽(404)的数量为两个，所述两个第一滑动槽(404)分别设置于第一转动件(40)的两相对侧，所述支撑件(60)穿过所述两个第一滑动槽(404)。
  10. 根据权利要求3～9任一项所述的云台组件(100)，其特征在于，所 述支架(10)包括第二安装孔(106)；所述第二转动轴(306)穿过所述第二安装孔(106)，并与所述第二转动件(40)的一侧连接；所述第二转动件(50)的另一侧铰接所述支架(10)。
  11. 根据权利要求10所述的云台组件(100)，其特征在于，所述第二安装孔(106)的数量为两个，两个所述第二安装孔(106)沿所述第二转动轴线设置，并与所述第一收容腔(102)相连通。
  12. 根据权利要求11所述的云台组件(100)，其特征在于，还包括第二连接臂(309)；
    所述第二转动轴(306)穿过并安装于两个所述第二安装孔(106)中的一个；所述第二连接臂(309)穿过并安装于两个所述第二安装孔(106)中的另一个。
  13. 根据权利要求12所述的云台组件(100)，其特征在于，还包括第三轴承(304)和第四轴承(308)；
    所述第二转动轴(306)穿过所述第三轴承(304)，并固定连接所述第二转动件(50)，所述第三轴承(304)安装于两个所述第二安装孔(106)中的一个，所述第二转动轴(306)可相对于所述第三轴承(304)转动；
    所述第二连接臂(309)穿过所述第四轴承(308)，并连接所述第二转动件(50)，所述第四轴承(308)用于安装于两个所述第二安装孔(106)中的另一个，所述第一连接臂(309)可相对于所述第四轴承(308)转动；
    其中，所述第二转动轴(306)和所述第二连接臂(309)两者的中心轴与所述第二转动轴线重合。
  14. 根据权利要求8～13所述的云台组件(100)，其特征在于，所述第二转动件(50)包括转动本体(501)，所述转动本体(501)包括第二滑动槽(502)，所述支撑件(60)穿过所述第二滑动槽(502)，所述第二滑动槽(502)用于导引所述支撑件(60)在第二平面内转动，所述第二转动轴线位于第二平面内，所述第一平面垂直于所述第二平面。
  15. 根据权利要求14所述的云台组件(100)，其特征在于，所述第二转动件(50)还包括连接件(504)、第五轴承(506)和第六轴承(509)；
    所述第五轴承(506)和所述第六轴承(509)固定安装于所述转动本体(501)的两相对侧；所述连接件(504)穿过所述支撑件(60)，所述连接件(504)的两端分别插入所述第五轴承(506)和所述第六轴承(509)，所述连接件(504)可相对于所述第五轴承(506)和所述第六轴承(509)转动；
    其中，所述连接件(504)的旋转轴线与所述第一转动轴线重合，在所述连接件(504)转动时，可带动所述支撑件(60)绕所述第一转动轴线转动。
  16. 根据权利要求1～15任一项所述的云台组件(100)，其特征在于，还包括：摄像组件(70)，所述摄像组件(70)为至少两个，安装于所述支撑件(60)的两相对侧。
  17. 根据权利要求1～15任一项所述的云台组件(100)，其特征在于，还包括：摄像组件(70)，所述摄像组件(70)安装于所述支撑件(60)的一端。
  18. 一种无人机(300)，其特征在于，包括：机身(200)和如权利要求1至17任一项所述的云台组件(100)；所述机身(200)包括收容槽(210)；所述第一转动件(40)和第二转动件(50)两者皆收容于收容槽(210)。
  19. 根据权利要求18所述的无人机(300)，其特征在于，还包括：摄像组件(70)，所述摄像组件(70)为至少两个，安装于所述支撑件(60)的两相对侧；所述摄像组件(70)沿竖直方向设置于机身(200)的两相对侧；所述收容槽(210)沿竖直方向贯穿机身(200)。
PCT/CN2018/078600 2017-06-02 2018-03-09 一种云台组件及具有此云台组件的无人机 Ceased WO2018219006A1 (zh)

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