WO2019007128A1

WO2019007128A1 - Pan-tilt and unmanned aerial vehicle having same

Info

Publication number: WO2019007128A1
Application number: PCT/CN2018/082215
Authority: WO
Inventors: 余春; 陈法全; 周波
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-07-03
Filing date: 2018-04-08
Publication date: 2019-01-10
Also published as: CN109204856A

Abstract

A pan-tilt (100) and an unmanned aerial vehicle having same. The pan-tilt comprises: a stability enhancement assembly (10) and a signal transmission assembly (20) provided in the stability enhancement assembly (10); the stability enhancement assembly (10) comprises: a first rotating piece (11) and a second rotating piece (12); the first rotating piece (11) and the second rotating piece (12) are connected; the first rotating piece (11) and the second rotating piece (12) each comprise a driving device (111, 121); a rotating shaft (1113, 1213) of at least one driving device is axially provided with a through hole; the signal transmission assembly (20) comprises a first signal line (21), a second signal line (22), and a first circuit board (24); the first signal line (21) passes through the through hole and is electrically connected to a load (200); the first circuit board (24) is provided in the second rotating piece (12); the second signal line (22) is electrically connected to the first circuit board (24). By means of the method, signal lines in a pan-tilt can be effectively prevented from being wound together along with the rotation of rotating pieces, and thus unsmooth rotation of the rotating pieces can be avoided.

Description

Yuntai and drones with this platform

The application claims the priority of the Chinese patent application entitled "PTZ and the UAV with this PTZ", which is filed on July 3, 2017, the entire contents of which are hereby incorporated by reference. in.

[Technical Field]

The invention relates to the technical field of drones, in particular to a cloud platform and a drone having the same.

【Background technique】

The drone, referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements. UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing. At present, the scope of use of drones has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order. The field of anti-terrorism and other fields are widely used.

In the process of implementing the present invention, the inventors have found that at least the following problems exist in the prior art: in the existing pan/tilt design, a cable for providing signals to the load and the pan/tilt motor separately needs to be disposed on the pan/tilt head. The existing cloud platform has many wirings and complicated winding, which makes the structure of the existing cloud platform complex and uncoordinated, affecting the appearance of the cloud platform. In addition, during the process of controlling the rotation of the gimbal, the cable usually rotates following the rotation of the load or the rotating member of the gimbal, which easily forms a phenomenon of cable winding, which causes the cable to be easily damaged, and the rotation of the load or the pan/tilt is not smooth. And the rotation accuracy is low.

[Summary of the Invention]

In order to solve the above technical problem, an embodiment of the present invention provides a cloud platform with simple wiring and can effectively avoid cable winding and a drone having the same.

To solve the above technical problem, the embodiment of the present invention provides the following technical solutions:

a pan/tilt head for carrying a load, the pan/tilt head comprising: a stabilizing component and a signal transmission component disposed on the stabilizing component, the stabilizing component for mounting the load; the stabilizing The assembly includes: a first rotating member and a second rotating member, wherein the first rotating member and the second rotating member are coupled; the first rotating member and the second rotating member each include a driving device, and at least one of the driving devices The rotating shaft is disposed with a through hole in the axial direction; the signal transmission component includes a first signal line, a second signal line, and a first circuit board, the first signal line passes through the through hole, and is used to be electrically connected to the load Connected, the first circuit board is disposed in the second rotating component, and the second signal line is electrically connected to the first circuit board.

In some embodiments, the first rotating member includes a first driving device, and a rotating shaft of the first driving device is axially disposed with a first through hole; the first signal line and the second signal line pass through the The first through hole is described.

In some embodiments, the stabilizing assembly further includes a third rotating member, the third rotating member being coupled to the second rotating member; the signal transmission assembly further comprising: a third signal line and a second circuit board The second circuit board is disposed in the third rotating component, one end of the third signal line is electrically connected to the first circuit board, and the other end of the third signal line is opposite to the second circuit The board is electrically connected.

In some embodiments, the first driving device includes: a first fixing portion, a first rotating portion, and a first rotating shaft, wherein the first rotating portion is rotatable relative to the first fixing portion about the first rotating shaft; The second rotating member includes a second driving device and a first connecting arm, the second driving device includes a second fixing portion, a second rotating portion and a second rotating shaft, wherein the second rotating portion can surround the first rotating portion The two rotating shafts rotate relative to the second fixing portion; one end of the first connecting arm is fixedly connected to the first rotating portion, and the other end is fixedly connected to the second fixing portion.

In some embodiments, the third rotating member includes: a third driving device and a second connecting arm, the third driving device includes: a third fixing portion, a third rotating portion, and a third rotating shaft, wherein The third rotating portion is rotatable relative to the third fixing portion about the third rotating shaft; one end of the second connecting arm is fixedly connected with the second rotating portion, and the other end is fixedly connected with the third fixing portion The third rotating portion is for fixed connection with the load.

In some embodiments, the third rotating member further includes a third connecting arm, the second connecting arm and the third connecting arm respectively for hinged to opposite sides of the load, the third connecting arm One end is fixedly connected to the second rotating portion, and the other end is used for articulation with the load.

In some embodiments, the first circuit board is disposed within the first connecting arm; the second circuit board is disposed within the second connecting arm.

In some embodiments, the other end of the first connecting arm is provided with a connecting slot, the first signal line passes through the connecting slot and is used for electrical connection with the load; the third signal line passes through The connection slot is electrically connected to the second circuit board.

In some embodiments, the first signal line includes a bent portion that is located inside the other end of the second connecting arm.

In some embodiments, the first signal line further includes a winding portion, the winding portion is located in the third rotating portion, and is disposed around the third rotating shaft.

In some embodiments, the third signal line is provided with a bent portion that is located inside the other end of the first connecting arm.

In some embodiments, the first signal line and the second signal line are both single core lines and have a circular cross section; the third signal line is a flexible circuit board line.

In some embodiments, the second rotating shaft is disposed with a second through hole in an axial direction, and the first signal line and the third signal line pass through the inside of the other end of the first connecting arm, through the first a through hole that passes through the second rotating portion.

In some embodiments, the third rotating shaft is disposed with a third through hole in an axial direction, and the first signal line passes through the third through hole from the other end of the second connecting arm, thereby Passing through the third rotating portion.

In order to solve the above technical problem, the embodiment of the present invention further provides the following technical solutions:

A drone includes: a load and a pan/tilt described above, the pan/tilt carrying the load.

Compared with the prior art, the first signal line in the pan/tilt of the embodiment of the present invention passes through the through hole provided on the rotating shaft of the driving device in the first rotating member and/or the second rotating member, so that the pan/tilt can be effectively avoided. The signal wires inside are wound together as the rotating member rotates, and the rotation of the rotating member is prevented from being unsmooth.

[Description of the Drawings]

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a schematic structural diagram of a cloud platform and a load provided by an embodiment of the present invention;

2 is another schematic structural view of the cloud platform and the load shown in FIG. 1;

3 is a schematic structural diagram of a signal transmission component in the cloud platform shown in FIG. 1;

4 is a schematic structural view of a signal transmission assembly and a first rotating member in the pan/tilt head shown in FIG. 1.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element or one or more of the elements in the middle. When an element is referred to as being "electrically connected" to another element, it can be directly connected to the other element, or one or more. The orientation or positional relationship of the terms "upper", "lower", "inner", "outer", "bottom" and the like as used in the specification is based on the orientation or positional relationship shown in the drawings, only for convenience of description. The invention and the simplification of the invention are not to be construed as limiting or limiting the invention. Moreover, the terms "first", "second", "third" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in the specification are the same meaning The terms used in the description of the present invention are for the purpose of describing the specific embodiments and are not intended to limit the invention. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

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

Referring to FIG. 1 and FIG. 2 , an embodiment of the present invention provides a platform 100 that can be used to carry a load 200 to fix the load 200 or adjust the posture of the load 200 arbitrarily (eg, change the The height, inclination and/or direction of the load 200) and the load 200 are stably maintained in a set attitude. The load 200 may be an image acquisition device, such as a camera, a camera, a camera, or the like, or other portable electronic devices, such as a mobile phone, a tablet, etc., which may be understood as a sensor or the like. The pan/tilt head 100 can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to, but not limited to, a handheld photographing device, a drone, an unmanned ship, or an unmanned vehicle. For example, the pan/tilt head 100 may be equipped with the image acquisition device and installed on the drone for aerial photography. Alternatively, the pan/tilt head 100 can also mount the image acquisition device and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/tilt head 100 to control the image acquisition device. The angle of shooting.

Hereinafter, the present invention will be described in detail by taking the load 200 as a camera as an example, and the pan/tilt 100 is applied to a drone.

The pan/tilt head 100 includes a stabilizing assembly 10 and a signal transmission assembly 20 disposed within the stabilizing assembly 10, the stabilizing assembly 10 for mounting the load 200. In this embodiment, the pan/tilt head 100 is a three-axis omnidirectional pan/tilt head, and the stabilizing assembly 10 includes a first rotating member 11, a second rotating member 12 and a third rotating member 13, wherein the first rotating member 11 For mounting to the fuselage of the drone, the first rotating member 11 is coupled to the second rotating member 12, the third rotating member 13 is coupled to the second rotating member 12, and The third rotating member 13 is for mounting the load 200.

The first rotating member 11, the second rotating member 12, and the third rotating member 13 each include a driving device, each of which includes a fixing portion and a rotating portion, and the rotating portion is rotatable relative to the fixed portion.

It can be understood that, in other embodiments, the stabilizing assembly 10 includes only the first rotating member 11 and the second rotating member 12, wherein the first rotating member 11 is for mounting to the body of the drone. The first rotating member 11 is coupled to the second rotating member 12, and the second rotating member 12 is used to mount the load 200.

In the embodiment of the present invention, each driving device of the stabilizing component 10 of the pan/tilt head 100 respectively responds to the received rotation control signal, and controls the rotating portion thereof to rotate clockwise or counterclockwise with respect to the fixing portion thereof according to the control signal. And adjusting the rotational speed of the rotating portion to achieve the adjustment of the corresponding direction. Further, control of the direction, orientation, and stability of the load 200 is achieved. In the above manner, the load 200 is enabled to obtain a stable video and/or picture of a corresponding viewing angle. It will be appreciated that the stabilizing assembly 10 can also include a rotating member that rotates in one direction, two directions, or more.

Specifically, in the embodiment, the first rotating member 11 includes a first driving device 111, and the first driving device 111 includes a first fixing portion 1111, a first rotating portion 1112, and a first rotating shaft 1113. The first rotating shaft 1113 is movably connected to the first fixing portion 1111 , the first rotating shaft 1113 is fixedly connected to the first rotating portion 1112 , and the first rotating portion 1112 is rotatable around the first rotating shaft 1113 . Rotation with respect to the first fixing portion 1111. The first fixing portion 1111 is for fixed connection with the body of the drone. The first rotating shaft 1113 is provided with a first through hole 1113a (see Fig. 4) in the axial direction.

In the embodiment, the second rotating member 12 includes a second driving device 121 and a first connecting arm 122. The second driving device 121 includes a second fixing portion 1211, a second rotating portion 1212, and a second rotating shaft 1213. . The second rotating shaft 1213 is movably connected to the second fixing portion 1211 , the second rotating shaft 1213 is fixedly connected to the second rotating portion 1212 , and the second rotating portion 1212 is rotatable around the second rotating shaft 1213 . Rotation with respect to the second fixing portion 1211. One end of the first connecting arm 122 is fixedly connected to the first rotating portion 1112 , and the other end is fixedly connected with the second fixing portion 1211 of the second driving device 121 , so that the first driving device 111 is When the first rotating portion 1112 rotates, the second rotating member 12 can be rotated relative to the first fixing portion 1111 of the first rotating member 11.

In the embodiment, the third rotating member 13 includes a third driving device 131 and a second connecting arm 132. The third driving device 131 includes a third fixing portion 1311, a third rotating portion 1312, and a third rotating shaft 1313. . The third rotating shaft 1313 is movably connected to the third fixing portion 1311 , the third rotating shaft 1313 is fixedly connected to the third rotating portion 1312 , and the third rotating portion 1312 is rotatable around the third rotating shaft 1313 . Rotation with respect to the third fixing portion 1311. One end of the second connecting arm 131 is fixedly connected to the second rotating portion 1212 , and the other end is fixedly connected with the third fixing portion 1311 of the third driving device 131 , so that the second driving device 121 is When the second rotating portion 1212 rotates, the third rotating member 13 can be rotated relative to the second fixing portion 1211 of the second rotating member 12. The third rotating portion 1312 is fixedly coupled to the load 200 for driving the load 200 to rotate relative to the third fixing portion 1311.

The first driving device 111, the second driving device 121, and the third driving device 131 may be one of a brushless motor, a brush motor, or a pneumatic motor, respectively.

It can be understood that, in other embodiments, the third rotating member 13 further includes a third connecting arm (not shown), and the second connecting arm 132 and the third connecting arm are respectively located at the load 200. On the opposite sides, one end of the third connecting arm is fixedly connected to the second rotating portion 1212, and the other end is hinged to the load 200.

Further, in the embodiment, the first rotating member 11 controls the load 200 to rotate about a translation axis/heading axis (in the Y-axis direction shown in FIG. 1); the second rotating member 12 controls the The load 200 is rotated about a roll axis (in the R-axis direction as shown in FIG. 1); the third rotating member 13 controls the load 200 to rotate about a pitch axis (in the P-axis direction as shown in FIG. 1).

In some other embodiments, the first rotating member 11 controls the load 200 to rotate about a pitch axis; the second rotating member 12 controls the load 200 to rotate about a yaw axis; the third rotating member 13 The load 200 is controlled to rotate about a roll axis.

As shown in FIGS. 2 and 3, the signal transmission component 20 includes a first signal line 21, a second signal line 22, a third signal line 23, a first circuit board 24, and a second circuit board 25. The first circuit board 24 is disposed in the second rotating member 12, and the second circuit board 25 is disposed in the third rotating member 13. One end of the first signal line 21 is electrically connected to a processor (not shown) located in the body of the drone, and the other end is electrically connected to the load 200. One end of the second signal line 22 is electrically connected to a processor (not shown) located in the body of the drone, and the other end is electrically connected to the first circuit board 24. One end of the third signal line 23 is electrically connected to the first circuit board 24, and the other end is electrically connected to the second circuit board 25.

Specifically, in the embodiment, the first circuit board 24 is disposed in the first connecting arm 122 for controlling an operating state of the second driving device 121; the second circuit board 25 is disposed on The second connecting arm 132 is configured to control an operating state of the third driving device 131. The first signal line 21 passes through the first through hole 1113a so as to pass through the first rotating portion 1112, and extends from one end of the first connecting arm 122 to the other end. The other end of the first connecting arm 122 is provided with a connecting slot 1221 (shown in FIG. 1 ), and the first signal line 21 passes through the connecting slot 1221 to enter one end of the second connecting arm 132 . The first signal line 21 enters the third rotating portion 1312 from the other end of the second connecting arm 132, and is further electrically connected to the load 200 by the third rotating portion 1312. That is, the first signal line 21 sequentially passes through the first through hole 1113a, the first rotating portion 1112, the first connecting arm 122, the second rotating portion 1212, the second connecting arm 132, and the third rotating portion 1312, And electrically connected to the load 200.

The first signal line 21 includes a bent portion 211 and a winding portion 212, and the bent portion 211 is located inside the other end of the first connecting arm 122, and the winding portion 212 is located at the third rotation The inside of the portion 1312. When the second rotating portion 1212 rotates relative to the second fixing portion 1211, a portion of the first signal line 21 located in the connecting groove 1221 will rotate together with the second rotating portion 1212. Thereby, the bent portion 211 is further bent or stretched to prevent the first signal line 21 from being torn off when the second rotating portion 1212 is rotated. The winding portion 212 is located in the third rotating portion 1312 and is wound around the third rotating shaft 1313. The number of windings of the winding portion 212 corresponds to a maximum rotation angle of the third rotating portion 1312 with respect to the third fixing portion 1311, so that the third rotating portion 1312 is opposite to the third portion The flexibility of the rotation of the third rotating portion 1312 is not in the process of rotating the fixed portion 1311 in the first direction to the maximum limit angle or in the direction opposite to the first direction to the maximum limit angle. The length of the winding portion 212 is limited; at the same time, the first signal line 21 is not broken by the rotation of the third rotating portion 1312, and the third rotating portion 1312 is not stacked again. The group may be entangled.

In this embodiment, the second signal line 22 passes through the first through hole 1113a, and passes through the first rotating portion 1112, and extends from one end of the first connecting arm 122 to the first a circuit board 24; and electrically connected to the first circuit board 24. That is, the second signal line 22 sequentially passes through the first through hole 1113a, the first rotating portion 1112, a portion of the first connecting arm 122, and is electrically connected to the first circuit board 24.

In the embodiment, the third signal line 23 enters the second rotating portion 1212 through the connecting groove 1221, and enters one end of the second connecting arm 132 by the second rotating portion 1212. A third signal line 23 extends from the other end of the second connecting arm 132 to the second circuit board 25 and is electrically connected to the second circuit board 25. That is, the third signal line 23 sequentially passes through a portion of the first connecting arm 122, the second rotating portion 1212, and the second connecting arm 132, and is electrically connected to the second circuit board 25. The third signal line 23 is provided with a bent portion 231 located inside the lower end (ie, the other end) of the first connecting arm 122. A portion of the third signal line 23 located in the connecting groove 1221 will rotate together with the second rotating portion 1212, so that the curved portion 231 is further bent or straightened to prevent the second When the rotating portion 1212 is rotated, the third signal line 23 is broken.

In this embodiment, the first signal line 21 and the second signal line 22 are both single-core wires (very thin coaxial lines) and have a circular cross section. Such a structure can facilitate the first signal line. 21 and the second signal line 22 pass through the first through hole 1113a. One end of the third signal line 23 is electrically connected to the first circuit board 24, and the other end is electrically connected to the second circuit board 25. The third signal line 23 is a flexible printed circuit (FPC) cable. The FPC cable has a flaky shape and is suitable for bending and low cost. It can be understood that, in other embodiments, the first signal line 21, the second signal line 22, and the third signal line 23 may also use signal lines of the same material, such as single-core or FPC cables. , or other types of signal lines.

It is to be understood that, in other embodiments, the second rotating shaft 1213 is disposed with a second through hole (not shown) along the axial direction, and the first signal line 21 and the third signal line 23 are The other end of the first connecting arm 122 passes through the second through hole (not shown) to pass through the second rotating portion 1212. Based on the above structure, the first signal line 21 does not have to be provided with the bent portion 211, and the third signal line 23 does not have to be provided with the bent portion 231.

It is to be understood that, in other embodiments, the third rotating shaft 1313 is disposed with a third through hole (not shown) in the axial direction, and the first signal line 21 is from the second connecting arm 132. The other end is internally passed through the third through hole (not shown) to pass through the third rotating portion 1312. Based on the above structure, the first signal line 21 does not have to be provided with the winding portion 212.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; in the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the invention as described above, which are not provided in the details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features; and the modifications or substitutions do not deviate from the embodiments of the present invention. The scope of the technical solution.

Claims

A pan/tilt (100) for carrying a load (200), characterized in that the pan/tilt (100) comprises:

a stabilizing component (10) and a signal transmission component (20) disposed on the stabilizing component (10), the stabilizing component (10) for mounting the load (200);

The stabilizing assembly (10) includes a first rotating member (11) and a second rotating member (12), the first rotating member (11) and the second rotating member (12) are connected; the first rotating member (11) and the second rotating member (12) each comprise a driving device (111, 121), at least one of the rotating devices (1113, 1213) of the driving device (111, 121) is provided with a through hole in the axial direction;

The signal transmission component (20) includes a first signal line (21), a second signal line (22), and a first circuit board (24), the first signal line (21) passing through the through hole, and Electrically connected to the load (200), the first circuit board (24) is disposed in the second rotating member (12), and the second signal line (22) is opposite to the first circuit board ( 24) Electrical connection.
The platform (100) according to claim 1, wherein the first rotating member (11) comprises a first driving device (111), and a rotating shaft of the first driving device (111) is axially disposed There is a first through hole (1113a); the first signal line (21) and the second signal line (22) pass through the first through hole (1113a).
A platform (100) according to claim 1 or 2, wherein

The stabilizing assembly (10) further includes a third rotating member (13), and the third rotating member (13) is coupled to the second rotating member (12);

The signal transmission component (20) further includes: a third signal line (23) and a second circuit board (25), the second circuit board (25) is disposed in the third rotating member (13), One end of the third signal line (23) is electrically connected to the first circuit board (24), and the other end of the third signal line (23) is electrically connected to the second circuit board (25).
A platform (100) according to claim 3, wherein

The first driving device (111) includes a first fixing portion (1111), a first rotating portion (1112), and a first rotating shaft (1113), and the first rotating portion (1112) is rotatable around the first rotating shaft (1113) Rotating relative to the first fixing portion (1111);

The second rotating member (12) includes a second driving device (121) and a first connecting arm (122), and the second driving device (121) includes a second fixing portion (1211) and a second rotating portion (1212) And a second rotating shaft (1213), wherein the second rotating portion (1212) is rotatable relative to the second fixing portion (1211) about the second rotating shaft (1213);

One end of the first connecting arm (122) is fixedly connected to the first rotating portion (1112), and the other end is fixedly connected to the second fixing portion (1211).
The platform (100) according to claim 4, wherein the third rotating member (13) comprises: a third driving device (131) and a second connecting arm (132), the third driving device (131) includes: a third fixing portion (1311), a third rotating portion (1312), and a third rotating shaft (1313), wherein the third rotating portion (1312) is rotatable relative to the third rotating shaft (1313) Rotating at the third fixing portion (1311);

One end of the second connecting arm (132) is fixedly connected to the second rotating portion (1212), the other end is fixedly connected to the third fixing portion (1311), and the third rotating portion (1312) is used for Fixed connection to the load (200).
The platform (100) according to claim 5, wherein the third rotating member (13) further comprises a third connecting arm, and the second connecting arm (132) and the third connecting arm are respectively used for Two opposite sides of the load (200) are hinged, one end of the third connecting arm is fixedly connected to the second rotating portion (1212), and the other end is for articulating with the load (200).
The platform (100) according to claim 5 or 6, wherein the first circuit board (24) is disposed in the first connecting arm (122); the second circuit board (25) Provided in the second connecting arm (132).
A platform (100) according to claim 7, wherein

The other end of the first connecting arm (122) is provided with a connecting slot (1221), the first signal line (21) passes through the connecting slot (1221), and is used for electrical connection with the load (200) ;

The third signal line (23) passes through the connection slot (1221) and is electrically connected to the second circuit board (25).
The platform (100) according to claim 8, wherein the first signal line (21) comprises a bent portion (211), and the bent portion (211) is located at the first connecting arm ( 122) The inside of the other end.
The platform (100) according to claim 9, wherein the first signal line (21) further comprises a winding portion (212), and the winding portion (212) is located at the third rotating portion (1312), and wound around the third rotating shaft (1313).
The platform (100) according to claim 10, wherein the third signal line (23) is provided with a bent portion (231), and the curved portion (231) is located at the first connecting arm (122) ) The inside of the other end.
The platform (100) according to any one of claims 3-11, wherein the first signal line (21) and the second signal line (22) are both single-core lines and have a cross section of Round

The third signal line (23) is a flexible circuit board cable.
A platform (100) according to any one of claims 4-7, wherein

The second rotating shaft (1213) is provided with a second through hole in the axial direction, and the first signal line (21) and the third signal line (23) are internal from the other end of the first connecting arm (122) Passing through the second through hole to pass through the second rotating portion (1212).
A platform (100) according to any one of claims 5-7, wherein

The third rotating shaft (1313) is provided with a third through hole in an axial direction, and the first signal line (21) passes from the other end of the second connecting arm (132) through the third through The hole passes through the third rotating portion (1312).
A drone, comprising: a load (200) and a pan/tilt (100) according to any one of claims 1-14, wherein the pan/tilt (100) carries the load (200) .