WO2019019521A1

WO2019019521A1 - Cradle head and aircraft

Info

Publication number: WO2019019521A1
Application number: PCT/CN2017/115164
Authority: WO
Inventors: 余春
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-07-28
Filing date: 2017-12-08
Publication date: 2019-01-31
Also published as: CN109305377A

Abstract

A cradle head and an aircraft. The cradle head is used for carrying a load, and comprises a first rotating member, a second rotating member (8) and a third rotating member (7); each of the first rotating member, the second rotating member (8) and the third rotating member (7) comprises a fixed portion and a rotating portion which is rotable relative to the fixed portion; the fixed portion of the second rotating member (8) is connected to the rotating portion (2) of the first rotating member, the fixed portion of the third rotating member (7) is connected to the rotating portion of the second rotating member (8), and the rotating portion of the third rotating member (7) is used for fixed connection to the load; at least one of the first rotating member, the second rotating member (8) and the third rotating member (7) is provided with an elastic element, and the elastic element is used for blocking the rotation of the rotating portion of the rotating member. The cradle head and the aircraft can be used in the technical field of aerial photography. Comparing said cradle head with a common three-axis cradle head, the number of motors is reduced, such that the weight and size of the cradle head is greatly reduced; comparing with a common two-axis cradle head, an elastic element for shock absorption is additionally provided, thus significantly reducing the shock of the two-axis cradle head.

Description

PTZ and aircraft

The priority of the Chinese Patent Application No. 201710633164.1, entitled "PTZ and Aircraft", which is filed on July 28, 2017, is incorporated herein by reference.

Technical field

The invention relates to the field of aerial photography technology, in particular to a cloud platform and an aircraft.

Background technique

As shown in Fig. 1, a general three-axis pan/tilt uses three motors (i.e., pitch axis motor 70, roll axis motor 71, and yaw axis motor 72) to respectively control the pitch axis, roll axis, and yaw axis of the gimbal. In order to eliminate vibration in all directions of the aircraft, stable shooting is achieved. In some cases, considering the load and size of the aircraft, the pan/tilt needs to be in the form of a two-axis. Such a pan/tilt only retains the pitch axis motor and the roll axis motor, and there is no yaw axis motor.

The two-axis pan/tilt can greatly reduce weight and reduce volume. However, the vibration in the direction of the yaw axis cannot be eliminated, and the stabilization effect is poor.

Summary of the invention

In order to solve the above technical problems, the present invention provides a pan/tilt with a good stabilization effect.

In order to achieve the object of the present invention, an embodiment of the present invention provides a cloud platform for carrying a load, and the cloud platform includes:

a first rotating member, a second rotating member and a third rotating member, each of the first rotating member, the second rotating member and the third rotating member including a fixing portion and relative to the fixing portion Rotating rotating portion;

a fixing portion of the second rotating member is coupled to a rotating portion of the first rotating member, the third turn The fixing portion of the moving member is coupled to the rotating portion of the second rotating member, and the rotating portion of the third rotating member is for fixed connection with the load;

At least one of the first rotating member, the second rotating member and the third rotating member is provided with an elastic member for blocking rotation of the rotating portion of the rotating member.

In this embodiment, the pan/tilt head includes three rotating members, the rotating portions of the three rotating members are rotatable and the axes of rotation of the rotating portions are perpendicular to each other, and at least one of the three rotating members is provided with elastic members. The elastic member is capable of applying an elastic force to the rotating portion of the rotating member by itself to prevent the rotating portion of the rotating member from rotating relative to the fixed portion, so that the elastic member applies elasticity to the rotating member when the vibration of the aircraft is transmitted to the platform. The force hindering the rotation of the rotating portion of the rotating member relative to the fixed portion, increasing the stability of the rotating member, thereby increasing the stability of the load, and ensuring stable shooting of the shooting device when the load is a photographing device; The rotating portion of the rotating member of the elastic member can be coupled to the motor and can be rotated by the motor to adjust the posture of the photographing device fixed to the third rotating member to ensure that the photographing device can perform photographing in various directions.

Compared with the existing three-axis pan/tilt head, the number of motors of the pan/tilt head of the embodiment is reduced, which results in a reduction in the weight and volume of the pan/tilt head, and is more advantageous for fixing the pan/tilt head to the aircraft for shooting, and The reduction of the number of motors is beneficial to reduce the cost of the pan/tilt. Secondly, by adding elastic elements to increase the stability of the rotating parts not connected to the motor, the overall stability of the pan/tilt is better than that of the two-axis pan/tilt. Can meet the shooting needs.

Optionally, the first rotating member is provided with the elastic member; the fixing portion of the first rotating member is a bracket, one end of the elastic member is connected to the bracket, and the other end of the elastic member is The rotating portions of the first rotating member are connected.

The fixing portion of the first rotating member is a bracket, and the bracket can be used for connecting with the aircraft to mount the pan/tilt on the aircraft; one end of the elastic member is connected to the bracket, and the other end is connected with the fixing portion of the first rotating member to make the elasticity The component can block the rotation of the rotating portion of the first rotating member relative to the fixed portion, so that when the aircraft is flying and vibrating, the elastic member can block the rotating portion of the first rotating member from rotating under the action of the vibration, so that the rotation of the first rotating member The portion remains stable, thereby increasing the stability of the photographing device fixed to the third rotating member, which is advantageous for stable shooting of the photographing device.

Optionally, the bracket is provided with a boss, and the rotating part of the first rotating member is fixed with an elastic component bracket, one end of the elastic component is connected with the boss, and the other end of the elastic component is The elastic element brackets are connected.

The bracket is provided with a boss, and the elastic component bracket is fixed on the rotating portion of the first rotating member, and the boss and the elastic component bracket are disposed, so that the two ends of the elastic component are conveniently connected with the fixing portion and the rotating portion of the first rotating member. .

Optionally, the second rotating member is provided with the elastic member; one end of the elastic member is coupled to the fixing portion of the second rotating member, and the other end of the elastic member and the second rotating member are The rotating parts are connected.

When the two ends of the elastic member are respectively connected to the fixing portion and the rotating portion of the second rotating member, the elastic member can block the rotation of the rotating portion of the second rotating member relative to the fixed portion, so that the stability of the rotating portion of the second rotating member is enhanced. Conducive to stable shooting of the camera.

Optionally, the fixing portion of the second rotating member is provided with a boss, and the rotating portion of the second rotating member is fixed with an elastic component bracket, and one end of the elastic component is connected with the boss, The other end of the elastic member is coupled to the elastic member bracket.

Optionally, the third rotating member is provided with the elastic member; one end of the elastic member is coupled to the fixing portion of the third rotating member, and the other end of the elastic member and the third rotating member are The rotating parts are connected.

When the two ends of the elastic member are respectively connected to the fixing portion and the rotating portion of the third rotating member, the elastic member can block the rotation of the rotating portion of the third rotating member relative to the fixed portion, so that the stability of the rotating portion of the third rotating member is enhanced. Conducive to stable shooting of the camera.

Optionally, the fixing portion of the third rotating member is provided with a boss, and the rotating portion of the third rotating member is fixed with an elastic component bracket, and one end of the elastic component is connected with the boss, The other end of the elastic member is coupled to the elastic member bracket.

Optionally, the elastic element is provided with two, the boss is provided with two, the elastic element bracket is provided with two protrusions, and the two protrusions are respectively associated with two of the elastic elements The other end is connected.

When the elastic member is provided in two, the elastic force applied to the rotating portion is increased, and the rotation of the rotating portion of the rotating member can be better hindered, which is advantageous for maintaining the stability of the rotating portion, thereby facilitating stable shooting of the photographing device.

Optionally, the two elastic elements are arranged in parallel and apply opposing forces to the two of the projections.

The two elastic elements are arranged in parallel and apply opposite directions to the two protrusions, so that the elastic element can apply a force to the rotating part to hinder the rotation of the rotating part, regardless of whether the vibration of the aircraft causes the rotating part to rotate clockwise or counterclockwise. The rotation of the rotating portion causes the rotating portion to finally be in a stable state.

Optionally, the elastic element comprises any one of a spring, a rubber band and a rubber rope.

The spring, the rubber band, and the rubber rope are all elastic, and after the elastic deformation occurs, an elastic force can be applied to the rotating portion to hinder the rotation of the rotating portion, so that the rotating portion is kept stable. In addition, the spring, rubber band and rubber rope have a simple structure, low cost and convenient installation.

Optionally, the pan/tilt further includes a second motor, and the second motor is coupled to the rotating portion of the second rotating member to drive the fixing of the rotating portion of the second rotating member relative to the second rotating member The third motor is coupled to the rotating portion of the third rotating member to drive the rotating portion of the third rotating member to rotate relative to the fixed portion of the third rotating member.

Optionally, the pan/tilt head further includes a bearing, and the bearing is two for connecting the rotating portion of the first rotating member with the fixing portion, so that the rotating portion of the first rotating member is opposite to the rotating portion The fixing portion of the first rotating member rotates.

Optionally, the pan/tilt head further includes a first connecting arm and a second connecting arm; wherein the fixing portion of the second rotating member is connected to the rotating portion of the first rotating member by the first connecting arm, The fixing portion of the third rotating member is coupled to the rotating portion of the second rotating member via the second connecting arm.

Optionally, the first connecting arm and the second connecting arm are L-shaped.

An embodiment of the present invention also provides an aircraft comprising a fuselage and a pan/tilt according to any of the above embodiments, the bracket of the pan/tilt being coupled to the fuselage.

Optionally, the aircraft further includes a damping device for connecting between the cloud platform and the fuselage.

The aircraft provided in this embodiment has the pan/tilt head according to any of the above embodiments, and therefore also has all the beneficial effects of the pan/tilt head described in any of the above embodiments.

Compared with the prior art, the cloud platform provided by the invention has the following beneficial effects:

Compared with the conventional three-axis pan/tilt head, the pan head provided by the present invention replaces part of the motor connected with the rotating part with the elastic element, so that the weight and size of the pan/tilt head are greatly reduced; in addition, the elastic element can hinder the The rotation of the rotating portion connected to the motor further dampens the imaging device, so that the overall stability of the pan/tilt is good. Therefore, the gimbal provided by the present invention achieves an effective combination of weight, size and stability.

Other features and advantages of the invention will be set forth in the description which follows, The objectives and other advantages of the invention may be realized and obtained by means of the structure particularly pointed in the appended claims.

DRAWINGS

The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification, which together with the embodiments of the present application are used to explain the technical solutions of the present invention, and do not constitute a limitation of the technical solutions of the present invention. For those of ordinary skill in the art, the drawings of other embodiments may be obtained from the drawings without departing from the scope of the invention.

1 is a schematic structural view of a conventional three-axis pan/tilt head;

2 is a schematic structural view of a pan/tilt head according to an embodiment of the invention;

Figure 3 is a schematic view showing the assembly structure of the bracket and the first rotating member of Figure 2;

Figure 4 is a top plan view of Figure 3;

Figure 5 is a side view showing the structure of Figure 3;

Figure 6 is a cross-sectional view showing the structure taken along line A-A of Figure 5;

Among them, the relationship between the reference numerals in Figure 1 and the part names is:

70 pitch axis motor, 71 cross roller motor, 72 yaw axis motor.

Among them, the relationship between the reference numerals and the part names in Figures 2-6 is:

1 bracket, 10, 10' boss, 2 rotating parts, 3, 3' spring, 4 elastic component bracket, 40, 40' groove, 5 lock nut, 6, 6' bearing, 7 third rotating part, 8 Second rotating member, 90 third motor, 91 second motor.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

Embodiment 1:

As shown in FIG. 2, an embodiment of the present invention provides a pan/tilt for carrying a load, such as a photographing device or the like. The pan/tilt includes: a first rotating member, a second rotating member 8 and a third rotating member 7, wherein each of the first rotating member, the second rotating member 8 and the third rotating member 7 includes a fixing portion and is relative to a rotating portion of the fixed portion; the fixed portion of the second rotating member 8 is coupled to the rotating portion 2 of the first rotating member, and the fixed portion of the third rotating member 7 is coupled to the rotating portion of the second rotating member 8, the third rotating member The rotating portion of 7 is for fixed connection with the photographing device.

The rotation axes of the rotating portions of the first rotating member, the second rotating member 8, and the third rotating member 7 are perpendicular to each other, such that the rotational axes of the rotating portions of the first rotating member, the second rotating member 8, and the third rotating member 7 It can be used as the yaw axis, roll axis and pitch axis of the pan/tilt, respectively.

In this embodiment, the first rotating member is provided with the elastic member. It can be understood that, in other embodiments, as long as at least one of the first rotating member, the second rotating member 8 and the third rotating member 7 is provided with an elastic member, the elastic member serves to block the rotating portion of the rotating member. Turn.

Specifically, the elastic member can apply an elastic force to the rotating portion of the rotating member by itself to hinder the rotating portion of the rotating member from rotating relative to the fixed portion, so that when the vibration of the aircraft is transmitted to the pan/tilt, the elastic member acts on the rotating member. Applying an elastic force to hinder the rotation of the rotating portion of the rotating member relative to the fixed portion, increasing the stability of the rotating member, thereby increasing the stability of the imaging device fixed on the third rotating member, and ensuring stable shooting of the imaging device; The rotating portion of the rotating member on which the elastic member is not disposed may be connected to the motor and may be rotated by the motor to adjust the posture of the photographing device to ensure that the photographing device can perform photographing in various directions.

Compared with the existing three-axis pan/tilt head, the number of motors of the pan/tilt head of the embodiment is reduced, which results in a reduction in the weight and volume of the pan/tilt head, and is more advantageous for fixing the pan/tilt head to the aircraft for shooting, and The reduction of the number of motors is beneficial to reduce the cost of the pan/tilt. Secondly, by adding elastic elements to increase the stability of the rotating parts not connected to the motor, the overall stability of the pan/tilt is good and can meet the shooting needs.

Alternatively, in a specific example, the rotation axis of the rotating portion 2 of the first rotating member may be used as a partial The axis of rotation, the axis of rotation of the rotating portion of the second rotating member 8 can serve as a rolling axis, and the axis of rotation of the rotating portion of the third rotating member 7 can serve as a pitch axis.

As shown in FIG. 2 to FIG. 4, the fixing portion of the first rotating member is a bracket 1, and the bracket 1 can be used for connecting with an aircraft to mount the pan/tilt on the aircraft; one end of the elastic member is connected with the bracket 1, and the elastic member The other end is connected to the rotating portion 2 of the first rotating member, and the elastic member can block the rotating portion 2 of the first rotating member from rotating relative to the bracket 1, so that the elastic member can hinder the rotation of the first rotating member when the aircraft is flying and vibrating. The portion 2 is rotated by the vibration so that the rotating portion 2 of the first rotating member is kept stable, thereby increasing the stability of the photographing device fixed to the third rotating member 7, which is advantageous for stable shooting of the photographing device.

Further, as shown in FIG. 2, the rotating portion of the second rotating member 8 is coupled to the second motor 91, so that the second motor 91 drives the rotating portion of the second rotating member 8 to rotate relative to the fixed portion thereof so as to be fixed in the third portion. The photographing device on the rotating member 7 is rotatable about the roll axis to adjust the posture of the photographing device; the rotating portion of the third rotating member 7 is connected with the third motor 90, so that the third motor 90 drives the rotation of the third rotating member 7. The portion is rotated relative to the fixed portion thereof so that the photographing device fixed to the third rotating member 7 is rotatable about the pitch axis to adjust the posture of the photographing device.

By the second motor 91 and the third motor 90 respectively driving the second rotating member 8 and the third rotating member 7 to rotate, various postures of the imaging device can be realized, which can basically meet the shooting requirements; and the elastic member is set at the first rotation. On the piece, to achieve the stability of the yaw axis direction, while reducing the overall weight and volume of the gimbal, reducing the cost, is conducive to the wide application of the gimbal.

It should be noted that the rotating portion of the first rotating member is not limited to rotating about the yaw axis, and may also be rotated around the roll axis or rotated around the pitch axis, and likewise the rotating portion of the second rotating member and the third rotating member The rotating portion is not limited to rotating about the roll axis and rotating around the pitch axis, and can also rotate around other axes; the two motors are not limited to the rotation of the rotating portion of the second rotating member and the rotating portion of the third rotating member, which can Any two of the rotating portion of the first rotating member, the rotating portion of the second rotating member, and the rotating portion of the third rotating member are driven.

Optionally, as shown in FIG. 2 to FIG. 4, the bracket 1 is provided with a boss 10, and the elastic component bracket 4 is fixed to the rotating portion 2 of the first rotating member, and one end of the elastic component is connected with the boss 10, and the elastic component is connected. The other end is connected to the elastic member holder 4.

The bracket 1 is provided with a boss 10, and the elastic component bracket is fixed on the rotating portion 2 of the first rotating member 4. The boss 10 and the elastic member bracket 4 are disposed such that the two ends of the elastic member are easily connected to the bracket 1 and the rotating portion 2 of the first rotating member.

Optionally, as shown in FIG. 2 to FIG. 4, the elastic element is a spring, and two are provided, which are respectively springs 3, 3'; the bosses are provided with two, respectively, bosses 10, 10'; elastic elements The bracket 4 is provided with two protrusions, and the two protrusions are respectively provided with grooves 40, 40'; one end of the spring 3 is fixedly connected with the boss 10, and the other end is hung in the groove 40; one end of the spring 3' It is fixed on the boss 10' and the other end is hung in the recess 40'.

The two springs 3, 3' are provided, and the elastic force applied to the rotating portion 2 is increased, which can better hinder the rotation of the rotating portion 2 of the first rotating member, thereby facilitating the stability of the rotating portion 2, thereby facilitating the imaging device. Stable shooting.

Alternatively, as shown in Figures 2 - 4, the two springs 3, 3' are arranged in parallel and apply opposing forces to the two projections.

The two springs 3, 3' are arranged in parallel and apply opposite directions to the two projections, so that the springs 3, 3' can be opposite to the rotating portion 2 regardless of whether the vibration of the aircraft causes the rotating portion 2 to rotate clockwise or counterclockwise. A force that hinders its rotation is applied, the rotation of the rotating portion 2 is weakened, and the rotating portion 2 is finally in a stable state.

It should be noted that the elastic member is not limited to the above-described spring, and may be any one or more of a rubber band and a rubber rope. The spring, the rubber band, and the rubber rope are all elastic, and after the elastic deformation occurs, the rotation of the rotating portion 2 can be hindered to facilitate the rotation of the rotating portion 2. In addition, the spring, rubber band and rubber rope have a simple structure, low cost and convenient installation.

The elastic element can be set not only two but also other numbers, such as one, three or more.

Further, the pan/tilt in this embodiment further includes a first connecting arm and a second connecting arm (not explicitly shown), wherein the fixing portion of the second rotating member 8 passes through the first connecting arm and the first A rotating portion of a rotating member is coupled, and a fixing portion of the third rotating member 7 is coupled to a rotating portion of the second rotating member 8 via the second connecting arm.

Optionally, the first connecting arm and the second connecting arm are L-shaped. It can be understood that the first connecting arm and the second connecting arm can also have other shapes, such as an arc shape, etc., which are not strictly limited herein.

The structure of the first rotating member of the present embodiment will be specifically described below with reference to the accompanying drawings.

As shown in FIG. 5 and FIG. 6, the first rotating member includes a bracket 1 and a rotating portion 2, and the bracket 1 is connected to the aircraft, and the rotating portion 2 and the bracket 1 are connected by two bearings 6, 6' to make the rotating portion 2 is rotatable relative to the bracket 1.

The elastic member holder 4 is fixedly coupled to the rotating portion 2, and the lock nut 5 prevents the rotating portion 2 from being separated from the bracket 1. One end of the two springs 3, 3' is fixed in the recess 40, 40' of the elastic member holder 4, and the other end is connected to the boss 10, 10' on the bracket 1.

Compared with the ordinary three-axis pan/tilt, the pan/tilt head provided in this embodiment cancels the yaw axis motor, so that the weight and size of the gimbal are greatly reduced;

The pan/tilt of this embodiment adds spring damping to the yaw axis direction of the ordinary two-axis pan/tilt, which can significantly offset the vibration of the two-axis pan/tilt in the yaw direction.

Embodiment 2:

The embodiment provides a pan/tilt head (not shown), which differs from the pan/tilt head according to the first embodiment mainly in that the elastic elements are disposed at different positions, specifically on the second rotating member.

In this embodiment, one end of the elastic member is coupled to the fixing portion of the second rotating member, and the other end of the elastic member is coupled to the rotating portion of the second rotating member.

Further, the rotating portion of the first rotating member and the rotating portion of the third rotating member are both connected to the motor shaft of the motor, and the motor can drive the rotating portion of the first rotating member and the rotating portion of the third rotating member to rotate to adjust the shooting. attitude.

In this embodiment, the rotating portion of the second rotating member may be rotated about the yaw axis, or may be rotated about the pitch axis or the roll axis.

Embodiment 3:

The embodiment provides a pan/tilt (not shown), which differs from the pan/tilt head according to the first embodiment mainly in that the elastic elements are disposed at different positions, specifically on the third rotating member.

In this embodiment, one end of the elastic member is coupled to the fixing portion of the third rotating member, and the other end of the elastic member is coupled to the rotating portion of the third rotating member.

Further, the rotating portion of the first rotating member and the rotating portion of the second rotating member are both connected to the motor shaft of the motor, and the motor can drive the rotating portion of the first rotating member and the rotating portion of the second rotating member to rotate to adjust the shooting. attitude.

In this embodiment, the rotating portion of the third rotating member may be rotated about the yaw axis, or may be rotated about the pitch axis or the roll axis.

Further, the aircraft in this embodiment further includes a damper device for connecting between the pan/tilt and the body.

The aircraft provided in this embodiment has all the beneficial effects of the pan/tilt described in any of the above embodiments.

While the embodiments of the present invention have been described above, the described embodiments are merely for the purpose of understanding the invention and are not intended to limit the invention. Any modification and variation in the form and details of the embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention. It is subject to the definition of the appended claims.

Claims

A pan/tilt head for carrying a load, wherein the pan/tilt head comprises:

a first rotating member, a second rotating member and a third rotating member, each of the first rotating member, the second rotating member and the third rotating member including a fixing portion and relative to the fixing portion Rotating rotating portion;

a fixing portion of the second rotating member is coupled to a rotating portion of the first rotating member, a fixing portion of the third rotating member is coupled to a rotating portion of the second rotating member, and a rotation of the third rotating member The portion is for fixed connection with the load;

At least one of the first rotating member, the second rotating member and the third rotating member is provided with an elastic member for blocking rotation of the rotating portion of the rotating member.
The pan/tilt head according to claim 1, wherein the first rotating member is provided with the elastic member;

The fixing portion of the first rotating member is a bracket, one end of the elastic member is connected to the bracket, and the other end of the elastic member is connected to the rotating portion of the first rotating member.
The pan/tilt head according to claim 2, wherein

a bracket is disposed on the bracket, and a rotating component of the first rotating component is fixed with an elastic component bracket, one end of the elastic component is connected to the boss, and the other end of the elastic component and the elastic component Bracket connection.
The pan/tilt head according to claim 1, wherein the second rotating member is provided with the elastic member;

One end of the elastic member is coupled to the fixing portion of the second rotating member, and the other end of the elastic member is coupled to the rotating portion of the second rotating member.
A pan/tilt head according to claim 4, wherein

a fixing portion of the second rotating member is provided with a boss, and a rotating member of the second rotating member is fixed with an elastic member bracket, one end of the elastic member is connected with the boss, and the elastic member is further One end is coupled to the elastic member bracket.
The pan/tilt head according to claim 1, wherein the third rotating member is provided with the elastic member;

One end of the elastic member is coupled to the fixing portion of the third rotating member, and the other end of the elastic member is coupled to the rotating portion of the third rotating member.
The pan/tilt head according to claim 6, wherein

a fixing portion of the third rotating member is provided with a boss, and a rotating member of the third rotating member is fixed with an elastic member bracket, one end of the elastic member is connected with the boss, and the elastic member is further One end is coupled to the elastic member bracket.
A platform according to claim 3, 5 or 7, wherein

The elastic member is provided with two, the boss is provided with two, and the elastic member bracket is provided with two protrusions, and the two protrusions are respectively connected with the other ends of the two elastic members. .
The pan/tilt head according to claim 8, wherein

Two of the elastic elements are arranged in parallel and apply opposing forces to the two of the projections.
The platform according to claim 8, wherein the elastic member comprises any one of a spring, a rubber band, and a rubber cord.
The pan/tilt head according to claim 2, further comprising:

a second motor, the second motor is coupled to the rotating portion of the second rotating member to rotate the rotating portion of the second rotating member relative to the fixed portion of the second rotating member;

The third motor is coupled to the rotating portion of the third rotating member to drive the rotating portion of the third rotating member to rotate relative to the fixed portion of the third rotating member.
The pan/tilt head according to claim 2, further comprising:

a bearing, the bearing is two, for connecting the rotating portion of the first rotating member with the fixing portion, so that the rotating portion of the first rotating member is rotatable relative to the fixing portion of the first rotating member .
The platform according to any one of claims 1 to 12, further comprising a first connecting arm and a second connecting arm;

Wherein the fixing portion of the second rotating member is connected to the rotating portion of the first rotating member by the first connecting arm, and the fixing portion of the third rotating member passes the second connecting arm and the first Two turns The rotating parts of the moving parts are connected.
The platform according to claim 13, wherein said first connecting arm and said second connecting arm are L-shaped.
An aircraft characterized by comprising a fuselage and a pan/tilt head according to any one of claims 1-14, the pan/tilt head being coupled to the fuselage.
The aircraft according to claim 15, further comprising a damper device for connecting between the platform and the body.