WO2019041096A1 - 减震装置及具有该减震装置的云台组件、无人机 - Google Patents

减震装置及具有该减震装置的云台组件、无人机 Download PDF

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Publication number
WO2019041096A1
WO2019041096A1 PCT/CN2017/099320 CN2017099320W WO2019041096A1 WO 2019041096 A1 WO2019041096 A1 WO 2019041096A1 CN 2017099320 W CN2017099320 W CN 2017099320W WO 2019041096 A1 WO2019041096 A1 WO 2019041096A1
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WO
WIPO (PCT)
Prior art keywords
damper
drone
pan
shock absorbing
tilt
Prior art date
Application number
PCT/CN2017/099320
Other languages
English (en)
French (fr)
Inventor
张松
张永生
梁贵彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202110902786.6A priority Critical patent/CN113700793B/zh
Priority to PCT/CN2017/099320 priority patent/WO2019041096A1/zh
Priority to CN201780005519.0A priority patent/CN108521775B/zh
Publication of WO2019041096A1 publication Critical patent/WO2019041096A1/zh
Priority to US16/801,892 priority patent/US20200307826A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • 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
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2224/00—Materials; Material properties
    • F16F2224/02—Materials; Material properties solids
    • F16F2224/0208—Alloys
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/0005—Attachment, e.g. to facilitate mounting onto confer adjustability
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Definitions

  • the invention relates to the field of shock absorbing structures, in particular to a damper device and a pan/tilt assembly and a drone having the damper device.
  • shock absorbing balls are usually used for stable shooting.
  • the shock absorbing ball is generally made of an elastic material, has a poor rigidity, and is greatly affected by the ambient temperature. Therefore, a plurality of shock absorbing balls are required to be combined to satisfy the shock absorbing effect, and the structure is complicated.
  • the invention provides a damping device and a pan/tilt assembly and a drone having the same.
  • a damper device for connecting a gimbal to a drone, the damper device comprising a connecting shaft for piercing a fuselage of the drone, respectively a first shock absorbing structure and a second shock absorbing structure at two ends of the connecting shaft; wherein the first shock absorbing structure is connected to a fuselage or an arm of the drone, and the second shock absorbing structure is connected to the drone a fuselage; one of the first shock absorbing structure and the second shock absorbing structure is coupled to the pan/tilt.
  • a pan/tilt head assembly includes a pan/tilt head and a load mounted on the pan/tilt head, and a damper device for connecting the pan/tilt head to the drone, the damper
  • the device includes a connecting shaft for threading the fuselage of the drone, a first shock absorbing structure and a second shock absorbing structure respectively disposed at two ends of the connecting shaft; wherein the first shock absorbing structure is connected without a fuselage or arm of the human machine, the second shock absorbing structure is connected to the fuselage of the drone; and one of the first shock absorbing structure and the second shock absorbing structure is connected to the pan.
  • a drone including a body, a boom connected to the body, and a pan/tilt assembly, the pan/tilt assembly including a pan/tilt and mounted on the pan/tilt a load and a damper device for connecting the pan/tilt to the drone, the damper device including a connecting shaft for threading the body, a first damper structure respectively disposed at two ends of the connecting shaft, and a second shock absorbing structure; wherein the first shock absorbing structure connects the fuselage or the arm, the second shock absorbing structure connects the body; the first shock absorbing structure and the first One of the two shock absorbing structures connects the pan/tilt.
  • the first shock absorbing structure and the second shock absorbing structure arranged in two layers are disposed, and the pan/tilt is adopted by the first damping structure or the second damping structure.
  • the structure is simple and the shock absorption effect is better. It can meet the hanging or hanging pan/tilt on the drone, and is suitable for the gimbal under the heavy load condition of the drone. Shock absorption.
  • Figure 1 is a perspective view of a damper device in accordance with an embodiment of the present invention.
  • FIG. 2 is a perspective view of a first shock absorbing structure in an embodiment of the present invention
  • Figure 3 is a perspective view showing a partial structure of a damper device in an embodiment of the present invention.
  • FIG. 4 is a schematic exploded view of a first shock absorbing structure in an embodiment of the present invention.
  • Figure 5 is a schematic exploded view showing a part of a structure of a damper device according to an embodiment of the present invention.
  • FIG. 6 is a schematic exploded view of a second shock absorbing structure in accordance with an embodiment of the present invention.
  • Figure 7 is a perspective view of a drone according to an embodiment of the present invention.
  • Figure 8 is a perspective view of a drone in another embodiment of the present invention.
  • Figure 9 is a perspective view of a drone in still another embodiment of the present invention.
  • damping device 10: first shock absorbing structure; 11: first mounting portion; 12: first supporting member; 121: connecting rod; 122: first connecting frame; 13: first shock absorbing member; : wire rope; 132: first damper; 133: first connector; 1331: first fixing portion; 1332: sleeve portion; 134: second connector; 1341: second fixing portion; 1342: quick release member; 135: clamping member; 136: fastener; 14: sleeve; 141: locking portion; 142: operating portion; 20: second shock absorbing structure; 21: second mounting portion; 22: second supporting member ;221: bearing; 222: second connecting frame; 23: second shock absorbing member; 231: second damper; 232: connecting portion; 232a: main body portion; 232b: intervening portion; 30: connecting shaft;
  • the pan/tilt 301 is disposed on a mobile device (for example, a drone), and there may be a load 302 (such as a camera, an image sensor, etc.) mounted on the pan/tilt 301 that cannot be operated normally due to the influence of vibration.
  • the PTZ 301 needs to be designed for shock absorption to meet the stability of the load 302.
  • the cloud 301 is attached to the drone as an example for further explanation.
  • the cloud platform 301 can be disposed above or below the drone.
  • the cloud platform 301 is disposed above the drone, and the cloud platform 301 is placed on the drone 301, and the cloud platform 301 is disposed on the drone.
  • Below it is called the drone 301 under the drone.
  • a damper device 4 is provided in an embodiment of the present invention.
  • the damper device 4 may include a connecting shaft, a first damper structure 10 , and a second damper structure 20 .
  • the connecting shaft 30 is configured to pass through the fuselage 1 of the drone, and the first shock absorbing structure 10 and the second shock absorbing structure 20 are respectively disposed at two ends of the connecting shaft 30, and are connected through
  • the shaft 30 combines the first shock absorbing structure 10 and the second shock absorbing structure 20 to realize the vertical arrangement of the body 1 of the first drape structure 10 and the second shock absorbing structure 20 relative to the drone.
  • the first shock absorbing structure 10 is connected to the fuselage 1 or the arm 2 of the drone
  • the second shock absorbing structure 20 is connected to the fuselage 1 of the drone.
  • One of the shock absorbing structure and the second shock absorbing structure 20 connects the pan/tilt head 301 to connect the pan/tilt head 301 to the drone.
  • the cloud 301 is connected to the drone through the first damper structure 10 or the second damper structure 20 by providing the first damper structure 10 and the second damper structure 20 arranged in the upper and lower layers, and realizes the cloud
  • the shock absorption of the platform 301 is simple, and the shock absorption effect is better. It can meet the hang-up or lower-hanging pan/tilt 301 of the drone, and is suitable for the damping effect of the pan-tilt 301 under the heavy load condition of the drone.
  • first shock absorbing structure 10 is connected to the body 1 or the connecting arm 2 can be set according to the size of the body 1 , for example, when the size of the body 1 is large enough (for example, the body 1) When the length and the width are respectively greater than the preset value, the first shock absorbing structure 10 may be connected to the body 1 or may be connected to the arm 2 . When the size of the body 1 is small, it is necessary to connect the first shock absorbing structure 10 to the arm 2, thereby maintaining the balance of the drone.
  • the body 1 is provided with a through hole (not shown) through which the connecting shaft 30 passes.
  • the diameter of the through hole is larger than the diameter of the connecting shaft 30, so that the connecting shaft 30 is conveniently taken out from the body 1 to facilitate folding of the drone in a non-working state.
  • the first damper structure 10 is at least partially located above the fuselage 1 , and a portion of the first damper structure 10 located above the fuselage 1 is connected to the cloud platform 301 , thereby the pan/tilt 301 .
  • the utility model is connected to the drone and dampens the pan/tilt head 301 disposed above the fuselage 1 through the first shock absorbing structure.
  • the first damper structure 10 is a lower pressure type damper mechanism, that is, the pylon 301 is disposed above the first damper structure 10, thereby applying a pressure to the first damper structure 10.
  • the first damper structure 10 can be used to provide an elastic supporting force to the connecting shaft 30 to counteract the influence of the vibration generated during the flight of the drone on the platform 301 disposed above the fuselage 1.
  • the first shock absorbing structure 10 may include a first mounting portion 11, a first support member 12, and a first shock absorbing member 13.
  • the first mounting portion 11 is located above the fuselage 1 .
  • the first support member 12 and the first shock absorbing member 13 may also be located above the body so that the first shock absorbing structure 10 can be easily connected to the drone.
  • the first mounting portion 11 is configured to connect the pan/tilt head 301 so that the pan/tilt head 301 can be connected to the drone.
  • the platform 301 and the first mounting portion 11 are fixedly connected by a detachable manner.
  • the platform 301 and the first mounting portion 11 are fixedly connected by threads, snaps, or other detachable connections. Thereby, it is convenient to remove the pan/tilt 301 from the drone.
  • first mounting portion 11 is also connected to the connecting shaft 30 to support the first mounting portion 11 via the connecting shaft 30.
  • the connection manner of the first mounting portion 11 and the connecting shaft 30 can be set as needed.
  • the first mounting portion 11 sleeves the connecting shaft 30 and is connected by a thread or the like. It is fixed to the connecting shaft 30 to ensure the stability of the first mounting portion 11 , and the implementation is relatively simple.
  • the first mounting portion 11 can be coupled to the connecting shaft 30 by snapping or otherwise.
  • the first support member 12 is connected to the first mounting portion 11 .
  • the first support member 12 is connected to the circumferential side wall of the first mounting portion 11 so as to pass the first
  • a mounting portion 11 is coupled to the connecting shaft 30.
  • the first damper 13 is disposed at an end of the first support member 12 away from the first mounting portion 11, and the first damper member 13 is used to connect the fuselage 1 or the machine of the drone.
  • the arm 2, the first damper member 13 can transmit an elastic supporting force to the connecting shaft 30 through the first supporting member 12, thereby canceling the vibration of the platform 301.
  • the first damper member 13 is a plurality of arms for correspondingly connecting the plurality of arms 2 of the drone to support the connecting shaft 30 at different positions to maintain the stability of the connecting shaft. sexuality, and then the shock absorber of the hanging pan/tilt 301.
  • the first support member 12 is also plural, and correspondingly cooperates with the plurality of the first shock absorbing members 13 . A plurality of the first support members 12 are distributed around the first mounting portion 11 , and each of the first support members 12 is connected to the arm 2 via the first damper member 13 .
  • the component forces generated by the plurality of first damper members 13 combine to form an elastic force and are applied to the connecting shaft 30, thereby preventing connection to the first mounting portion.
  • the pan/tilt 301 on the 11 is shaken to achieve damping of the pan/tilt 301.
  • the distribution manner of the plurality of the first supporting members 12 can be set according to actual conditions, so that the damping effect of the first shock absorbing structure 10 is optimized.
  • the first support member 12 may be evenly distributed around the first mounting portion 11 such that the elastic force synthesized by the component forces generated by the plurality of first damper members 13 is located at the connecting shaft 30. On the central axis, the vibration of the pan/tilt 301 is better offset.
  • the number of the first damper members 13 is equal to the number of the first support members 12, and the first damper member 13 and the first support member 12 are correspondingly matched.
  • the number of the first damper member 13 and the first support member 12 may be based on the weight of the platform 301, the weight of the load 302 mounted on the platform 301, the size of the body 1, the number of the arms 2, and the like.
  • the setting is to offset the vibration of the pan/tilt 301 to the greatest extent, and the stabilization of the gimbal 301 is achieved.
  • the first damper member 13 and the first support member 12 are each of four, four first supports.
  • the member 12 is evenly distributed around the first mounting portion 11 to better cancel the vibration of the platform 301 and maintain the stability of the platform 301.
  • the first support member 12 includes a plurality of connecting rods 121 and a first connecting bracket 122 spaced apart from one side of the plurality of connecting rods 121 .
  • a plurality of the connecting rods 121 are connected to the first mounting portion 11 , and each connecting rod 121 is connected to the first connecting frame 122 through a corresponding first damping member 13 , thereby connecting through multiple connections.
  • the rod 121 and the first connecting bracket 122 combine the plurality of first shock absorbing members 13.
  • connection between the connecting rod 121 and the first mounting portion 11 can be set as needed to meet different needs.
  • the connecting rod 121 and the first The mounting portion 11 is movably connected to facilitate the user to adjust the position of the connecting rod 121.
  • the active connection can be selected as a hinge, a sleeve or other active connection.
  • the connecting rod 121 is fixedly connected to the first mounting portion 11 to prevent the connecting rod 121 from shaking.
  • the connecting rod 121 is fixedly connected to the first mounting portion 11 in a detachable manner.
  • the connecting rod 121 can be fixedly connected to the first mounting portion 11 to prevent the connecting rod 121 from shaking.
  • the connecting rod 121 can be fixed to the first mounting portion 11 by a detachable connection such as a screw or a pin.
  • a plurality of the connecting rods 121 may be integrally formed or may be separately provided. Wherein, the integrally formed connecting rod 121 has greater strength, the connecting rod 121 disposed separately is more flexible, and is convenient to be accommodated, and the integrally formed connecting rod 121 or the connecting rod 121 disposed separately can be selected according to requirements, and the present invention This is not limited.
  • each connecting rod 121 can be perpendicular to the connecting shaft 30, and the plurality of connecting rods 121 are disposed at the same horizontal plane, so that the first shock absorbing structure 10 is as symmetrical as possible to better cancel the vibration of the platform 301.
  • each connecting rod 121 can also be inclined at an oblique angle to the connecting shaft 30 (ie, the connecting rod 121 is not perpendicular to the connecting shaft 30), so that the plurality of connecting rods 121 are distributed on different faces.
  • the first connecting bracket 122 of the embodiment is integrally provided.
  • the first connecting frame 122 is provided with a through hole, and the connecting shaft 30 passes through the through hole, that is, the first connecting frame 122 is distributed along the circumferential direction of the connecting shaft 30, thereby facilitating the connecting rod. 121, the cooperation between the first shock absorbing member 13 and the first connecting frame 122.
  • the type of the first shock absorbing member 13 can be selected according to the direction of the source.
  • the first shock absorbing member 13 includes at least one type of shock absorber: a one-dimensional shock absorber, a two-dimensional shock absorber, and a three-dimensional shock absorber.
  • the one-dimensional damper can provide rigidity and damping along a straight line direction
  • the two-dimensional damper can provide rigidity and damping of a plane (two dimensions)
  • the three-dimensional damper can provide Stiffness and damping of the three-dimensional space (three dimensions).
  • the first damper 13 is a composite damper, and may include at least two types. Different types of shock absorbers. In the aerial photography of drones, the source originates from all directions of space, and the composite shock absorber can provide full-degree-of-freedom damping to better offset the vibration of the pan-tilt 301.
  • the first shock absorbing member 13 may include a one-dimensional shock absorber and a three-dimensional shock absorber. Of course, the first shock absorbing member 13 can also be a composite shock absorber of other combinations.
  • the first shock absorbing member 13 includes a wire rope 131 and a first damper 132.
  • the wire rope 131 is a three-dimensional damper
  • the first damper 132 is a one-dimensional damper
  • the composite damper is selected to offset the vibration in different directions.
  • the wire rope 131 and the first damper 132 are connected between the connecting rod 121 and the first connecting frame 122, and the wire rope 131 can provide rigidity to the deformation direction of the wire rope 131, and the first damper 132 can provide along the line
  • the damping of the axial expansion and contraction direction combines the wire rope 131 and the first damper 132 by the connecting rod 121 and the first connecting frame 122 to form a whole body, and provides an elastic supporting force to the connecting shaft 30 to realize the shock absorbing function.
  • the wire rope 131 and the first damper 132 are both obliquely connected between the connecting rod 121 and the first connecting frame 122.
  • a plurality of the wire ropes 131 of the first damper member 13 and a plurality of the first dampers 132 are all contracted toward the body 1 of the drone, and a combination of the plurality of first dampers 13 can provide a vertical The stiffness and damping in the straight downward direction and the horizontal translation direction, and because the wire rope 131 has rigidity in the radial direction, the combination of the plurality of first shock absorbing members 13 can also provide rigidity and damping in the horizontal rotation direction, thereby realizing the gimbal 301 shock absorption.
  • the number and arrangement of the wire ropes 131 can be selected as needed so that the first damper member 13 can provide an elastic supporting force in a predetermined direction.
  • a plurality of steel cords 131 may be selected to ensure the strength of the first shock absorbing member 13, and to ensure the shockproof effect of the first shock absorbing member 13.
  • the plurality of wire ropes 131 can be arranged in one or more rows to meet actual needs.
  • the wire ropes 131 can be two rows, and the two rows of the wire ropes 131 are oppositely disposed, and the two rows are oppositely disposed.
  • the wire rope 131 can increase the strength of the first shock absorbing member 13.
  • Each row of wire ropes 131 includes a plurality of wire ropes 131 bent in a direction away from the other row of wire ropes 131.
  • the wire ropes 131 are provided by bending, so that the radial rigidity of the wire ropes 131 meets the demand, thereby better performing the gimbal 301. damping.
  • the first damper 132 can be selected as a hydraulic viscous damper or other type of damper, and the type of the first damper 132 can be selected in terms of product reliability, cost, and the like.
  • the stiffness value of the wire rope 131 and the damping value of the first damper 132 can be adjusted, which has good versatility.
  • the first damper 13 may further include a first connector 133 and a second connector 134.
  • the wire rope 131 and the first damper 132 are respectively connected to the connecting rod 121 through the first connecting head 133, and are respectively connected to the first connecting frame 122 through the second connecting head 134 Thereby, the wire rope 131 and the first damper 132 are fixed to the connecting rod 121 and the first connecting frame 122.
  • the first damper 132 is rotatably connected to the first connecting head 133 at one end, and the other end is turned.
  • the second connector 134 is movably coupled to provide damping in the axial direction (the axial direction of the first damper 132) in the direction of expansion and contraction.
  • the first connector 133 and the second connector 134 may each include a pin (not shown), and both ends of the first damper 132 respectively pass through the first connector 133 and the first connector
  • the pin of the connecting head 134 is connected to the first connecting head 133 and the second connecting head 134.
  • the first connector 133 may include a first fixing portion 1331 and a sleeve portion 1332 .
  • the first fixing portion 1331 can be used to fix the wire rope 131 and the first damper 132
  • the sleeve portion 1332 can be used to sleeve the connecting rod 121 so as to pass through the first fixing portion 1331 and the sleeve portion.
  • 1332 connects the wire rope 131 and the first damper 132 to the connecting rod 121.
  • the provision of the sleeve portion 1332 facilitates the detachment of the first connector 133 from the connecting rod 121.
  • the second connector 134 can include a second fixing portion 1341 and a quick release member 1342 connected to the second fixing portion 1341.
  • the second fixing portion 1341 can be used to fix the wire rope 131 and the first damper 132, and the second fixing portion 1341 is also connected to the first connecting frame 122 so as to pass through the second fixing portion. 1341 connects the wire rope 131 and the first damper 132 to the first connecting frame 122.
  • the quick release member 1342 is coupled to the arm 2 to connect the first shock absorbing member 13 to the drone.
  • the first damper member 13 is fixedly connected to the first fixing portion 1331 and the second fixing portion 1341 in a detachable manner.
  • the first damper 13 may further include a plurality of clamping members 135 respectively engaged with the first fixing portion 1331 and the second fixing portion 1341 to fix the wire rope 131 to the first fixing.
  • the portion 1331 and the second fixing portion 1341 wherein, one end of the wire rope 131 is interposed between the first fixing portion 1331 and the corresponding clamping member 135, and the other end is interposed between the second fixing portion 1341 and the corresponding clamping member 135, and passes through
  • the clamping member 135 is engaged with the first fixing portion 1331 and the second fixing portion 1341 to fix the wire rope 131. Referring also to FIG.
  • the wire ropes 131 are in two rows, and each of the first shock absorbing members 13 includes four clamping members 135 through which two clamping members 135 connect the two rows of wire ropes 131.
  • One end is respectively disposed on both sides of the first fixing portion 1331, and the other ends of the two rows of wire ropes 131 are respectively sandwiched on both sides of the second fixing portion 1341 by two other clamping members 135.
  • a wire rope is formed between the first fixing portion 1331 and the corresponding clamping member 135, the second fixing portion 1341 and the corresponding clamping member 135, respectively.
  • the hole of the 131 is bored to accommodate the wire rope 131 so that the wire rope 131 can be more firmly interposed between the first fixing portion 1331 and the corresponding clamping member 135, the second fixing portion 1341 and the corresponding clamping member 135.
  • first damper member 13 may further include a fastener 136 that fixes the corresponding clamping member 135 to the first fixing portion 1331 and the second fixing portion 1341. Further, the wire rope 131 is further fixed between the first fixing portion 1331 and the corresponding clamping member 135, the second fixing portion 1341 and the corresponding clamping member 135.
  • the sleeve portion 1332 can be fixedly connected to the connecting rod 121 by screws or the like to lock the sleeve portion 1332 and the connecting rod 121.
  • the second solid The fixed portion 1341 and the first connecting frame 122 can be fixedly connected by screws or the like, and can be directly fixed together by means of snapping or the like, which is not limited by the present invention.
  • the quick release member 1342 is detachably coupled to the arm 2 to facilitate removal of the quick release member 1342 from the arm.
  • the damper device 4 may further include a sleeve member 14.
  • the sleeve member 14 is configured to sleeve the arm 2 of the drone and is movably connected to the quick release member 1342 to detachably connect the first shock absorbing member 13 to the arm 2 .
  • the sleeve 14 and the quick release member 1342 can be quickly separated, so that the first shock absorbing member 13 is detached from the arm 2 to facilitate the folding and storage of the drone.
  • the sleeve 14 can be provided with a locking portion 141 , and the quick release member 1342 is inserted into the locking portion 141 .
  • the locking portion 141 includes a plug hole (not shown), and the quick release member 1342 is inserted into the insertion hole.
  • the quick release member 1342 is locked to the locking portion 141, and the quick release member 1342 is fixedly coupled to the locking portion 141.
  • the quick release member 1342 is loosened from the locking portion 141, so that the quick release member 1342 is movably connected with the locking portion 141 to facilitate separation of the quick release member 1342 from the locking portion 141.
  • the sleeve 14 may further include an operation portion 142 that controls the locking portion 141 to switch between the locked state and the unlocked state by the operation portion 142.
  • the operation portion 142 is rotatably connected to the lock portion 141, and the lock portion 141 is controlled to switch between the locked state and the unlocked state by rotating the operation portion 142.
  • the locking portion 141 is in a locked state, thereby locking the quick release member 1342 in the locking portion 141, so that the first shock absorbing member 13 and the machine are realized.
  • the locking portion 141 When the operating portion 142 is rotated to the unlocking position, the locking portion 141 is in an unlocked state, and the quick release member 1342 and the locking portion 141 are restored to the active connection state, so that the first shock absorbing member 13 can be driven. Remove the arm 2 from it. Specifically, during the rotation of the operating portion 142 from the unlocked position to the locked position, the insertion hole is gradually reduced, thereby locking the quick release member 1342. During the rotation of the operating portion 142 from the locked position to the unlocked position, the insertion hole is gradually increased, and finally the quick release member 1342 is loosened from the insertion hole to achieve unlocking.
  • the operating portion 142 can be selected as a wrench, and the wrench can be eccentrically connected to the outer side wall of the locking portion 141, and the wrench can be rotated to the locking position or the unlocking position by controlling the rotation of the wrench, so that the locking portion 141 is locked. And the unlocked state, the fixing or separating of the quick release member 1342 and the locking portion 141 is realized.
  • the locked position and the unlocked position are two opposite positions, but are not limited to a certain point position.
  • the locking position may also be one of the positional positions in which the quick release member 1342 can be locked in the insertion hole.
  • the unlocked position may also be another area position that can pull the quick release member 1342 out of the insertion hole.
  • the second damper structure 20 is at least partially located below the fuselage 1 , and the portion of the second damper structure 20 located below the fuselage 1 is connected to the pan 301 , thereby hanging the pan 301 . It is disposed on the drone and dampens the pan/tilt 301 disposed under the fuselage 1 through the second shock absorbing structure.
  • the second damper structure 20 can be a limit damper mechanism, and the pan 301 is hung on the second damper structure 20 for the second damper Structure 20 has a pulling force.
  • the second damper structure 20 can be used to limit the connecting shaft 30 to prevent the sway of the connecting shaft 30, thereby preventing the platform 301 hanging on the second damper structure 20 from shaking.
  • the second damper structure 20 may include a second mounting portion 21 , a second supporting member 22 , and a second damper member 23 .
  • the second mounting portion 21 is located below the fuselage 1 .
  • the second support member 22 and the second shock absorbing member 23 can also be located below the body 1, so that the second shock absorbing structure 20 can be more conveniently connected to the drone.
  • the second mounting portion 21 can be used to connect the cloud platform 301 to mount the cloud platform 301 to the drone.
  • the pan/tilt 301 and the second mounting portion 21 of the embodiment can be fixedly connected in a detachable manner.
  • the pan/tilt 301 and the second mounting portion 21 can be fixedly connected by threading, snapping or other detachable connection. Thereby, the disassembly of the gimbal 301 is facilitated.
  • the second mounting portion 21 is also connected to the connecting shaft 30 to support the second mounting portion 21 via the connecting shaft 30.
  • the connection manner of the second mounting portion 21 and the connecting shaft 30 can be set as needed.
  • the second mounting portion 21 is sleeved with the connecting shaft 30 and connected by threads or the like.
  • the member is fixed to the connecting shaft 30, thereby ensuring the stability of the second mounting portion 21, and the connection method is simple and easy.
  • the second mounting portion 21 can also be connected to the connecting shaft 30 by snapping or other means.
  • the second supporting member 22 is configured to receive the second mounting portion 21, and the second damper member 23 is disposed at an end of the second supporting member 22 away from the second mounting portion 21, and the The second damper member 23 is used to connect the body 1 of the drone so that the platform 301 can be mounted to the drone through the second damper structure 20.
  • the suspended pan/tilt 301 swings (swings along the circumferential sides of the connecting shaft 30) to drive the second mounting portion 21 to swing, and the second mounting portion 21 may be in the process of swinging.
  • Abutting the second support member 22 causes the second support member 22 to swing and interact with the second damper member 23 to dampen the suspended pan/tilt head 301.
  • the second damper member 23 is plural and distributed around the second mounting portion 21, thereby limiting the connecting shaft 30 to prevent the hanging platform. 301 shaking.
  • the second damper members 23 are two, symmetrically disposed on two sides of the connecting shaft 30, thereby fixing the connecting shaft 30 between the two second dampers 23 position.
  • the second support 22 may include a bearing 221 and a second connecting bracket 222.
  • the bearing 221 is for receiving the second mounting portion 21, the second connecting bracket 222 is connected to the bearing 221, and the plurality of the second damping members 23 are connected to the second connecting portion.
  • the second connecting bracket 222 is for supporting the connecting shaft 30 221 and the second damper 23, and can transmit the force of the bearing 221 to the second damper 23.
  • the second mounting portion 21 swings under the driving of the pan/tilt head 301 to abut the bearing 221, and the bearing 221 is coupled to the second damper member 23, thereby realizing the damper function of the pan/tilt head 301.
  • the bearing 221 can be selected as a plain bearing or other type of bearing.
  • the type of the second damper member 23 can also be selected according to the direction of the source.
  • the second damper 23 may include at least one damper as follows: a one-dimensional damper, a two-dimensional damper, and a three-dimensional damper.
  • the second damper member 23 includes a compression damper or a tensile damper for providing a force perpendicular to the axial direction of the connecting shaft 30 to the connecting shaft 30, through compression The force or the tensile force limits the connecting shaft 30 on a horizontal surface, so that the position of the connecting shaft 30 is always fixed, thereby preventing the connecting shaft 30 from shaking and realizing the shockproof function of the platform 301 attached to the drone.
  • each of the second damper members 23 may include a second damper 231 disposed in pairs and a connecting portion 232 for connecting the body 1 of the drone.
  • the second dampers 231 disposed in pairs are rotatably coupled to different positions of the second connecting frame 222 and rotatably connected to the connecting portions 232.
  • the second dampers 231 disposed in pairs may form a two-dimensional damper to cancel the sway of the connecting shaft 30.
  • the central axes of the two second dampers 231 in the pair of second dampers 231 are perpendicular to each other, and the central axis of each of the second dampers 231 is perpendicular to the connecting shaft 30 so as to be horizontal
  • the translational stiffness and damping are provided in the direction, which can improve the stability of the second shock absorbing member 23.
  • the arrangement of the second dampers 231 disposed in pairs is not limited thereto, and the second dampers 231 disposed in pairs may be arranged in other manners to form a two-dimensional damper, specifically The arrangement of the second dampers 231 disposed in pairs is selected in accordance with the stability requirements of the second damper member 23.
  • the number of the second dampers 231 of each of the second damper members 23 is not limited to two, and may be two or more, and only the second damper members 23 are required to provide an axis perpendicular to the connecting shaft 30. The force of the force is given to the connecting shaft 30.
  • the plane formed by the central axes of the two second dampers 231 of each of the second dampers 23 is parallel to the central axes of the two second dampers 231 of the other second damper 23.
  • the plane is formed such that the connecting shaft 30 is restrained at a position in a region surrounded by the plurality of dampers to prevent the connecting shaft 30 from rattling.
  • the connecting portion 232 may include a main body portion 232a and an interposing portion 232b connected to the body 1.
  • the second damper 231 is rotatably disposed between the main body portion 232a and the interposition portion 232b to fix the second damper member 23 and the body 1.
  • the main body portion 232a can be fixed to the body 1 by a fixing member such as a screw.
  • at least three non-collinear positions of the main body portion 232a are fixed to the body 1, so that the second damper member 23 can be stably connected to the body 1.
  • the connection position and connection manner of the main body portion 232a and the body 1 are not limited thereto, and may be specifically set according to actual conditions.
  • the second connecting frame 222 is two, and the two second connecting frames 222 are spaced apart.
  • One end of the bearing 221 and the second damper 231 are interposed between the two second connecting brackets 222, and the two dampers 222 and the second damper are disposed through two spaced apart second connecting brackets 222. 231 for support.
  • the type of the second damper 231 can also be selected as needed.
  • the second damper 231 can be selected as a hydraulic viscous damper.
  • an embodiment of the present invention further provides a pan/tilt assembly, which may include a photographing device 3 and the above-mentioned damping device 4.
  • the damper device 4 can set the photographing device through the first damper structure 10
  • the device is connected to the drone by means of a hanging device or the like.
  • the camera device 3 is connected to the drone through the second damper structure 20, and the damper function of the pan/tilt 301 is realized.
  • the photographing device 3 may include a cloud platform 301 and a load 302 mounted on the cloud platform 301.
  • the cloud platform 301 is connected to the first shock absorption structure 10 or the second shock absorption structure 20 to implement the cloud platform 301. Shock absorption.
  • the load 302 can be selected as a photographing device such as a camera or an image sensor.
  • an embodiment of the present invention further provides a drone, which may include a fuselage 1, an arm 2 connected to the body 1, and the pan/tilt assembly.
  • the arm 2 may include a folding arm 201 connected to the body 1 and a straight arm 202 connected to the folding arm 201.
  • the straight arms 202 are two and are disposed in parallel on both sides of the body 1 .
  • At least two folding arms 201 are connected between each of the straight arms 202 and the body 1.
  • the folding arm 201 is connected to the body 1 at one end and to the straight arm 202 at the other end.
  • the folding arm 201 is connected to the airframe 1 and the straight arm 202 in a movable connection manner, thereby facilitating the storage of the drone.
  • the damper device 4 can be connected to the folding machine arm 201 through the first damper structure 10 thereon, and the support of the first damper structure 10 is realized by the folding machine arm 201, thereby connecting the platform 301 to the unmanned person. Above the machine.
  • the end of the straight arm 202 away from the folding arm 201 is coupled to the propeller assembly 5 to provide flight power to the drone.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Vibration Dampers (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种减震装置及具有该减震装置的云台组件、无人机，其中，所述减震装置包括用于穿设无人机的机身（1）的连接轴（30）、分别设于所述连接轴（30）两端的第一减震结构（10）和第二减震结构（20）；所述第一减震结构（10）连接无人机的机身（1）或机臂（2），所述第二减震结构（20）连接无人机的机身（1）；所述第一减震结构和所述第二减震结构中的一个连接所述云台（201）。通过设置上下两层排布的第一减震结构和第二减震结构，并通过第一减震结构或第二减震结构将云台连接至无人机，从而实现对云台的减震，结构简单，能够满足无人机上挂或下挂云台。

Description

减震装置及具有该减震装置的云台组件、无人机 技术领域
本发明涉及减震结构领域，尤其涉及一种减震装置及具有该减震装置的云台组件、无人机。
背景技术
在目前的云台设计中，通常采用减震球减震，以稳定拍摄。减震球一般由弹性材料制成，刚度较差，受环境温度影响也较大，因而需要多个减震球结合使用才能满足减震的效果，结构较为复杂。
发明内容
本发明提供一种减震装置及具有该减震装置的云台组件、无人机。
根据本发明的第一方面，提供一种减震装置，用于将云台连接至无人机，所述减震装置包括用于穿设所述无人机的机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；其中，所述第一减震结构连接无人机的机身或机臂，所述第二减震结构连接无人机的机身；所述第一减震结构和所述第二减震结构中的一个连接所述云台。
根据本发明的第二方面，提供一种云台组件，包括云台及搭载在所述云台上的负载，还包括用于将云台连接至无人机的减震装置，所述减震装置包括用于穿设所述无人机的机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；其中，所述第一减震结构连接无人机的机身或机臂，所述第二减震结构连接无人机的机身；所述第一减震结构和所述第二减震结构中的一个连接所述云台。
根据本发明的第三方面，提供一种无人机，包括机身、与所述机身相连的机臂以及云台组件，所述云台组件包括云台、搭载在所述云台上的负载以及用于将云台连接至无人机的减震装置，所述减震装置包括用于穿设所述机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；其中，所述第一减震结构连接所述机身或所述机臂，所述第二减震结构连接所述机身；所述第一减震结构和所述第二减震结构中的一个连接所述云台。
由以上本发明实施例提供的技术方案可见，本发明通过设置上下两层排布的第一减震结构与第二减震结构，并通过第一减震结构或第二减震结构将云台连接至无人机，从而实现对云台的减震，结构简单，减震效果较佳，能够满足无人机上挂或者下挂云台，适用于无人机大负载工况下的云台的减震作用。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中的减震装置的立体图；
图2是本发明一实施例中的第一减震结构的立体图；
图3是本发明一实施例中的减震装置部分结构的立体图；
图4是本发明一实施例中的第一减震结构的拆分示意图；
图5是本发明一实施例中的减震装置部分结构的拆分示意图；
图6是本发明一实施例中的第二减震结构的拆分示意图；
图7是本发明一实施例中的无人机的立体图；
图8是本发明另一实施例中的无人机的立体图；
图9是本发明又一实施例中的无人机的立体图。
附图标记：
1：机身；
2：机臂；201：折叠机臂；202：直机臂；
3：拍摄设备；301：云台；302：负载；
4：减震装置；10：第一减震结构；11：第一挂载部；12：第一支撑件；121：连接杆；122：第一连接架；13：第一减震件；131：钢丝绳；132：第一阻尼器；133：第一连接头；1331：第一固定部；1332：套设部；134：第二连接头；1341：第二固定部；1342：快拆件；135：夹持件；136：紧固件；14：套设件；141：锁定部；142：操作部；20：第二减震结构；21：第二挂载部；22：第二支撑件；221：轴承；222：第二连接架；23：第二减震件；231：第二阻尼器；232：连接部；232a：主体部；232b：夹设部；30：连接轴；
5：螺旋桨组件。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的减震装置4及具有该减震装置4的云台组件、无人机进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
目前，云台301设置在可移动设备(例如无人机)上，可能存在由于震动的影响而导致挂载在该云台301上的负载302(例如相机、图像传感器等)无法正常工作，因而需要对云台301作减震设计，以满足对负载302的增稳。
以云台301挂设在无人机为例进一步说明。其中，所述云台301可设于无人机的上方或者下方，本文将云台301设于无人机的上方称作无人机上挂云台301，并将云台301设于无人机的下方称作无人机下挂云台301。
参见图1，本发明实施例提供的一种减震装置4，所述减震装置4可包括连接轴、第一减震结构10和第二减震结构20。其中，所述连接轴30用于穿设无人机的机身1，所述第一减震结构10和所述第二减震结构20分别设于所述连接轴30的两端，通过连接轴30将第一减震结构10和第二减震结构20组合在一起，实现第一减震结构10和第二减震结构20的相对无人机的机身1上下排布。
其中，所述第一减震结构10连接无人机的机身1或机臂2，所述第二减震结构20连接无人机的机身1。所述减震结构和所述第二减震结构20中的一个连接所述云台301，从而将云台301连接至无人机。通过设置上下两层排布的第一减震结构10与第二减震结构20，并通过第一减震结构10或第二减震结构20将云台301连接至无人机，实现对云台301的减震，结构简单，减震效果较佳，能够满足无人机上挂或者下挂云台301，适用于无人机大负载工况下的云台301的减震作用。
需要说明的是，第一减震结构10是连接机身1还是连接机臂2，可根据机身1的尺寸来设定的，例如，当机身1的尺寸够大(例如机身1的长、宽分别大于预设值)时，第一减震结构10可与机身1相连接，也可与机臂2相连接。当机身1的尺寸较小时，需要将第一减震结构10连接在机臂2上，从而维持无人机的平衡。
参见图7，机身1上设有通孔(未标出)，所述连接轴30穿设所述通孔。所述通孔直径大于所述连接轴30的直径，从而方便将连接轴30从机身1中抽出，以方便无人机在非作业状态下的折叠。
又参见图7，所述第一减震结构10至少部分位于所述机身1的上方，通过第一减震结构10位于所述机身1上方的部分连接云台301，从而将云台301连接至无人机，并通过第一减震结构对设于机身1上方的云台301进行减震。本实施例中，所述第一减震结构10为下压式减震机构，即云台301是设于第一减震结构10的上方的，从而施加给第一减震结构10一压力。所述第一减震结构10能够用于提供一弹性支撑力给所述连接轴30，以抵消无人机飞行过程中产生的震动对设于机身1上方的云台301的影响。
结合图1和图2，所述第一减震结构10可包括第一挂载部11、第一支撑件12以及第一减震件13。可选地，所述第一挂载部11位于所述机身1的上方。当然，第一支撑件12和第一减震件13也可位于所述机身的上方，使得第一减震结构10能够方便连接至无人机。
其中，所述第一挂载部11用于连接所述云台301，从而可将云台301连接至无人机上。可选地，云台301与第一挂载部11是通过可拆卸的方式固定连接的，例如，云台301和第一挂载部11通过螺纹、卡接或者其他可拆卸连接方式固定连接，从而方便将云台301从无人机上拆下。
另外，所述第一挂载部11还与所述连接轴30相连接，以通过连接轴30对所述第一挂载部11进行支撑。第一挂载部11与连接轴30的连接方式可根据需要设定，例如，在其中一实施例中，所述第一挂载部11套设所述连接轴30，并通过螺纹等连接件固定至所述连接轴30，从而保证第一挂载部11的稳定性，实现方式较为简单。在另一实施例中，第一挂载部11可通过卡接或者其他方式连接至连接轴30上。
所述第一支撑件12与所述第一挂载部11相连接，具体而言，所述第一支撑件12连接在所述第一挂载部11的周向侧壁，从而可通过第一挂载部11与所述连接轴30相连接。而所述第一减震件13设于所述第一支撑件12远离所述第一挂载部11一端，且所述第一减震件13用于连接无人机的机身1或机臂2，第一减震件13可通过第一支撑件12传递给所述连接轴30一弹性的支撑力，从而抵消云台301的震动。
可选地，所述第一减震件13为多个，用于对应连接无人机的多个机臂2，从而在不同位置对所述连接轴30进行支撑，维持所述连接轴的稳定性，进而对上挂的云台301进行减震。相应地，所述第一支撑件12也为多个，与多根所述第一减震件13对应配合。多个所述第一支撑件12分布在所述第一挂载部11的四周，每个所述第一支撑件12通过所述第一减震件13与所述机臂2连接。云台301安装在第一挂载部11后，多个第一减震件13产生的分力合成一弹性力并施加在所述连接轴30上，从而防止连接在所述第一挂载部11上的云台301晃动，实现对云台301的减震。
多个所述第一支撑件12的分布方式可根据实际情况设定，以使得第一减震结构10的减震效果达到最佳。例如，所述第一支撑件12可均匀分布在所述第一挂载部11的四周，以使得多个第一减震件13产生的分力所合成的弹性力位于所述连接轴30的中心轴上，从而更好地抵消云台301的震动。
本实施例中，第一减震件13的数量和第一支撑件12的数量相等，且第一减震件13和第一支撑件12是对应配合的。而第一减震件13、第一支撑件12的数量可根据云台301的重量、搭载在云台301上的负载302的重量、机身1的尺寸、机臂2的数量等等因素来设定，以最大程度抵消云台301的震动，实现云台301的增稳。在一具体实现方式中，所述第一减震件13和所述第一支撑件12均为四个，四个第一支撑 件12均匀分布在所述第一挂载部11的四周，从而更好地抵消云台301的震动，保持云台301的稳定性。
参见图1，所述第一支撑件12包括多个连接杆121以及间隔设于所述多个连接杆121一侧的第一连接架122。其中，多个所述连接杆121与所述第一挂载部11相连接，每个连接杆121通过对应的第一减震件13与所述第一连接架122相连，从而通过多个连接杆121和第一连接架122将多个第一减震件13组合在一起。
所述连接杆121与所述第一挂载部11之间的连接方式可根据需要设定，以满足不同的需求，例如，在其中一实施例中，所述连接杆121与所述第一挂载部11活动连接，从而方便用户调节连接杆121的位置。其中，活动连接可选择为铰接、套设或者其他活动连接方式来实现。
在另一实施例中，所述连接杆121与所述第一挂载部11固定连接，防止连接杆121晃动。可选地，所述连接杆121与所述第一挂载部11通过可拆卸的方式固定连接，一方面能够实现连接杆121与第一挂载部11的固定连接，防止连接杆121晃动，另一方面方便将连接杆121从第一挂载部11上拆卸下来，从而方便收纳。例如，可通过螺纹、销轴等可拆卸连接方式将连接杆121固定至第一挂载部11上。
多个所述连接杆121可一体成型，也可分体设置。其中，一体成型的连接杆121强度更大，分体设置的连接杆121灵活性更强，且方便收纳，可根据需要选择一体成型的连接杆121或者分体设置的连接杆121，而本发明对此不作限定。
又参见图1，多个所述连接杆121呈辐射状分布，从而在第一挂载部11的四周均提供弹性支撑力给连接轴30，实现对连接在第一挂载部11上的云台301的减震。每个连接杆121可与连接轴30相互垂直，且多个连接杆121设于同一水平面，使得第一减震结构10尽量对称，以更好的抵消云台301的震动。当然，每个连接杆121也可与连接轴30成一倾斜角(即连接杆121与连接轴30不垂直)，从而使得多个连接杆121分布于不同的面。
另外，本实施例的第一连接架122是一体设置的。参见图1，第一连接架122上设有通孔，所述连接轴30穿设所述通孔，即第一连接架122是沿着连接轴30的周向分布的结构，从而方便连接杆121、第一减震件13和第一连接架122三者之间的配合。
所述第一减震件13的类型可根据震源的方向选择。本实施例中，所述第一减震件13包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。需要说明的是，本发明实施例中，一维减震器可沿一直线方向提供刚度与阻尼，二维减震器可提供平面(两个维度)的刚度与阻尼，三维减震器可提供立体空间(三个维度)的刚度和阻尼。
在一具体实现方式中，所述第一减震件13为复合式减震器，可包括至少两种 不同类型的减震器。在无人机航拍中，震源来源于空间的各个方向，选择复合式减震器能够提供全自由度的减震，从而更好地抵消云台301的震动。例如，第一减震件13可包括一维减震器和三维减震器。当然，第一减震件13也可为其他组合形式的复合式减震器。
又结合图1和图2，本实施例中，所述第一减震件13包括钢丝绳131和第一阻尼器132。其中，钢丝绳131为三维减震器，第一阻尼器132为一维减震器，通过选择复合式减震器来抵消不同方向上的震动。
所述钢丝绳131和所述第一阻尼器132连接在所述连接杆121和所述第一连接架122之间，钢丝绳131能够提供与钢丝绳131形变方向的刚度，第一阻尼器132能够提供沿轴向伸缩方向的阻尼，通过连接杆121和第一连接架122将钢丝绳131和第一阻尼器132组合形成一个整体，对连接轴30提供一弹性支撑力，实现减震功能。在一具体实现方式中，参见图3，所述钢丝绳131和所述第一阻尼器132均倾斜连接在所述连接杆121和所述第一连接架122之间。
多个所述第一减震件13的钢丝绳131和多个所述第一阻尼器132均朝向所述无人机的机身1收缩，通过多个第一减震件13的组合能够提供竖直向下方向和水平平动方向的刚度与阻尼，同时由于钢丝绳131在径向上存在刚度，故多个第一减震件13的组合也能够提供水平转动方向的刚度与阻尼，从而实现云台301的减震作用。
钢丝绳131的数量和排布方式均可根据需要选择，以使得第一减震件13能够提供预设方向的弹性支撑力。例如，钢丝绳131可选择多根，以保证第一减震件13的强度，并保证第一减震件13的防震效果。多根钢丝绳131可排布成一排或者多排，以满足实际需求，例如，在其中一实施例中，所述钢丝绳131可为两排，两排所述钢丝绳131相对而设，两排相对设置的钢丝绳131能够提高第一减震件13的强度。每排钢丝绳131包括多根朝着背离另一排钢丝绳131的方向弯折的钢丝绳131，通过弯折设置的钢丝绳131，使得钢丝绳131的径向刚度满足需求，从而更好地对云台301进行减震。
第一阻尼器132可选择为液压黏滞阻尼器或者其他类型的阻尼器，可从产品可靠性、成本等方面选择第一阻尼器132的类型。
本实施例通过选择钢丝绳131的数量和排布方式以及第一阻尼器132的类型，能够调节钢丝绳131的刚度值和第一阻尼器132的阻尼值，具有较好的通用性。
结合图2和图4，所述第一减震件13还可包括第一连接头133和第二连接头134。所述钢丝绳131和所述第一阻尼器132分别通过所述第一连接头133连接至所述连接杆121上，并分别通过所述第二连接头134连接至所述第一连接架122上，从而将钢丝绳131和第一阻尼器132固定至连接杆121、第一连接架122上。
参见图2，所述第一阻尼器132一端转动连接所述第一连接头133，另一端转 动连接所述第二连接头134，以提供沿轴向(该第一阻尼器132的轴向)伸缩方向的阻尼。例如，所述第一连接头133和所述第二连接头134均可包括一销轴(未标出)，所述第一阻尼器132的两端均分别穿设第一连接头133和第二连接头134的销轴，从而实现与第一连接头133、第二连接头134转动连接。
参见图4，所述第一连接头133可包括第一固定部1331和套设部1332。所述第一固定部1331可用以固定所述钢丝绳131和所述第一阻尼器132，所述套设部1332可用以套设所述连接杆121，从而通过第一固定部1331和套设部1332将钢丝绳131和第一阻尼器132连接在连接杆121上。而设置套设部1332能够方便第一连接头133从连接杆121上拆卸下来。
相应地，所述第二连接头134可包括第二固定部1341和与所述第二固定部1341相连接的快拆件1342。其中，所述第二固定部1341可用以固定所述钢丝绳131和所述第一阻尼器132，所述第二固定部1341还与所述第一连接架122相连接，从而通过第二固定部1341将钢丝绳131和第一阻尼器132连接在第一连接架122上。所述快拆件1342与所述机臂2相连接，从而将第一减震件13连接至无人机上。
本实施例中，所述第一减震件13与所述第一固定部1331、所述第二固定部1341通过可拆卸的方式固定连接的。具体而言，所述第一减震件13还可包括与所述第一固定部1331和所述第二固定部1341分别配合的多个夹持件135，以将钢丝绳131固定至第一固定部1331和第二固定部1341上。其中，所述钢丝绳131一端夹设在所述第一固定部1331和对应的夹持件135之间，另一端夹设在所述第二固定部1341和对应的夹持件135之间，通过夹持件135与第一固定部1331和第二固定部1341的配合，将钢丝绳131固定。又参见图2，在一具体实现方式中，所述钢丝绳131为两排，每个第一减震件13包括四个夹持件135，通过其中两个夹持件135将两排钢丝绳131的一端分别夹设在所述第一固定部1331的两侧，并通过另外两个夹持件135将两排钢丝绳131的另一端分别夹设在所述第二固定部1341的两侧。
又结合图2和图4，所述第一固定部1331和对应的夹持件135之间、所述第二固定部1341和对应的夹持件135之间分别形成有用于穿设所述钢丝绳131的穿设孔，以容纳钢丝绳131，使得钢丝绳131能够更加牢固地夹设在第一固定部1331和对应的夹持件135、第二固定部1341和对应的夹持件135之间。
进一步地，所述第一减震件13还可包括紧固件136，所述紧固件136将对应的夹持件135固定至所述第一固定部1331和所述第二固定部1341上，进一步将钢丝绳131更加牢固地固定在第一固定部1331和对应的夹持件135、第二固定部1341和对应的夹持件135之间。
另外，所述套设部1332套设所述连接杆121后，还可通过螺丝等将所述套设部1332与所述连接杆121固定连接，以锁紧套设部1332与连接杆121。所述第二固 定部1341与所述第一连接架122可通过螺丝等固定连接在一起，也可通过卡接等方式直接固定在一起，本发明对此不作限定。
所述快拆件1342与所述机臂2可拆卸连接，方便将快拆件1342从所述机臂上拆卸下来。参见图5，所述减震装置4还可包括套设件14。所述套设件14用以套设无人机的机臂2并与所述快拆件1342活动连接，以将第一减震件13可拆卸连接至机臂2上。当无人机处于非作业状态，可将套设件14与快拆件1342快速地分离，从而将第一减震件13从机臂2拆卸下来，方便无人机的折叠收纳。
所述套设件14可设有锁定部141，所述快拆件1342插接在所述锁定部141中。具体而言，所述锁定部141包括一插接孔(未标出)，所述快拆件1342插接在所述插接孔中。本实施例中，当所述锁定部141为锁紧状态时，所述快拆件1342被锁定在所述锁定部141，快拆件1342与锁定部141固定连接。当所述锁定部141为解锁状态时，所述快拆件1342松脱于所述锁定部141，使得快拆件1342与锁定部141活动连接，方便快拆件1342与锁定部141的分离。
所述套设件14还可包括操作部142，通过操作部142控制锁定部141在锁紧状态和解锁状态之间进行切换。其中，所述操作部142与所述锁定部141转动连接，通过转动所述操作部142，控制锁定部141在锁紧状态和解锁状态之间切换。本实施例中，当所述操作部142转动至锁定位置时，所述锁定部141为锁紧状态，从而将快拆件1342锁紧在锁定部141中，实现第一减震件13与机臂2的连接。当所述操作部142转动至解锁位置时，所述锁定部141为解锁状态，所述快拆件1342与所述锁定部141恢复至活动连接状态，从而可将第一减震件13从机臂2上拆卸下来。具体而言，所述操作部142从解锁位置转动至锁定位置的过程中，所述插接孔逐渐减小，从而锁紧所述快拆件1342。而所述操作部142从锁定位置转动至解锁位置的过程中，所述插接孔逐渐增大，最终使得所述快拆件1342松脱于所述插接孔而实现解锁。所述操作部142可选择为扳手，扳手可偏心转动连接在所述锁定部141的外侧壁，通过控制扳手的旋转，将扳手转动至锁定位置或解锁位置，对应使得锁定部141处于锁紧状态和解锁状态，实现快拆件1342与锁定部141的固定或分离。
需要说明的是，锁定位置和解锁位置为两个相对相反的位置，但并不限于某一点位置。在实际使用中，锁定位置还可为能够将快拆件1342锁定在插接孔中的其中一区域位置。相应地，解锁位置也可能为能够将快拆件1342从插接孔拉拔出的另一区域位置。
又参见图7，所述第二减震结构20至少部分位于所述机身1的下方，可通过第二减震结构20位于机身1下方的部分连接云台301，从而将云台301挂设在无人机上，并通过第二减震结构对设于机身1下方的云台301进行减震。本实施例中，所述第二减震结构20可为限位式减震机构，云台301挂设在第二减震结构20上，对第二减震 结构20存在一拉力作用。所述第二减震结构20能够用于对所述连接轴30进行限位，防止连接轴30的晃动，进而防止挂设在第二减震结构20上的云台301晃动。
参见图6，所述第二减震结构20可包括第二挂载部21、第二支撑件22及第二减震件23。可选地，所述第二挂载部21位于所述机身1的下方。当然，第二支撑件22及第二减震件23也可位于所述机身1的下方，使得第二减震结构20能够更加方便地连接至无人机上。
其中，所述第二挂载部21可用于连接所述云台301，从而将云台301挂设至无人机上。本实施例的云台301与第二挂载部21可通过可拆卸的方式固定连接，例如，云台301和第二挂载部21可通过螺纹、卡接或者其他可拆卸连接方式固定连接，从而方便云台301的拆卸。
所述第二挂载部21还与所述连接轴30相连接，以通过连接轴30对所述第二挂载部21进行支撑。而第二挂载部21与连接轴30的连接方式可根据需要设定，例如，在其中一实施例中，所述第二挂载部21套设所述连接轴30，并通过螺纹等连接件固定至所述连接轴30，从而保证第二挂载部21的稳定性，且连接方式简单易行。另外，第二挂载部21也可通过卡接或者其他方式与连接轴30相连接。
所述第二支撑件22可用于收容所述第二挂载部21，所述第二减震件23设于所述第二支撑件22远离所述第二挂载部21一端，且所述第二减震件23用于连接无人机的机身1，从而可通过第二减震结构20将云台301挂载至所述无人机上。无人机飞行过程中，挂设的云台301摆动(沿着连接轴30的周向两侧摆动)以带动第二挂载部21摆动，第二挂载部21在摆动的过程中可能会抵接第二支撑件22，促使第二支撑件22摆动而与第二减震件23作用，进而对挂设的云台301进行减震。
结合图1和图6，所述第二减震件23为多个，并且分布在所述第二挂载部21的四周，从而对所述连接轴30进行限位，防止挂设的云台301晃动。可选地，所述第二减震件23为两个，对称设于所述连接轴30的两侧，从而将所述连接轴30固定在两个第二减震件23之间的某一位置。
所述第二支撑件22可包括轴承221以及第二连接架222。其中，所述轴承221用于收容所述第二挂载部21，所述第二连接架222与所述轴承221相连接，多个所述第二减震件23连接在所述第二连接架222的四周。第二连接架222用于支撑连接轴30承221和第二减震件23，并可将轴承221的力传递给第二减震件23。无人机飞行过程中，第二挂载部21在云台301的带动下摆动，从而抵接轴承221，轴承221与第二减震件23连接，进而实现云台301的减震功能。所述轴承221可选择为滑动轴承或者其他类型的轴承。
所述第二减震件23的类型也可根据震源的方向选择。所述第二减震件23可包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。在一具体实现方式 中，所述第二减震件23包括压缩式减震器或拉伸式减震器，用于提供一垂直于所述连接轴30的轴向的作用力给所述连接轴30，通过压缩力或者拉伸力在一水平面上对连接轴30进行限位，使得连接轴30的位置始终固定，从而防止所述连接轴30晃动，实现挂设于无人机的云台301的防震功能。
具体而言，每个第二减震件23可包括成对设置的第二阻尼器231以及用以连接无人机的机身1的连接部232。成对设置的第二阻尼器231转动连接在所述第二连接架222的不同位置，并转动连接所述连接部232。本实施例中，成对设置的第二阻尼器231可形成一二维减震器，从而抵消连接轴30的晃动。
又参见图1，成对设置的第二阻尼器231中的两个第二阻尼器231的中心轴互相垂直，每个第二阻尼器231的中心轴与所述连接轴30垂直，从而在水平方向上提供平动的刚度和阻尼，这种排布方式能够提高第二减震件23的稳定性。需要说明的是，成对设置的第二阻尼器231的排布方式并不限于此，也可以其他方式排布成对设置的第二阻尼器231，从而形成一二维减震器，具体可根据第二减震件23的稳定性要求来选择成对设置的第二阻尼器231的排布方式。另外，每个第二减震件23的第二阻尼器231的数量也不限于两个，可为两个以上，只需要第二减震件23能够提供一垂直于所述连接轴30的轴向的作用力给所述连接轴30即可。
本实施例中，每个第二减震件23的两个第二阻尼器231的中心轴所形成的平面平行于另一第二减震件23的两个第二阻尼器231的中心轴所形成的平面，从而将所述连接轴30限制在多个减震件包围形成的区域中的某一位置处，防止所述连接轴30晃动。
另外，所述连接部232可包括与所述机身1相连接的主体部232a和夹设部232b。所述第二阻尼器231转动夹设在所述主体部232a和所述夹设部232b之间，实现第二减震件23与机身1的固定。可通过螺丝等固定件将主体部232a固定至机身1上。可选地，主体部232a的至少三个不共线的位置被固定至机身1上，使得第二减震件23能够稳定地连接至机身1上。当然，主体部232a与机身1的连接位置和连接方式并不限于此，具体可根据实际情况设定。
又参见图6，本实施例中，所述第二连接架222为两个，两个所述第二连接架222间隔设置。所述轴承221和所述第二阻尼器231的一端均夹设在两个所述第二连接架222之间，通过间隔设置的两个第二连接架222，对轴承221和第二阻尼器231进行支撑。
而第二阻尼器231的类型也可根据需要选择，例如，第二阻尼器231可选择为液压黏滞阻尼器。
结合图8和图9，本发明实施例还提供一种云台组件，所述云台组件可包括拍摄设备3以及上述减震装置4。所述减震装置4可通过第一减震结构10将所述拍摄设 备3以上挂的方式连接至无人机上，或者，通过第二减震结构20将所述拍摄设备3以下挂的方式连接至无人机上，并实现云台301的减震功能。
其中，所述拍摄设备3可包括云台301及搭载在所述云台301上的负载302，所述云台301与第一减震结构10或第二减震结构20相连，实现云台301的减震。
所述负载302可选择为相机或者图像传感器等拍摄设备。
又参见图8和图9，本发明实施例还提供一种无人机，所述无人机可包括机身1、与所述机身1相连的机臂2以及上述云台组件。
其中，所述机臂2可包括与所述机身1相连的折叠机臂201和与所述折叠机臂201相连的直机臂202。可选地，直机臂202为两根，且平行设置于所述机身1的两侧。每个直机臂202与机身1之间连接有至少两根折叠机臂201。所述折叠机臂201一端连接机身1，另一端连接直机臂202。其中，所述折叠机臂201与所述机身1、所述直机臂202均为活动连接方式相连接，从而方便无人机的收纳。所述减震装置4可通过其上的第一减震结构10连接所述折叠机臂201，通过折叠机臂201实现对第一减震结构10的支撑，进而将云台301连接在无人机的上方。
另外，所述直机臂202远离所述折叠机臂201的一端连接有螺旋桨组件5，从而为所述无人机提供飞行动力。
在本发明的描述中，“上”、“下”、“前”、“后”、“左”、“右”应当理解为从上至下依次第一挂载部11、机身1和第二挂载部21所形成的无人机的“上”、“下”、“前”、“后”、“左”、“右”方向。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的减震装置及具有该减震装置的云台组件、无人机进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (103)

  1. 一种减震装置，用于将云台连接至无人机，其特征在于，所述减震装置包括用于穿设所述无人机的机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；
    其中，所述第一减震结构连接无人机的机身或机臂，所述第二减震结构连接无人机的机身；
    所述第一减震结构和所述第二减震结构中的一个连接所述云台。
  2. 根据权利要求1所述的减震装置，其特征在于，所述第一减震结构至少部分位于所述机身的上方。
  3. 根据权利要求2所述的减震装置，其特征在于，所述第一减震结构为下压式减震机构，用于提供一弹性支撑力给所述连接轴。
  4. 根据权利要求3所述的减震装置，其特征在于，所述第一减震结构包括用于连接所述云台并与所述连接轴相连接的第一挂载部、与所述第一挂载部相连接的第一支撑件以及设于所述第一支撑件远离所述第一挂载部一端的第一减震件；
    所述第一减震件用于连接无人机的机身或机臂。
  5. 根据权利要求4所述的减震装置，其特征在于，所述第一减震件为多个，用于对应连接无人机的多个机臂；
    所述第一支撑件为多个，并且分布在所述第一挂载部的四周；
    每个所述第一支撑件通过所述第一减震件与所述机臂连接。
  6. 根据权利要求5所述的减震装置，其特征在于，所述第一支撑件包括多个连接杆以及间隔设于所述多个连接杆一侧的第一连接架；
    多个所述连接杆与所述第一挂载部相连接；
    每个连接杆通过对应的第一减震件与所述第一连接架相连。
  7. 根据权利要求6所述的减震装置，其特征在于，所述连接杆与所述第一挂载部活动连接或固定连接。
  8. 根据权利要求6所述的减震装置，其特征在于，多个所述连接杆呈辐射状分布。
  9. 根据权利要求6所述的减震装置，其特征在于，所述第一减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  10. 根据权利要求9所述的减震装置，其特征在于，所述第一减震件为复合式减震器，包括至少两种不同类型的减震器。
  11. 根据权利要求10所述的减震装置，其特征在于，所述第一减震件包括钢丝绳和第一阻尼器，所述钢丝绳和所述第一阻尼器连接在所述连接杆和所述第一连接架之间。
  12. 根据权利要求11所述的减震装置，其特征在于，所述钢丝绳和所述第一阻尼器均倾斜连接在所述连接杆和所述第一连接架之间。
  13. 根据权利要求11所述的减震装置，其特征在于，多个所述第一减震件的钢丝 绳和多个所述第一阻尼器均朝向所述无人机的机身收缩。
  14. 根据权利要求11所述的减震装置，其特征在于，所述钢丝绳为两排，两排所述钢丝绳相对而设；
    每排钢丝绳包括多根朝着背离另一排钢丝绳的方向弯折的钢丝绳。
  15. 根据权利要求11所述的减震装置，其特征在于，所述第一减震件还包括第一连接头和第二连接头；
    所述钢丝绳和所述第一阻尼器分别通过所述第一连接头连接至所述连接杆上，并分别通过所述第二连接头连接至所述第一连接架上。
  16. 根据权利要求15所述的减震装置，其特征在于，所述第一连接头包括用以固定所述钢丝绳和所述第一阻尼器的第一固定部以及用以套设所述连接杆的套设部。
  17. 根据权利要求16所述的减震装置，其特征在于，所述第二连接头包括用以固定所述钢丝绳和所述第一阻尼器的第二固定部以及与所述第二固定部相连的快拆件，所述第二固定部还与所述第一连接架相连接，所述快拆件与所述机臂相连接。
  18. 根据权利要求17所述的减震装置，其特征在于，所述第一减震件还包括与所述第一固定部、所述第二固定部分别配合的多个夹持件；
    所述钢丝绳一端夹设在所述第一固定部和对应的夹持件之间，另一端夹设在所述第二固定部和对应的夹持件之间。
  19. 根据权利要求18所述的减震装置，其特征在于，所述第一固定部和对应的夹持件之间、所述第二固定部和对应的夹持件之间分别形成有用于穿设所述钢丝绳的穿设孔。
  20. 根据权利要求18所述的减震装置，其特征在于，所述第一减震件还包括紧固件，所述紧固件将对应的夹持件固定至所述第一固定部和所述第二固定部上。
  21. 根据权利要求17所述的减震装置，其特征在于，所述减震装置还包括套设件，所述套设件用以套设无人机的机臂并与所述快拆件活动连接。
  22. 根据权利要求21所述的减震装置，其特征在于，所述套设件设有锁定部，所述快拆件插接在所述锁定部中；
    当所述锁定部为锁紧状态时，所述快拆件被锁定在所述锁定部；
    当所述锁定部为解锁状态时，所述快拆件松脱于所述锁定部。
  23. 根据权利要求22所述的减震装置，其特征在于，所述套设件还包括操作部，所述操作部与所述锁定部转动连接；
    当所述操作部转动至锁定位置时，所述锁定部为锁紧状态；
    当所述操作部转动至解锁位置时，所述锁定部为解锁状态。
  24. 根据权利要求15所述的减震装置，其特征在于，所述第一阻尼器一端转动连接所述第一连接头，另一端转动连接所述第二连接头。
  25. 根据权利要求1所述的减震装置，其特征在于，所述第二减震结构至少部分位于所述机身的下方。
  26. 根据权利要求25所述的减震装置，其特征在于，所述第二减震结构为限位式减震机构，用于对所述连接轴进行限位。
  27. 根据权利要求26所述的减震装置，其特征在于，所述第二减震结构包括用于连接所述云台并与所述连接轴相连接的第二挂载部、用于收容所述第二挂载部的第二支撑件及设于所述第二支撑件远离所述第二挂载部一端的第二减震件；
    所述第二减震件用于连接无人机的机身。
  28. 根据权利要求27所述的减震装置，其特征在于，所述第二减震件为多个，并且分布在所述第二挂载部的四周。
  29. 根据权利要求28所述的减震装置，其特征在于，所述第二支撑件包括用于收容所述第二挂载部的轴承以及与所述轴承相连接的第二连接架；
    多个所述第二减震件连接在所述第二连接架的四周。
  30. 根据权利要求29所述的减震装置，其特征在于，所述第二减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  31. 根据权利要求29所述的减震装置，其特征在于，所述第二减震件包括压缩式减震器或拉伸式减震器，用于提供一垂直于所述连接轴的轴向的作用力给所述连接轴。
  32. 根据权利要求30或31所述的减震装置，其特征在于，每个第二减震件包括成对设置的第二阻尼器以及用以连接无人机的机身的连接部；
    成对设置的第二阻尼器转动连接在所述第二连接架的不同位置，并转动连接所述连接部；
    成对设置的第二阻尼器中的两个第二阻尼器的中心轴互相垂直，每个第二阻尼器的中心轴与所述连接轴垂直。
  33. 根据权利要求32所述的减震装置，其特征在于，所述连接部包括与所述机身相连接的主体部和夹设部，所述第二阻尼器转动夹设在所述主体部和所述夹设部之间。
  34. 根据权利要求32所述的减震装置，其特征在于，所述第二连接架为两个，两个所述第二连接架间隔设置；
    所述轴承和所述第二阻尼器的一端均夹设在两个所述第二连接架之间。
  35. 一种云台组件，包括云台及搭载在所述云台上的负载，其特征在，还包括用于将云台连接至无人机的减震装置，所述减震装置包括用于穿设所述无人机的机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；
    其中，所述第一减震结构连接无人机的机身或机臂，所述第二减震结构连接无人机的机身；
    所述第一减震结构和所述第二减震结构中的一个连接所述云台。
  36. 根据权利要求35所述的云台组件，其特征在于，所述第一减震结构至少部分位于所述机身的上方。
  37. 根据权利要求36所述的云台组件，其特征在于，所述第一减震结构为下压式减震机构，用于提供一弹性支撑力给所述连接轴。
  38. 根据权利要求37所述的云台组件，其特征在于，所述第一减震结构包括用于连接所述云台并与所述连接轴相连接的第一挂载部、与所述第一挂载部相连接的第一支撑件以及设于所述第一支撑件远离所述第一挂载部一端的第一减震件；
    所述第一减震件用于连接无人机的机身或机臂。
  39. 根据权利要求38所述的云台组件，其特征在于，所述第一减震件为多个，用于对应连接无人机的多个机臂；
    所述第一支撑件为多个，并且分布在所述第一挂载部的四周；
    每个所述第一支撑件通过所述第一减震件与所述机臂连接。
  40. 根据权利要求39所述的云台组件，其特征在于，所述第一支撑件包括多个连接杆以及间隔设于所述多个连接杆一侧的第一连接架；
    多个所述连接杆与所述第一挂载部相连接；
    每个连接杆通过对应的第一减震件与所述第一连接架相连。
  41. 根据权利要求40所述的云台组件，其特征在于，所述连接杆与所述第一挂载部活动连接或固定连接。
  42. 根据权利要求40所述的云台组件，其特征在于，多个所述连接杆呈辐射状分布。
  43. 根据权利要求40所述的云台组件，其特征在于，所述第一减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  44. 根据权利要求43所述的云台组件，其特征在于，所述第一减震件为复合式减震器，包括至少两种不同类型的减震器。
  45. 根据权利要求44所述的云台组件，其特征在于，所述第一减震件包括钢丝绳和第一阻尼器，所述钢丝绳和所述第一阻尼器连接在所述连接杆和所述第一连接架之间。
  46. 根据权利要求45所述的云台组件，其特征在于，所述钢丝绳和所述第一阻尼器均倾斜连接在所述连接杆和所述第一连接架之间。
  47. 根据权利要求45所述的云台组件，其特征在于，多个所述第一减震件的钢丝绳和多个所述第一阻尼器均朝向所述无人机的机身收缩。
  48. 根据权利要求45所述的云台组件，其特征在于，所述钢丝绳为两排，两排所述钢丝绳相对而设；
    每排钢丝绳包括多根朝着背离另一排钢丝绳的方向弯折的钢丝绳。
  49. 根据权利要求45所述的云台组件，其特征在于，所述第一减震件还包括第一连接头和第二连接头；
    所述钢丝绳和所述第一阻尼器分别通过所述第一连接头连接至所述连接杆上，并分别通过所述第二连接头连接至所述第一连接架上。
  50. 根据权利要求49所述的云台组件，其特征在于，所述第一连接头包括用以固定所述钢丝绳和所述第一阻尼器的第一固定部以及用以套设所述连接杆的套设部。
  51. 根据权利要求50所述的云台组件，其特征在于，所述第二连接头包括用以固定所述钢丝绳和所述第一阻尼器的第二固定部以及与所述第二固定部相连的快拆件，所述第二固定部还与所述第一连接架相连接，所述快拆件与所述机臂相连接。
  52. 根据权利要求51所述的云台组件，其特征在于，所述第一减震件还包括与所述第一固定部、所述第二固定部分别配合的多个夹持件；
    所述钢丝绳一端夹设在所述第一固定部和对应的夹持件之间，另一端夹设在所述第二固定部和对应的夹持件之间。
  53. 根据权利要求52所述的云台组件，其特征在于，所述第一固定部和对应的夹持件之间、所述第二固定部和对应的夹持件之间分别形成有用于穿设所述钢丝绳的穿设孔。
  54. 根据权利要求52所述的云台组件，其特征在于，所述第一减震件还包括紧固件，所述紧固件将对应的夹持件固定至所述第一固定部和所述第二固定部上。
  55. 根据权利要求51所述的云台组件，其特征在于，所述减震装置还包括套设件，所述套设件用以套设无人机的机臂并与所述快拆件活动连接。
  56. 根据权利要求55所述的云台组件，其特征在于，所述套设件设有锁定部，所述快拆件插接在所述锁定部中；
    当所述锁定部为锁紧状态时，所述快拆件被锁定在所述锁定部；
    当所述锁定部为解锁状态时，所述快拆件松脱于所述锁定部。
  57. 根据权利要求56所述的云台组件，其特征在于，所述套设件还包括操作部，所述操作部与所述锁定部转动连接；
    当所述操作部转动至锁定位置时，所述锁定部为锁紧状态；
    当所述操作部转动至解锁位置时，所述锁定部为解锁状态。
  58. 根据权利要求49所述的云台组件，其特征在于，所述第一阻尼器一端转动连接所述第一连接头，另一端转动连接所述第二连接头。
  59. 根据权利要求35所述的云台组件，其特征在于，所述第二减震结构至少部分位于所述机身的下方。
  60. 根据权利要求59所述的云台组件，其特征在于，所述第二减震结构为限位式减震机构，用于对所述连接轴进行限位。
  61. 根据权利要求60所述的云台组件，其特征在于，所述第二减震结构包括用于连接所述云台并与所述连接轴相连接的第二挂载部、用于收容所述第二挂载部的第二支撑件及设于所述第二支撑件远离所述第二挂载部一端的第二减震件；
    所述第二减震件用于连接无人机的机身。
  62. 根据权利要求61所述的云台组件，其特征在于，所述第二减震件为多个，并且分布在所述第二挂载部的四周。
  63. 根据权利要求62所述的云台组件，其特征在于，所述第二支撑件包括用于收容所述第二挂载部的轴承以及与所述轴承相连接的第二连接架；
    多个所述第二减震件连接在所述第二连接架的四周。
  64. 根据权利要求63所述的云台组件，其特征在于，所述第二减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  65. 根据权利要求63所述的云台组件，其特征在于，所述第二减震件包括压缩式减震器或拉伸式减震器，用于提供一垂直于所述连接轴的轴向的作用力给所述连接轴。
  66. 根据权利要求64或65所述的云台组件，其特征在于，每个第二减震件包括成对设置的第二阻尼器以及用以连接无人机的机身的连接部；
    成对设置的第二阻尼器转动连接在所述第二连接架的不同位置，并转动连接所述连接部；
    成对设置的第二阻尼器中的两个第二阻尼器的中心轴互相垂直，每个第二阻尼器的中心轴与所述连接轴垂直。
  67. 根据权利要求66所述的云台组件，其特征在于，所述连接部包括与所述机身相连接的主体部和夹设部，所述第二阻尼器转动夹设在所述主体部和所述夹设部之间。
  68. 根据权利要求66所述的云台组件，其特征在于，所述第二连接架为两个，两个所述第二连接架间隔设置；
    所述轴承和所述第二阻尼器的一端均夹设在两个所述第二连接架之间。
  69. 一种无人机，包括机身、与所述机身相连的机臂以及云台组件，其特征在于，所述云台组件包括云台、搭载在所述云台上的负载以及用于将云台连接至无人机减震装置；
    所述减震装置包括用于穿设所述无人机的机身的连接轴、分别设于所述连接轴两端的第一减震结构和第二减震结构；
    其中，所述第一减震结构连接无人机的机身或机臂，所述第二减震结构连接无人机的机身；
    所述第一减震结构和所述第二减震结构中的一个连接所述云台。
  70. 根据权利要求69所述的无人机，其特征在于，所述第一减震结构至少部分位于所述机身的上方。
  71. 根据权利要求70所述的无人机，其特征在于，所述第一减震结构为下压式减震机构，用于提供一弹性支撑力给所述连接轴。
  72. 根据权利要求71所述的无人机，其特征在于，所述第一减震结构包括用于连接所述云台并与所述连接轴相连接的第一挂载部、与所述第一挂载部相连接的第一支撑件以及设于所述第一支撑件远离所述第一挂载部一端的第一减震件；
    所述第一减震件用于连接无人机的机身或机臂。
  73. 根据权利要求72所述的无人机，其特征在于，所述第一减震件为多个，用于对应连接无人机的多个机臂；
    所述第一支撑件为多个，并且分布在所述第一挂载部的四周；
    每个所述第一支撑件通过所述第一减震件与所述机臂连接。
  74. 根据权利要求73所述的无人机，其特征在于，所述第一支撑件包括多个连接杆以及间隔设于所述多个连接杆一侧的第一连接架；
    多个所述连接杆与所述第一挂载部相连接；
    每个连接杆通过对应的第一减震件与所述第一连接架相连。
  75. 根据权利要求74所述的无人机，其特征在于，所述连接杆与所述第一挂载部活动连接或固定连接。
  76. 根据权利要求74所述的无人机，其特征在于，多个所述连接杆呈辐射状分布。
  77. 根据权利要求74所述的无人机，其特征在于，所述第一减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  78. 根据权利要求77所述的无人机，其特征在于，所述第一减震件为复合式减震器，包括至少两种不同类型的减震器。
  79. 根据权利要求78所述的无人机，其特征在于，所述第一减震件包括钢丝绳和第一阻尼器，所述钢丝绳和所述第一阻尼器连接在所述连接杆和所述第一连接架之间。
  80. 根据权利要求79所述的无人机，其特征在于，所述钢丝绳和所述第一阻尼器均倾斜连接在所述连接杆和所述第一连接架之间。
  81. 根据权利要求79所述的无人机，其特征在于，多个所述第一减震件的钢丝绳和多个所述第一阻尼器均朝向所述无人机的机身收缩。
  82. 根据权利要求79所述的无人机，其特征在于，所述钢丝绳为两排，两排所述钢丝绳相对而设；
    每排钢丝绳包括多根朝着背离另一排钢丝绳的方向弯折的钢丝绳。
  83. 根据权利要求79所述的无人机，其特征在于，所述第一减震件还包括第一连接头和第二连接头；
    所述钢丝绳和所述第一阻尼器分别通过所述第一连接头连接至所述连接杆上，并分别通过所述第二连接头连接至所述第一连接架上。
  84. 根据权利要求83所述的无人机，其特征在于，所述第一连接头包括用以固定所述钢丝绳和所述第一阻尼器的第一固定部以及用以套设所述连接杆的套设部。
  85. 根据权利要求84所述的无人机，其特征在于，所述第二连接头包括用以固定所述钢丝绳和所述第一阻尼器的第二固定部以及与所述第二固定部相连的快拆件，所述第二固定部还与所述第一连接架相连接，所述快拆件与所述机臂相连接。
  86. 根据权利要求85所述的无人机，其特征在于，所述第一减震件还包括与所述第一固定部、所述第二固定部分别配合的多个夹持件；
    所述钢丝绳一端夹设在所述第一固定部和对应的夹持件之间，另一端夹设在所述第二固定部和对应的夹持件之间。
  87. 根据权利要求86所述的无人机，其特征在于，所述第一固定部和对应的夹持件之间、所述第二固定部和对应的夹持件之间分别形成有用于穿设所述钢丝绳的穿设孔。
  88. 根据权利要求86所述的无人机，其特征在于，所述第一减震件还包括紧固件，所述紧固件将对应的夹持件固定至所述第一固定部和所述第二固定部上。
  89. 根据权利要求85所述的无人机，其特征在于，所述减震装置还包括套设件，所述套设件用以套设无人机的机臂并与所述快拆件活动连接。
  90. 根据权利要求89所述的无人机，其特征在于，所述套设件设有锁定部，所述快拆件插接在所述锁定部中；
    当所述锁定部为锁紧状态时，所述快拆件被锁定在所述锁定部；
    当所述锁定部为解锁状态时，所述快拆件松脱于所述锁定部。
  91. 根据权利要求90所述的无人机，其特征在于，所述套设件还包括操作部，所述操作部与所述锁定部转动连接；
    当所述操作部转动至锁定位置时，所述锁定部为锁紧状态；
    当所述操作部转动至解锁位置时，所述锁定部为解锁状态。
  92. 根据权利要求83所述的无人机，其特征在于，所述第一阻尼器一端转动连接所述第一连接头，另一端转动连接所述第二连接头。
  93. 根据权利要求69所述的无人机，其特征在于，所述第二减震结构至少部分位于所述机身的下方。
  94. 根据权利要求93所述的无人机，其特征在于，所述第二减震结构为限位式减震机构，用于对所述连接轴进行限位。
  95. 根据权利要求94所述的无人机，其特征在于，所述第二减震结构包括用于连接所述云台并与所述连接轴相连接的第二挂载部、用于收容所述第二挂载部的第二支撑件及设于所述第二支撑件远离所述第二挂载部一端的第二减震件；
    所述第二减震件用于连接无人机的机身。
  96. 根据权利要求95所述的无人机，其特征在于，所述第二减震件为多个，并且分布在所述第二挂载部的四周。
  97. 根据权利要求96所述的无人机，其特征在于，所述第二支撑件包括用于收容所述第二挂载部的轴承以及与所述轴承相连接的第二连接架；
    多个所述第二减震件连接在所述第二连接架的四周。
  98. 根据权利要求97所述的无人机，其特征在于，所述第二减震件包括如下至少一种减震器：一维减震器，二维减震器，三维减震器。
  99. 根据权利要求97所述的无人机，其特征在于，所述第二减震件包括压缩式减震器或拉伸式减震器，用于提供一垂直于所述连接轴的轴向的作用力给所述连接轴。
  100. 根据权利要求98或99所述的无人机，其特征在于，每个第二减震件包括成对设置的第二阻尼器以及用以连接无人机的机身的连接部；
    成对设置的第二阻尼器转动连接在所述第二连接架的不同位置，并转动连接所述连接部；
    成对设置的第二阻尼器中的两个第二阻尼器的中心轴互相垂直，每个第二阻尼器 的中心轴与所述连接轴垂直。
  101. 根据权利要求100所述的无人机，其特征在于，所述连接部包括与所述机身相连接的主体部和夹设部，所述第二阻尼器转动夹设在所述主体部和所述夹设部之间。
  102. 根据权利要求100所述的无人机，其特征在于，所述第二连接架为两个，两个所述第二连接架间隔设置；
    所述轴承和所述第二阻尼器的一端均夹设在两个所述第二连接架之间。
  103. 根据权利要求69所述的无人机，其特征在于，所述机臂包括与所述机身相连的折叠机臂和与所述折叠机臂相连的直机臂；
    所述减震装置通过其上的第一减震结构连接所述折叠机臂；
    所述直机臂远离所述折叠机臂的一端连接有螺旋桨组件。
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