WO2019105124A1 - 云台、拍摄组件及无人飞行器 - Google Patents

云台、拍摄组件及无人飞行器 Download PDF

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Publication number
WO2019105124A1
WO2019105124A1 PCT/CN2018/107929 CN2018107929W WO2019105124A1 WO 2019105124 A1 WO2019105124 A1 WO 2019105124A1 CN 2018107929 W CN2018107929 W CN 2018107929W WO 2019105124 A1 WO2019105124 A1 WO 2019105124A1
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WO
WIPO (PCT)
Prior art keywords
platform
motor
fixing portion
axis motor
rotating
Prior art date
Application number
PCT/CN2018/107929
Other languages
English (en)
French (fr)
Inventor
余春
Original Assignee
深圳市道通智能航空技术有限公司
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
Priority claimed from CN201711227485.8A external-priority patent/CN107878773A/zh
Priority claimed from CN201820034698.2U external-priority patent/CN207876021U/zh
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019105124A1 publication Critical patent/WO2019105124A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a pan/tilt head and a photographing assembly having the same, and an unmanned aerial vehicle having the same, and more particularly to a shock absorbing member and a mount having the same.
  • Unmanned Aerial Vehicle UAV
  • Unmanned aerial vehicles can realize real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of unmanned aerial vehicles has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order. The field of anti-terrorism and other fields are widely used.
  • an embodiment of the present invention provides a compact pan and a photographing assembly having the pan and an unmanned aerial vehicle having the photographing assembly.
  • the embodiment of the present invention solves the technical problem by adopting the following technical solutions:
  • a pan/tilt head for carrying a camera device comprising:
  • connecting arm one end of the connecting arm is connected to the pitch axis motor, and the other end of the connecting arm is connected to the heading axis motor;
  • the roll axis motor is connected to the heading axis motor, the roll axis motor is used to mount the camera device, and the roll axis motor is used to drive the camera device around a roll axis Rotate
  • the heading axis motor is configured to drive the roll axis motor and the camera device to rotate about a heading axis
  • the pitch axis motor is configured to drive the heading axis motor, the roll axis motor, and the camera device Pitch axis rotation
  • At least one of the pitch axis motor, the heading axis motor, and the roll axis motor is a disk motor.
  • the pitch axis motor and/or the roll axis motor is a disk motor.
  • the heading axis motor is a disc motor or a brushless motor.
  • the pitch axis motor includes a first rotating shaft, a first fixing portion and a first rotating portion;
  • the first fixing portion and the first rotating portion are sleeved on the first rotating shaft, and the first fixing portion is rotatable relative to the first rotating portion.
  • the first fixing portion includes a first through hole
  • the transmission line passes through the first through hole and enters the connecting arm.
  • the first through hole is a circular arc through hole, and a center of a circle where the circular hole is located is located on the pitch axis, and the first through hole has an arc of 0 to 180 degrees.
  • the pan/tilt includes a mounting arm, one end of the mounting arm is connected to the first fixing portion, and the transmission line runs through the mounting arm and the first fixing portion, from the first pass The hole passes through.
  • the mounting arm and the first fixing portion are a unitary structure.
  • the heading shaft motor includes a second rotating shaft, a second fixing portion and a second rotating portion;
  • the second fixing portion and the second rotating portion are sleeved on the second rotating shaft, and the second fixing portion is rotatable relative to the second rotating portion;
  • the connecting arm is connected between the first rotating portion and the second fixing portion.
  • the pan/tilt further includes a motor circuit board disposed in the connecting arm and the second fixing portion, the motor circuit board and the pitch axis motor, the heading axis motor, and the horizontal Roller motor electrical connection;
  • the transmission line includes a motor transmission line that penetrates the mounting arm and the first fixing portion, and passes through the first through hole into the connecting arm, and the motor transmission line is electrically connected to the motor circuit board.
  • the connecting arm, the first rotating portion and the second fixing portion are a unitary structure.
  • the second fixing portion includes a notch
  • the transmission line includes a camera transmission line extending through the mounting arm and the first fixing portion, and after passing through the first through hole, continuing through the connecting arm and the second fixing portion, and from The gap passes through.
  • the notch is disposed at an edge of the second fixing portion and penetrates an edge of the second fixing portion.
  • the notch is disposed adjacent to the second rotating shaft, and the notch has a circular arc shape, and the notch has an arc of 0 to 180 degrees.
  • the pan/tilt head includes a connecting portion;
  • the roll motor includes a third rotating shaft, a third fixing portion and a third rotating portion;
  • the third fixing portion and the third rotating portion are sleeved on the third rotating shaft, the third fixing portion is rotatable relative to the third rotating portion, and the third rotating portion is configured to carry the Camera device
  • the connecting portion is connected between the second rotating portion and the third fixed portion.
  • the third fixing portion includes a second through hole
  • the camera transmission line passes through the notch and enters the connecting portion and the third fixing portion, and the camera transmission line passes through the second through hole for electrically connecting the imaging device.
  • the connecting portion, the second rotating portion and the third fixing portion are of a unitary structure.
  • the second through hole is a circular arc through hole, and a center of a circle where the circle is located is located on the roll axis, and the second through hole has an arc of 0 to 180 degrees.
  • the transmission line is a very thin coaxial line.
  • the pan/tilt includes a mount mounted to the pitch axis motor.
  • the mount includes a shock absorbing member and a mounting plate, the mounting plate being mounted to the pitch axis motor, and at least one of the shock absorbing members being mounted to the mounting plate.
  • the damper member has a center line
  • the damper member includes a first mounting portion, a second mounting portion connected to the mounting plate, a first connecting portion made of an elastic material, and an elastic material a second connecting portion obtained;
  • the two ends of the first connecting portion are respectively connected to the first mounting portion and the second mounting portion;
  • the two ends of the second connecting portion are respectively connected to the first mounting portion and the second mounting portion;
  • the first connecting portion and the second connecting portion are both curved strips
  • a distance between a middle portion and the center line is the largest
  • a distance between a middle portion and the center line is the largest, and a distance between a middle portion of the first connecting portion and the center line is greater than a middle portion of the first connecting portion and the center line distance.
  • the number of the first connecting portions is at least two, and the number of the second connecting portions is at least two;
  • At least one of the first connecting portions is located between two adjacent second connecting portions;
  • At least one of the second connecting portions is located between two adjacent ones of the first connecting portions.
  • the number of the first connecting portions is three
  • the number of the second connecting portions is three
  • each of the first connecting portions is located between two adjacent second connecting portions.
  • Each of the second connecting portions is located between two adjacent first connecting portions.
  • the width of the first connecting portion gradually decreases from a middle portion thereof toward a direction close to the first mounting portion and a direction from a middle portion thereof toward the second mounting portion.
  • the width of the second connecting portion gradually decreases from a middle portion thereof toward a direction close to the first mounting portion and a direction from a middle portion thereof toward the second mounting portion.
  • the first connecting portion is evenly distributed around the center line
  • the second connecting portion is evenly distributed around the center line.
  • the first mounting portion includes a first ledge and a first connecting post
  • One end of the first connecting post is connected to the first protruding edge, and the other end of the first connecting post is connected to the first connecting portion and the second connecting portion;
  • the cross-sectional area of the first ledge is greater than the cross-sectional area of the first connecting post.
  • the first mounting portion is provided with a first through hole, and the first through hole penetrates the first protruding edge and the first connecting post.
  • the first protruding edge and the first connecting post are all cylindrical, the diameter of the first protruding edge is larger than the diameter of the first connecting post, and the central axis of the first protruding edge is The central axes of the first connecting columns coincide.
  • the second mounting portion includes a second ledge and a second connecting post
  • One end of the second connecting post is connected to the second protruding edge, and the other end of the second connecting post is connected to the first connecting portion and the second connecting portion;
  • the cross-sectional area of the second ledge is greater than the cross-sectional area of the first connecting post.
  • the second mounting portion is provided with a second through hole penetrating the second protruding edge and the second connecting post.
  • the second protruding edge and the second connecting post are both cylindrical, the diameter of the second protruding edge is larger than the diameter of the first connecting post, and the central axis of the second protruding edge is The central axes of the first connecting columns coincide.
  • the embodiment of the present invention solves the technical problem by adopting the following technical solutions:
  • An imaging unit includes an imaging device and a pan/tilt head described above, and the roll axis motor in the pan/tilt is equipped with the imaging device.
  • the embodiment of the present invention solves the technical problem by adopting the following technical solutions:
  • An unmanned aerial vehicle includes a fuselage, an arm connected to the fuselage, and a power unit disposed on the arm, the unmanned aerial vehicle further comprising the photographing assembly described above, the photographing assembly and the photographing unit
  • the fuselage is connected.
  • the transmission line passes through the pitch axis motor and enters the connecting arm, thereby reducing
  • the space occupied by the transmission line in the pan/tilt makes the structure of the gimbal more compact.
  • the heading axis motor is a brushless motor, which can increase the pitch limit angle of the pan/tilt head.
  • FIG. 1 is a perspective view of a photographing assembly according to an embodiment of the present invention.
  • Figure 2 is a perspective view of another angle of the photographing assembly shown in Figure 1;
  • Figure 3 is a perspective view of still another angle of the photographing assembly shown in Figure 1;
  • Figure 4 is a perspective view of the photographing assembly shown in Figure 1, in which some of the elements are omitted;
  • FIG. 5 and FIG. 6 are respectively partial exploded views of the photographing assembly shown in FIG. 1, in which some of the elements are omitted;
  • FIG. 7 is a perspective view of a camera transmission line, a motor circuit board, a lens driving circuit board, and a sensor of the imaging unit shown in FIG. 1;
  • Figure 8 is a perspective view of the mount of the photographing assembly shown in Figure 1;
  • Figure 9 is a perspective view of the shock absorbing member of the mount shown in Figure 8.
  • Figure 10 is a front elevational view of the shock absorbing member shown in Figure 9;
  • Figure 11 is a bottom plan view of the damper member shown in Figure 9.
  • a camera assembly 300 includes a pan/tilt head 100 and an image capturing device 200.
  • the pan/tilt head 100 carries the camera device 200 to implement the fixing of the camera device 200, or
  • the posture of the image pickup apparatus 200 is arbitrarily adjusted (for example, changing the height, inclination, and/or direction of the image pickup apparatus 200) and the image pickup apparatus 200 is stably held in the set posture.
  • the image capturing device 200 may be an image capturing device such as a camera, a camera, a lens, or the like, or other portable electronic device having a shooting function, such as a mobile phone, a tablet computer, etc., and it may be understood that it may be a sensor or the like.
  • the pan/tilt head 100 can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to, but not limited to, a handheld photographing device, an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head 100 may be equipped with the image acquisition device and mounted on an unmanned aerial vehicle for aerial photography.
  • the pan/tilt head 100 can also mount the camera device 200 and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/tilt head 100 to control the camera device 200.
  • the angle of shooting is a handheld photographing device, an unmanned ship, or an unmanned vehicle.
  • the imaging device 200 as a video camera and the pan/tilt 100 being applied to an unmanned aerial vehicle.
  • the platform 100 includes a mounting base 10, a first rotating shaft 20, a first connecting member 30, a second connecting member 40, a second rotating shaft 50, a third connecting member 60, and a third portion.
  • the mount 10 is used to mount the pan/tilt 100 to an unmanned aerial vehicle.
  • the axis of rotation of the first shaft 20 coincides with the pitch axis.
  • the first connecting member 30 and the second connecting member 40 are sleeved on the first rotating shaft 20, and the first connecting member 30 is rotatable around the first rotating shaft 20 with respect to the second connecting portion The piece 40 rotates.
  • the first rotating shaft 20 is disposed along a pitch axis having a first axis of rotation P that coincides with a pitch axis.
  • the first shaft 20 can be made of a steel material.
  • the axis of rotation of the second shaft 50 coincides with the heading axis.
  • the second rotating shaft 50 is disposed along the heading axis and has a second axis of rotation Y, which coincides with the heading axis.
  • the second shaft 50 can be made of a steel material.
  • the second connecting member 40 and the third connecting member 60 are sleeved on the second rotating shaft 50, and the second connecting member 40 is rotatable around the second rotating shaft 50 with respect to the third connecting portion
  • the piece 60 rotates.
  • the axis of rotation of the third shaft 70 coincides with the roll axis.
  • the third connecting member 60 and the fourth connecting member 80 are sleeved on the third rotating shaft 70, and the third connecting member 60 is rotatable around the third rotating shaft 70 relative to the fourth connecting member
  • the piece 80 rotates.
  • the fourth connector 80 is used to mount the imaging device 200.
  • the first connector 30 includes a mounting arm 32 and a first fixing portion 34 coupled to the mounting arm 32.
  • the mounting arm 32 and the first fixing portion 34 are integrally formed, that is, the mounting arm 32 and the first fixing portion 34 are integrally formed, and the mounting arm 32 and the first fixing portion are integrally formed.
  • the integral structure of the 34 can make the pan/tilt 100 compact, and the integrated structure formed by the mounting arm 32 and the first fixing portion 34 has high strength and good anti-fatigue and anti-shock performance, so that the pan/tilt head 100 When the mounted image pickup apparatus 200 is in operation, the shaking or the vibration is reduced, and the control accuracy and stability of the image pickup apparatus 200 mounted on the head 100 are improved.
  • the mounting arm 32 is fixedly mounted to the mounting seat 10 , and the other end is connected to the first fixing portion 34 .
  • the mounting arm 32 is provided with a routing path of the transmission line.
  • the outer contour of the first fixing portion 34 is substantially disk-shaped and is sleeved on the first rotating shaft 20 .
  • the first fixing portion 34 has a first through hole 340.
  • the first through hole 340 is a circular arc through hole, the first through hole 340 is disposed adjacent to the first rotating shaft 20, and a center of a circle where the first through hole 340 is located is located at the first rotation On the axis P.
  • the first through hole 340 may have an arc of 0 to 180 degrees for allowing the transmission line to pass through.
  • the first fixing portion 34 is rotated relative to the second connecting member 40, the transmission line is in the
  • the second connecting member 40 is rotatably driven in the first through hole 340.
  • the first through hole 340 has an arc of 90 degrees.
  • the second connecting member 40 includes a first rotating portion 42 , a connecting arm 44 and a second fixing portion 46 .
  • the connecting arm 44 is connected between the first rotating portion 42 and the second fixing portion 46.
  • the first rotating portion 42, the connecting arm 44 and the second fixing portion 46 are of an integral structure, that is, the first rotating portion 42, the connecting arm 44 and the second fixing portion 46 are integrally formed.
  • the first rotating portion 42, the connecting arm 44 and the second fixing portion 46 are of an integral structure, so that the pan/tilt head 100 is compact, and the first rotating portion 42, the connecting arm 44 and the second fixing portion 46 are formed.
  • the integrated structure has high strength, and is excellent in fatigue resistance and shock resistance. When the imaging device 200 mounted on the pan/tilt head 100 is operated, shaking or vibration is reduced, and the imaging device 200 on which the pan/tilt head 100 is mounted is improved. Control accuracy and stability.
  • the outer contour of the first rotating portion 42 is a disk shape, and is sleeved on the first rotating shaft 20 .
  • the first rotating portion 42 is rotatable relative to the first fixing portion 34 about the first rotating axis P. Turn.
  • the first rotating portion 42, the first rotating shaft 20, and the first fixed portion 34 constitute a pitch axis motor.
  • the pitch axis motor is a disk motor
  • the first fixing portion 34 is a stator of the pitch axis motor, and is movably mounted on the first rotating shaft 20.
  • the first fixing portion 34 includes a holder, a bearing, a coil, a circuit board, and the like.
  • the holder is in the shape of a disk, and the bearing, the coil, the circuit board, and the like are mounted on the disc-shaped holder.
  • the first rotating portion 42 is a rotor of the pitch axis motor, and is fixedly mounted on the first rotating shaft 20 and rotatable together with the first rotating shaft 20.
  • the first rotating portion 42 includes a supporting plate and a permanent magnet or the like attached to the supporting plate, the supporting plate is in the shape of a disk, parallel to the support, and the supporting plate is fixedly mounted on the first rotating shaft One end of 20.
  • the pitch axis motor is a disk motor, which has the advantages of small volume, light weight, compact structure and high efficiency, and the structure of the pan/tilt head 100 can be made more compact.
  • the first fixing portion 34 can be a rotor of a pitch axis motor fixedly mounted to the first rotating shaft 20, which can be opposite to the first rotating shaft 20
  • the first rotating portion 42 is rotatable; and the first rotating portion 42 may be a stator of the pitch axis motor that is movably mounted to the first rotating shaft 20.
  • the connecting arm 44 is fixedly mounted to the first rotating portion 42 , and the other end is fixedly mounted to the second fixing portion 46 .
  • the second connecting member 40 is substantially "L"-shaped, the connecting arm 44 is perpendicular to the first rotating portion 42, and the connecting arm 44 and the second fixing portion 46 are located in the same plane.
  • the connecting arm 44 and the second fixing portion 46 are provided with transmission line passages that allow the transmission line to pass through.
  • a motor circuit board 48 is mounted in the connecting arm 44 and the second fixing portion 46, and an electronic device such as a microcontroller is mounted on the motor circuit board 48.
  • the motor circuit board 48 is disposed in the connecting arm 44 and the second fixing portion 46, so that the structure of the platform 100 is compact, and the volume of the platform 100 is reduced.
  • the outer contour of the second fixing portion 46 is a disk shape, and is sleeved on the second rotating shaft 50.
  • the second fixing portion 46 is provided with a notch 460 for allowing the transmission line to pass.
  • the notch 460 penetrates the edge of the second fixing portion 46.
  • the notch 460 may also be disposed adjacent to the second rotating shaft 50, and the notch 460 may have an arc shape with an arc of 0 to 180 degrees.
  • the second connecting member 40 is not limited to the "L" type, and may be other shapes.
  • the second connecting member 40 may be curved.
  • the third connecting member 60 includes a second rotating portion 62, a connecting portion 64 and a third fixing portion 66.
  • the connecting portion 64 is connected between the second rotating portion 62 and the third fixing portion 66.
  • the second rotating portion 62, the connecting portion 64 and the third fixing portion 66 are integrally formed, that is, the second rotating portion 62, the connecting portion 64 and the third fixing portion 66 are integrally formed, and the second portion
  • the rotating portion 62, the connecting portion 64 and the third fixing portion 66 are of an integral structure, so that the pan/tilt 100 can be made compact, and the second rotating portion 62, the connecting portion 64 and the third fixing portion 66 are formed as a unitary structure.
  • the high-strength, anti-fatigue and anti-shock performance is good, so that when the imaging device 200 mounted on the pan-tilt 100 is operated, the shaking or vibration is reduced, and the control precision and stability of the camera 200 mounted on the pan-tilt head 100 are improved. Sex.
  • the outer contour of the second rotating portion 62 is a disk shape, and is sleeved on the second rotating shaft 50.
  • the second fixing portion 46 is rotatable relative to the second rotating portion about the second rotating axis Y. 62 turns.
  • the second rotating portion 62, the second rotating shaft 50, and the second fixed portion 46 constitute a heading axis motor.
  • the heading axis motor is a brushless motor
  • the second fixing portion 46 is a stator of a heading axis motor, and is movably mounted on the second rotating shaft 50.
  • the second fixing portion 46 includes a support, a bearing, a coil winding, a circuit board, and the like.
  • the support is in the shape of a disk, and the bearing, the coil winding, the circuit board, and the like are mounted on the disc-shaped support.
  • the second rotating shaft 50 passes through the bearing of the second fixing portion 46.
  • the second rotating portion 62 is a rotor of the heading shaft motor fixedly mounted to the second rotating shaft 50 and rotatable relative to the second fixing portion 46 together with the second rotating shaft 50.
  • the second rotating portion 62 includes a collar 622, a housing 624 and a magnetic member 626.
  • the collar 622 has an annular shape and is fixedly mounted to one end of the connecting portion 64.
  • the housing 624 is cylindrical and received in the collar 622.
  • the housing 624 is provided with a mounting hole 6240.
  • the magnetic element 626 is a magnetic ring whose air gap magnetic field is radially distributed. The magnetic element 626 is received in the housing 624, and the magnetic element 626 is fixedly mounted in the housing 624.
  • the magnetic element 626 surrounds the coil winding of the second fixing portion 46.
  • One end of the second rotating shaft 50 is inserted into the mounting hole 6240, and one end of the second rotating shaft 50 is fixedly mounted in the mounting hole 6240. .
  • the coil winding of the second fixing portion 46 is energized, and the rotating shaft 50, the collar 622, the casing 624 and the ground are under the action of the magnetic field generated by the magnetic element 626.
  • the magnetic element 626 rotates together with respect to the second fixing portion 46.
  • the heading motor can also be a disk motor.
  • the diameter of the brushless motor is smaller than that of the disk motor, and the heading motor uses a brushless motor to increase the pitch limit angle of the pan/tilt head 100.
  • the second fixing portion 46 can be a rotor of a heading shaft motor fixedly mounted to the second rotating shaft 50, which can be opposite to the second rotating shaft 50
  • the second rotating portion 62 is rotatable; and the second rotating portion 62 is a stator of the heading shaft motor, and is movably mounted on the second rotating shaft 50 to be rotatable about the second rotating shaft 50.
  • the connecting portion 64 is fixedly attached to the second rotating portion 62 , and the other end is fixedly mounted to the third fixing portion 66 .
  • the third connecting member 60 is substantially "L"-shaped, the connecting portion 64 is perpendicular to the second rotating portion 62, and the connecting portion 64 and the third fixing portion 66 are located on the same plane.
  • the connecting portion 64 and the third fixing portion 66 are provided with transmission line passages that allow the transmission line to pass through.
  • the third connecting member 60 is not limited to the "L" type, and may be other shapes.
  • the third connecting member 60 may be curved.
  • the third rotating shaft 70 is disposed along a roll axis and has a third rotation axis R that coincides with the roll axis.
  • the third axis of rotation R is perpendicular to the second axis of rotation Y and the first axis of rotation P, the second axis of rotation Y being perpendicular to the first axis of rotation P.
  • the third rotating shaft 70 can be made of a steel material.
  • the outer contour of the third fixing portion 66 is a disk shape, and is sleeved on the third rotating shaft 70.
  • the third fixing portion 66 has a second through hole 620.
  • the second through hole 620 is a circular arc through hole, the second through hole 620 is disposed adjacent to the third rotating shaft 70, and the center of the circle where the second through hole 620 is located is located at the third rotation.
  • the second through hole 620 On the axis R, the second through hole 620 has an arc of 0 to 180 degrees for allowing the transmission line to pass. In this embodiment, the second through hole 620 has an arc of 90 degrees.
  • the outer shape of the fourth connecting member 80 is a disk shape, and is sleeved on the third rotating shaft 70.
  • the third fixing portion 66 is rotatable relative to the fourth connecting member about the third rotating axis R. 80 turns.
  • the fourth connecting member 80, the third rotating shaft 70 and the third fixing portion 66 constitute a rolling roller motor, that is, the fourth connecting member 80 is a third rotating portion.
  • the roll motor is a disk motor
  • the third fixing portion 66 is a stator of a roll motor, and is movably mounted on the third rotating shaft 70, and is rotatable around the third rotating shaft. 70 turns.
  • the third fixing portion 66 includes a holder, a bearing, a coil, a circuit board, and the like.
  • the holder has a disk shape, and the bearing, the coil, the circuit board, and the like are mounted on the disc-shaped holder.
  • the third rotating portion 80 is a rotor of a roll motor, and is fixedly mounted to the third rotating shaft 70 and rotatable relative to the third fixing portion 66 together with the third rotating shaft 70.
  • the third rotating portion 80 includes a support plate and a permanent magnet or the like attached to the support plate.
  • the support plate has a disk shape, and is parallel to the support.
  • One end of the third rotating shaft 70 is fixedly mounted on the support. Said support.
  • the roll motor is a disk motor, which has the advantages of small size, light weight, compact structure and high efficiency, and the structure of the pan/tilt head 100 can be made more compact.
  • the third fixing portion 66 can be a rotor of a roll motor, which is fixedly mounted on the third rotating shaft 70, and can be opposite to the third rotating shaft 70.
  • the third rotating portion 80 is rotatable; and the third rotating portion 80 can be a stator of the roll motor, which is movably mounted on the third rotating shaft 70 and rotatable about the third rotating shaft 70.
  • the imaging device 200 is coupled to the third rotating portion 80, and the imaging device 200 is rotatable around the third rotating shaft 70 together with the third rotating portion 80.
  • the image pickup apparatus 200 includes a lens, a lens holder, and a housing. The lens is fixed on the lens holder, the lens holder is mounted on the housing, the lens and the lens holder are both received in the housing, and the housing is fixedly mounted on the third rotating portion 80. .
  • the optical axis of the lens coincides with the third rotation axis R.
  • the third rotating portion 80 drives the imaging device 200 to rotate about the third rotation axis R.
  • the camera device 200 includes a lens, a lens mount, and a housing.
  • the lens is fixed to the lens holder, the lens holder is fixedly connected to the third rotating portion 80, and the housing is fixedly mounted to the third fixing portion 66.
  • the lens, the lens holder and the third rotating portion 80 are all housed in the housing.
  • the third rotating portion 80 only drives the lens and the lens holder to rotate, and the housing does not move, so that the work load of the roll motor is small, and power can be used.
  • the smaller size of the roll axis motor can further reduce the volume of the pan/tilt head 100.
  • the transmission line includes a camera transmission line 90 and a motor transmission line.
  • the camera transmission line 90 extends through the mounting arm 32 and the first fixing portion 34 and passes through the first through hole 340 into the connecting arm 44 (see FIG. 4).
  • the camera transmission line 90 continues through the connecting arm 44 and the second fixing portion 46 and passes through the notch 460 to enter the connecting portion 64 and the third fixing portion 66 (see FIG. 4).
  • the camera transmission line 90 passes through the second through hole 620 to enter the imaging device 200, and the camera transmission line 90 is electrically connected to the sensor 210 and the lens driving circuit board 220 of the imaging device 200 for use in
  • the human aircraft receives signals and transmits them to the sensor 210 and the lens drive circuit board 220.
  • the motor transmission line runs through the mounting arm 32 and the first fixing portion 34, and passes through the first through hole 340 into the connecting arm 44.
  • the motor transmission line is electrically connected to the connecting arm 44 and the The motor circuit board 48 in the second fixing portion 46 is described.
  • the motor transmission line is for receiving signals from the unmanned aerial vehicle and transmitting to the motor circuit board 48.
  • the motor circuit board 48 is electrically connected to the pitch axis motor, the heading axis motor, and the roll axis motor to control the pitch axis motor, the heading axis motor, and the roll axis motor.
  • the motor transmission line and the camera transmission line 90 extend through the mounting arm 32 and the first fixing portion 34, and pass through the first through hole 340 into the connecting arm 44, and the camera transmission line 90 continues to penetrate
  • the connecting arm 44 and the second fixing portion 46 pass through the second through hole 460 to enter the connecting portion 64 and the third fixing portion 66, and the camera transmission line 90 passes through the second through hole 620.
  • And entering the camera device 200 such that the motor transmission line and the camera transmission line 90 are all disposed inside the platform 100, which can reduce the space occupied by the transmission line in the platform 100, thereby enabling the The structure of the Yuntai 100 is more compact.
  • the transmission line is a very thin coaxial line. It can be understood that, in some other embodiments, the transmission line may be a flexible printed circuit board (FPCB) cable, or a transmission line of the same material or different materials, such as a single core wire or other type.
  • FPCB flexible printed circuit board
  • the heading shaft motor can be omitted, that is, the second fixing portion 46 and the second rotating portion 62 can be omitted, and the connecting arm 44 is directly fixed to the connecting portion. 64.
  • the connecting arm 44 and the connecting portion 64 may be a unitary structure.
  • the first fixing portion 34 rotates relative to the first rotating shaft 20 and the second connecting member 40 about a first axis of rotation P, and the rotation angle is 0 to 90 degrees.
  • the two connecting members 40 drive the second rotating shaft 50, the third connecting member 60, the third rotating shaft 70, the third rotating portion 80, and the image pickup device 200 to rotate about the first rotation axis P.
  • the second fixing portion 46 rotates relative to the second rotating shaft 50 and the third connecting member 60 about the second rotation axis Y, and the rotation angle is 0 to 90 degrees.
  • the three connecting members 60 drive the third rotating shaft 70, the third rotating portion 80, and the image pickup device 200 to rotate about the second rotation axis Y.
  • the third fixing portion 66 rotates relative to the third rotating shaft 70 and the third rotating portion 80 about the third rotation axis R, and the rotation angle is 0 to 90 degrees.
  • the third rotating portion 80 drives the imaging device 200 to rotate about the third rotation axis R.
  • the mount 10 includes a shock absorbing member 11 and a mounting plate 12 , and the shock absorbing member 11 is mounted on the mounting plate 12 for mounting the photographing assembly 300 to the unmanned aerial vehicle. body.
  • the mounting plate 12 is a damper plate, which is substantially a rectangular frame, and includes a hollow area 120, which can reduce the weight of the platform 100.
  • the mounting plate 12 may be made of an elastic material such as a plastic material or a rubber material or the like.
  • One end of the mounting arm 32 is fixedly mounted to the mounting plate 12 such that the pitch axis motor is mounted to the mounting plate 12 through the mounting arm 32.
  • the shape of the mounting plate 12 is not limited to a rectangular shape, and may be changed according to actual needs.
  • the mounting plate 12 may be a circular plate shape.
  • Each of the shock absorbing members 11 are mounted to the four corners of the mounting plate 12.
  • Each of the shock absorbing members 11 may be made of an elastic material such as a plastic material or a rubber material or the like. It can be understood that, in some other embodiments, the number of the shock absorbing members 11 is not limited to one, as long as at least one is sufficient.
  • Each of the damper members 11 includes a first mounting portion 110, a second mounting portion 112, a first connecting portion 114, and a second connecting portion 116.
  • the first connecting portion 114 and the second connecting portion 116 are connected.
  • Each of the shock absorbing members 11 has a center line O.
  • the first mounting portion 110 is configured to be mounted on a fuselage of the UAV, and the first mounting portion 110 includes a first protruding edge 1100 and a first connecting post 1102.
  • the first protruding edge 1100 and the first connecting post 1102 are both cylindrical, the diameter of the first protruding edge 1100 is larger than the diameter of the first connecting post 1102, and one end of the first connecting post 1102 is connected.
  • the first protruding edge 1100, the other end of the first connecting post 1102 is connected to the first connecting portion 114 and the second connecting portion 116, the central axis of the first protruding edge 1100 and the first
  • the center axis of the connecting post 1102 coincides with the center line O.
  • the first mounting portion 110 is provided with a first through hole 1104 penetrating the first protruding edge 1100 and the first connecting post 1102.
  • the second mounting portion 112 is mounted to the mounting plate 12, and the second mounting portion 112 includes a second ledge 1120 and a second connecting post 1122, the second ledge 1120 and the second The connecting posts 1122 are all cylindrical, the diameter of the second protruding edge 1120 is larger than the diameter of the first connecting post 1122, and one end of the second connecting post 1122 is connected to the second protruding edge 1120, the second The other end of the connecting post 1122 is connected to the first connecting portion 114 and the second connecting portion 116.
  • the central axis of the second protruding edge 1120 and the central axis of the first connecting post 1122 are both opposite to the center line. O coincides.
  • the second connecting post 1122 passes through the mounting plate 12, one side of the mounting plate 12 abuts the second protruding edge 1120, and the other side of the mounting plate 12 abuts the first connecting portion 114 and the second connecting portion 116.
  • the second mounting portion 112 is provided with a second through hole 1124 penetrating the second protruding edge 1120 and the second connecting post 1122.
  • the first through hole 1104 and the second through hole 1124 are disposed to enhance deformation of the first mounting portion 110 and the second mounting portion 112 to absorb vibration, thereby enhancing the reduction of the shock absorbing member 112 Shock effect.
  • first protruding edge 1100, the first connecting post 1102, the second protruding edge 1120, and the second connecting post 1122 are not limited to being cylindrical, as long as The cross-sectional area of the first ledge 1100 is greater than the cross-sectional area of the first connecting post 1102, such that the first ledge 1100 can be fastened to the body of the UAV;
  • the cross-sectional area of the convex edge 1120 is larger than the cross-sectional area of the second connecting post 1122, so that the second protruding edge 1120 can be fastened to the mounting board 12.
  • the three first connecting portions 114 and the three second connecting portions 116 are connected between the first connecting post 1102 and the second connecting post 1122.
  • the first connecting portion 114 and the second connecting portion 116 are alternately disposed, and each of the first connecting portions 114 is located between two adjacent second connecting portions 116, each of the second connections
  • the portion 116 is located between the adjacent two first connecting portions 114.
  • the three first connecting portions 114 are evenly distributed around the center line O, and the three second connecting portions 116 are also evenly distributed around the center line O.
  • Each of the first connecting portions 114 has a curved strip shape, and in each of the first connecting portions 114, a distance between a middle portion and the center line O is the largest, and a width D1 of each of the first connecting portions 114 Gradually decrease from the middle to the ends.
  • Each of the second connecting portions 116 is also a curved strip shape, and in each of the second connecting portions 116, the distance between the middle portion and the center line O is the largest, and the width of each of the second connecting portions 116 is D2 gradually decreases from the middle to the both ends.
  • a distance between a middle portion of each of the first connecting portions 114 and the center line O is greater than a distance between a middle portion of each of the first connecting portions 114 and the center line O.
  • the "middle portion" in the embodiment of the present invention refers to the portion of the first connecting portion 114 or the second connecting portion 116 that has the largest width.
  • each of the first connecting portions 114 has the largest distance from the center line O, and the width D1 of each of the first connecting portions 114 gradually decreases from the middle portion to the both ends, and the first connection can be enhanced.
  • the deformation capability of the portion 114 is similarly that the distance between the middle portion of each of the second connecting portions 116 and the center line O is the largest, and the width D2 of each of the second connecting portions 116 is gradually reduced from the middle portion to the both ends. Small, the deformation capability of the second connecting portion 116 can be enhanced, so that the vibration damping effect of the shock absorbing member 11 can be improved.
  • a distance between a middle portion of each of the first connecting portions 114 and the center line O is greater than a distance between a middle portion of each of the second connecting portions 116 and the center line O, such that the first connecting portion 114 And superimposing the damping effect of the second connecting portion 116, that is, cooperating, thereby increasing the damping and rigidity of the vibration damping member 12, thereby enabling the damping member 11 to have both high frequency and low frequency vibration Damping effect.
  • the number of the first connecting portions 114 may be increased or decreased according to actual needs, as long as it is at least two, and likewise, the number of the second connecting portions 116 may be Increasing or decreasing according to actual needs, as long as at least two; at least one of the first connecting portions 114 is located between two adjacent second connecting portions 116, and likewise, at least one of the second connections
  • the portion 116 is located between two adjacent first connecting portions 114.
  • two adjacent first connecting portions 114 are provided between the two adjacent connecting portions 114, and two phases are provided.
  • One of the first connecting portions 114 is disposed between the adjacent second connecting portions 116.
  • one of the first connecting portion 114 and the second connecting portion 116 is a curved strip shape, and the other is a straight strip shape, for example, each The first connecting portion 114 is in the shape of a curved strip, and each of the second connecting portions 116 is in the form of a straight strip; the first connecting portion 114 and the second connecting portion 116 may both be made of an elastic material.
  • the first mounting portion 110 and the second mounting portion 112 may be made of a rigid material.
  • the shock absorbing member 11 can be a shock absorbing member of other structures, as long as the shock absorbing function can be performed, for example, the first connecting portion 114 and the first portion.
  • the two connecting portions 116 are replaced with elastic balls, and the first mounting portion 110 and the second mounting portion 112 are fixedly mounted on opposite sides of the elastic ball; or the shock absorbing member 11 may be omitted.
  • the mounting plate 12 can be directly mounted to the fuselage of the UAV.
  • the heading axis motor is a brushless motor and has a small diameter, which can improve the pan/tilt head 100. Pitch limit angle.
  • the mounting arm 32 and the first fixing portion 34 are of an integral structure
  • the first rotating portion 42, the connecting arm 44 and the second fixing portion 46 are an integral structure
  • the integral structure of the third fixing portion 66 and the third fixing portion 66 can make the structure of the platform 100 compact, which is advantageous for miniaturization of the platform 100, and the strength of the integrated structure is high, and the fatigue resistance and shock resistance are good, so that the When the imaging device 200 mounted on the gimbal 100 is operated, the shaking or the vibration is reduced, and the control accuracy and stability of the imaging device 200 mounted on the gimbal 100 are improved.
  • the motor circuit board 48 is disposed in the connecting arm 44 and the second fixing portion 46 to make the structure of the platform 100 compact.
  • the motor transmission line and the camera transmission line 90 penetrate through the mounting arm 32 and the first fixing portion 34, and pass through the first through hole 340 into the connecting arm 44, and the camera transmission line 90 continues.
  • the camera transmission line 90 is from the second through hole
  • the 620 passes through the camera device 200, so that the motor transmission line and the camera transmission line 90 are all disposed inside the platform 100, which can reduce the space occupied by the transmission line in the platform 100, thereby The structure of the pan/tilt head 100 is more compact.
  • the heading axis motor is connected between the pitch axis motor and the roll axis motor, that is, the motor of the pan/tilt in the embodiment of the invention is arranged as a pitch axis motor-heading axis motor-roller axis motor, This arrangement makes the structure of the platform 100 more compact.
  • Another embodiment of the present invention further provides an unmanned aerial vehicle comprising a fuselage, a robot arm connected to the fuselage, a power device disposed on the arm, and a photographing assembly 300 provided by the above embodiment.
  • the shooting component 300 is connected to the body.
  • the arm may be fixedly connected to the body, integrally formed or folded relative to the body.
  • the power unit generally includes a motor mounted at one end of the arm away from the fuselage and a propeller coupled to a motor shaft of the motor, the motor shaft rotating to rotate the propeller at a high speed to generate the unmanned aerial vehicle flight Pulling force required.
  • the UAV of the present invention may be a quadrotor unmanned aerial vehicle, a six-rotor aircraft, an eight-rotor aircraft, a fixed-wing aircraft, a model aircraft, and the like.

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  • Microelectronics & Electronic Packaging (AREA)
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Abstract

一种云台、拍摄组件以及无人飞行器。云台（100）包括俯仰轴电机，连接臂（44），航向轴电机，横滚轴电机和传输线（90）；连接臂（44）的一端连接俯仰轴电机，另一端连接航向轴电机；横滚轴电机连接航向轴电机；传输线（90）穿过俯仰轴电机后进入连接臂（44）。本发明可减少传输线在云台内占据的空间，从而使得云台的结构更加紧凑。

Description

云台、拍摄组件及无人飞行器
相关申请的交叉引用
本申请要求申请号为201711227485.8，申请日为2017年11月29日发明的中国专利申请的优先权，以及申请号为201820034698.2，申请日为2018年1月8日的中国专利申请的优先权，其全部内容通过引用结合于本文。
技术领域
本发明涉及飞行器技术领域，尤其涉及一种云台和具有此云台的拍摄组件以及具有此拍摄组件的无人飞行器，还尤其涉及一种减震件及具有此减震件的安装座。
背景技术
无人驾驶飞机，简称无人飞行器(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人飞行器通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人飞行器的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
在实现本发明的过程中，发明人发现现有技术至少存在以下问题：由于云台要求的功能越来越多，导致云台的体积和重量均比较大。
发明内容
为了解决上述技术问题，本发明实施例提供一种结构紧凑的云台和具有此云台的拍摄组件以及具有此拍摄组件的无人飞行器。
在第一方面，本发明实施例解决其技术问题采用以下技术方案：
一种云台，用于搭载摄像装置，所述云台包括：
俯仰轴电机；
航向轴电机；
连接臂，所述连接臂的一端连接所述俯仰轴电机，所述连接臂的另一端连接所述航向轴电机；
横滚轴电机，所述横滚轴电机连接于所述航向轴电机，所述横滚轴电机用于搭载所述摄像装置，所述横滚轴电机用于驱动所述摄像装置绕横滚轴转动；
所述航向轴电机用于驱动所述横滚轴电机和所述摄像装置绕航向轴转动，所述俯仰轴电机用于驱动所述航向轴电机、所述横滚轴电机和所述摄像装置绕俯仰轴转动；以及
传输线，所述传输线穿过所述俯仰轴电机后进入所述连接臂。
可选地，所述俯仰轴电机、所述航向轴电机和所述横滚轴电机中，至少有一个为盘式电机。
可选地，所述俯仰轴电机和/或所述横滚轴电机为盘式电机。
可选地，所述航向轴电机为盘式电机或无刷电机。
可选地，所述俯仰轴电机包括第一转轴，第一固定部和第一转动部；
所述第一固定部和所述第一转动部套设于所述第一转轴，所述第一固定部可相对于所述第一转动部转动。
可选地，所述第一固定部包括第一通孔；
所述传输线穿过所述第一通孔后进入所述连接臂。
可选地，所述第一通孔为圆弧形通孔，其所在的圆形的中心位于所述俯仰轴上，所述第一通孔的弧度为0至180度。
可选地，所述云台包括安装臂，所述安装臂的一端和所述第一固定部连接，所述传输线贯穿所述安装臂和所述第一固定部后，从所述第一通孔穿过。
可选地，所述安装臂和所述第一固定部为一体结构。
可选地，所述航向轴电机包括第二转轴，第二固定部和第二转动部；
所述第二固定部和所述第二转动部套设于所述第二转轴，所述第二固定部可相对于所述第二转动部转动；
所述连接臂连接于所述第一转动部与所述第二固定部之间。
可选地，所述云台还包括设置于所述连接臂和所述第二固定部内的电机电路板，所述电机电路板分别与所述俯仰轴电机、所述航向轴电机以及所述横滚 轴电机电连接；
所述传输线包括电机传输线，所述电机传输线贯穿所述安装臂和所述第一固定部，并从所述第一通孔穿过进入所述连接臂，所述电机传输线电连接所述电机电路板。
可选地，所述连接臂、所述第一转动部与所述第二固定部为一体结构。
可选地，所述第二固定部包括缺口；
所述传输线包括相机传输线，所述相机传输线贯穿所述安装臂和所述第一固定部，从所述第一通孔穿过后，继续贯穿所述连接臂和所述第二固定部，并从所述缺口穿过。
可选地，所述缺口设于所述第二固定部的边缘，且贯通所述第二固定部的边缘。
可选地，所述缺口靠近所述第二转轴设置，且所述缺口呈圆弧形，所述缺口的弧度为0至180度。可选地，所述云台包括连接部；
所述横滚轴电机包括第三转轴，第三固定部和第三转动部；
所述第三固定部和所述第三转动部套设于所述第三转轴，所述第三固定部可相对于所述第三转动部转动，所述第三转动部用于搭载所述摄像装置；
所述连接部连接于所述第二转动部和所述第三固定部之间。
可选地，所述第三固定部包括第二通孔；
所述相机传输线从所述缺口穿过后，进入所述连接部和所述第三固定部，所述相机传输线穿过所述第二通孔，用于电连接所述摄像装置。
可选地，所述连接部、所述第二转动部和所述第三固定部为一体结构。
可选地，所述第二通孔为圆弧形通孔，其所在的圆形的中心位于所述横滚轴上，所述第二通孔的弧度为0至180度。
可选地，所述传输线为极细同轴线。
可选地，所述云台包括安装座，所述安装座安装于所述俯仰轴电机。
可选地，所述安装座包括减震件和安装板，所述安装板安装于所述俯仰轴电机，至少一个所述减震件安装于所述安装板。
可选地，所述减震件具有中心线，所述减震件包括第一安装部，与所述安装板相连的第二安装部，由弹性材料制得的第一连接部以及由弹性材料制得的第二连接部；
所述第一连接部的两端分别连接所述第一安装部和所述第二安装部；
所述第二连接部的两端分别连接所述第一安装部和所述第二安装部；
所述第一连接部和所述第二连接部皆为弯曲条状；
在所述第一连接部中，其中部与所述中心线的距离最大；
在所述第二连接部中，其中部与所述中心线的距离最大，所述第一连接部的中部与所述中心线的距离大于所述第一连接部的中部与所述中心线的距离。
可选地，所述第一连接部的数量为至少两个，所述第二连接部的数量为至少两个；
至少一个所述第一连接部位于两个相邻的所述第二连接部之间；
至少一个所述第二连接部位于两个相邻的所述第一连接部之间。
可选地，所述第一连接部的数量为三个，所述第二连接部的数量为三个，每个所述第一连接部位于相邻的两个所述第二连接部之间，每个所述第二连接部位于相邻的两个所述第一连接部之间。
可选地，所述第一连接部的宽度从其中部向靠近所述第一安装部的方向、以及从其中部向靠近所述第二安装部的方向逐渐减小。
可选地，所述第二连接部的宽度从其中部向靠近所述第一安装部的方向、以及从其中部向靠近所述第二安装部的方向逐渐减小。
可选地，所述第一连接部围绕所述中心线均匀分布；
所述第二连接部围绕所述中心线均匀分布。
可选地，所述第一安装部包括第一凸沿和第一连接柱；
所述第一连接柱的一端连接所述第一凸沿，所述第一连接柱的另一端连接所述第一连接部和所述第二连接部；
所述第一凸沿的横截面积大于所述第一连接柱的横截面积。
可选地，所述第一安装部设有第一通孔，所述第一通孔贯穿所述第一凸沿和所述第一连接柱。
可选地，所述第一凸沿和所述第一连接柱皆为圆柱形，所述第一凸沿的直径大于所述第一连接柱的直径，所述第一凸沿的中轴线与所述第一连接柱的中轴线重合。
可选地，所述第二安装部包括第二凸沿和第二连接柱；
所述第二连接柱的一端连接所述第二凸沿，所述第二连接柱的另一端连接 所述第一连接部和所述第二连接部；
所述第二凸沿的横截面积大于所述第一连接柱的横截面积。
可选地，所述第二安装部设有第二通孔，所述第二通孔贯穿所述第二凸沿和所述第二连接柱。
可选地，所述第二凸沿和所述第二连接柱皆为圆柱形，所述第二凸沿的直径大于所述第一连接柱的直径，所述第二凸沿的中轴线与所述第一连接柱的中轴线重合。
在第二方面，本发明实施例解决其技术问题采用以下技术方案：
一种拍摄组件，包括摄像装置和以上所述的云台，所述云台中的所述横滚轴电机搭载所述摄像装置。
在第三方面，本发明实施例解决其技术问题采用以下技术方案：
一种无人飞行器，包括机身、与所述机身相连的机臂和设于所述机臂的动力装置，所述无人飞行器还包括以上所述的拍摄组件，所述拍摄组件与所述机身相连。
与现有技术相比较，在本发明实施例的所述云台，所述拍摄组件以及所述无人飞行器中，所述传输线穿过所述俯仰轴电机后进入所述连接臂，可减少所述传输线在所述云台内占据的空间，从而使得所述云台的结构更加紧凑。另外，所述航向轴电机为无刷电机，可提高所述云台的俯仰极限角度。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的一种拍摄组件的立体图；
图2为图1所示的拍摄组件的另一角度的立体图；
图3为图1所示的拍摄组件的又一角度的立体图；
图4为图1所示的拍摄组件的立体图，其中部分元件被省略；
图5和图6分别为图1所示的拍摄组件的局部分解图，其中部分元件被省略；
图7为图1所示的拍摄组件的相机传输线、电机电路板、镜头驱动电路板及传感器的立体图；
图8为图1所示的拍摄组件的安装座的立体图；
图9为图8所示的安装座的减震件的立体图；
图10为图9所示的减震件的主视图；
图11为图9所示的减震件的仰视图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，本发明其中一实施例提供的一种拍摄组件300包括云台100和摄像装置200，所述云台100搭载所述摄像装置200，以实现所述摄像装置200的固定、或随意调节所述摄像装置200的姿态(例如，改变所述摄像装置200的高度、倾角和/或方向)以及使所述摄像装置200稳定保持在设定的姿态上。所述摄像装置200可以为图像获取装置，例如相机、摄影机、镜头等，或为其它具有拍摄功能的便携式电子装置，例如手机、平板电脑等，可以理解的是， 也可以为传感器等。所述云台100可作为摄影、照相、监测、采样的辅助装置，其可应用在但不限于，手持拍摄设备、无人飞行器、无人船或者无人车等装置中。例如，所述云台100可搭载所述图像获取装置，并安装于无人飞行器上，以进行航拍工作。或者，所述云台100也可搭载所述摄像装置200并安装于一手柄上作为手持式拍摄设备进行拍照、录像等工作，并允许用户手动操作所述云台100来控制所述摄像装置200的拍摄角度。
以下将以所述摄像装置200为摄像机为例，并且所述云台100应用于无人飞行器来详细阐述本发明。
请一并参阅图2至图4，所述云台100包括安装座10，第一转轴20，第一连接件30，第二连接件40，第二转轴50，第三连接件60，第三转轴70，第四连接件80以及传输线。所述安装座10用于将所述云台100安装于无人飞行器。所述第一转轴20的转动轴线与俯仰轴重合。所述第一连接件30和所述第二连接件40两者皆套设于所述第一转轴20，所述第一连接件30可绕所述第一转轴20相对于所述第二连接件40转动。所述第一转轴20沿俯仰轴设置，其具有第一转动轴线P，所述第一转动轴线P与俯仰轴重合。所述第一转轴20可由钢材料制得。所述第二转轴50的转动轴线与航向轴重合。所述第二转轴50沿航向轴设置，其具有第二转动轴线Y，所述第二转动轴线Y与航向轴重合。所述第二转轴50可由钢材料制得。
所述第二连接件40与所述第三连接件60两者皆套设于所述第二转轴50，所述第二连接件40可绕所述第二转轴50相对于所述第三连接件60转动。所述第三转轴70的转动轴线与横滚轴重合。所述第三连接件60与所述第四连接件80两者皆套设于所述第三转轴70，所述第三连接件60可绕所述第三转轴70相对于所述第四连接件80转动。所述第四连接件80用于搭载所述摄像装置200。
在本发明的一实施例中，所述第一连接件30包括安装臂32和与所述安装臂32连接的第一固定部34。所述安装臂32和所述第一固定部34为一体结构，也即所述安装臂32和所述第一固定部34为一体成型制得，所述安装臂32和所述第一固定部34为一体结构可使得所述云台100结构紧凑，同时所述安装臂32和所述第一固定部34形成的一体结构的强度高，抗疲劳、抗震性能佳，使得所述云台100所搭载的摄像装置200工作时，晃动或震动减少，提高了所述云台100对其所搭载的摄像装置200的控制精度和稳定性。
所述安装臂32的一端固定安装于所述安装座10，另一端连接所述第一固定部34。所述安装臂32设置有所述传输线的走线通道。
所述第一固定部34的外轮廓大致为圆盘状，其套设于所述第一转轴20。所述第一固定部34具有第一通孔340。所述第一通孔340为圆弧形通孔，所述第一通孔340靠近所述第一转轴20设置，且所述第一通孔340所在的圆形的中心位于所述第一转动轴线P上。所述第一通孔340的弧度可为0至180度，用于允许所述传输线穿过，在所述第一固定部34相对于所述第二连接件40转动时，所述传输线在所述第二连接件40的带动下，可在所述第一通孔340内转动。在本实施例中，所述第一通孔340的弧度为90度。
所述第二连接件40包括第一转动部42，连接臂44以及第二固定部46。所述连接臂44连接于所述第一转动部42和第二固定部46之间。所述第一转动部42，连接臂44以及第二固定部46为一体结构，也即所述第一转动部42，连接臂44以及第二固定部46为一体成型制得。所述第一转动部42，连接臂44以及第二固定部46为一体结构，可使得所述云台100结构紧凑，同时所述第一转动部42，连接臂44以及第二固定部46形成的一体结构的强度高，抗疲劳、抗震性能佳，使得所述云台100所搭载的摄像装置200工作时，晃动或震动减少，提高了所述云台100对其所搭载的摄像装置200的控制精度和稳定性。
所述第一转动部42的外轮廓为圆盘状，套设于所述第一转轴20，所述第一转动部42可绕所述第一转动轴线P相对于所述第一固定部34转动。所述第一转动部42，第一转轴20以及第一固定部34构成俯仰轴电机。在本实施例中，所述俯仰轴电机为盘式电机，所述第一固定部34为俯仰轴电机的定子，其活动安装于所述第一转轴20。所述第一固定部34包括支座，轴承、线圈以及电路板等，所述支座为圆盘状，所述轴承、线圈以及电路板等安装于所述圆盘状的支座。所述第一转动部42为俯仰轴电机的转子，其固定安装于所述第一转轴20，可与所述第一转轴20一同转动。所述第一转动部42包括支板和安装于所述支板的永磁体等，所述支板为圆盘状，与所述支座平行，所述支板固定安装于所述第一转轴20的一端。所述俯仰轴电机为盘式电机，具有体积小、重量轻、结构紧凑、效率高的优点，可使得所述云台100的结构更紧凑。
可以理解的是，在一些其它实施中，所述第一固定部34可为俯仰轴电机的转子，其固定安装于所述第一转轴20，可与所述第一转轴20一同相对于所述第 一转动部42转动；而所述第一转动部42可为俯仰轴电机的定子，其活动安装于所述第一转轴20。
所述连接臂44的一端固定安装于所述第一转动部42，另一端固定安装于所述第二固定部46。所述第二连接件40大致为“L”型，所述连接臂44垂直于所述第一转动部42，所述连接臂44和所述第二固定部46位于同一平面。
所述连接臂44和所述第二固定部46设有传输线通道，可允许所述传输线穿过。所述连接臂44和所述第二固定部46内安装有电机电路板48，所述电机电路板48上安装有微控制器等电子器件。将所述电机电路板48设置于所述连接臂44和所述第二固定部46内，可使得所述云台100的结构紧凑，减小了所述云台100的体积。
所述第二固定部46的外轮廓为圆盘状，其套设于所述第二转轴50。所述第二固定部46设有缺口460，用于允许所述传输线通过。在本发明的一实施例中，所述缺口460贯通所述第二固定部46的边缘。在其他可能的实施例中，所述缺口460还可以设置在靠近所述第二转轴50的位置，且缺口460可以呈弧形，弧度可为0至180度。
可以理解的是，在一些其它实施例中，所述第二连接件40不限于为“L”型，也可为其它形状，例如，所述第二连接件40可为弧形。
所述第三连接件60包括第二转动部62，连接部64以及第三固定部66。所述连接部64连接于所述第二转动部62和所述第三固定部66之间。所述第二转动部62，连接部64以及第三固定部66为一体结构，也即所述第二转动部62，连接部64以及第三固定部66为一体成型制得，所述第二转动部62，连接部64以及第三固定部66为一体结构，可使得所述云台100结构紧凑，同时所述第二转动部62，连接部64以及第三固定部66形成的一体结构的强度高，抗疲劳、抗震性能佳，使得所述云台100所搭载的摄像装置200工作时，晃动或震动减少，提高了所述云台100对其所搭载的摄像装置200的控制精度和稳定性。
所述第二转动部62的外轮廓为圆盘状，其套设于所述第二转轴50，所述第二固定部46可绕所述第二转动轴线Y相对于所述第二转动部62转动。所述第二转动部62，第二转轴50以及第二固定部46构成航向轴电机。
请一并参阅图5和图6，在本实施例中，所述航向轴电机为无刷电机，所述第二固定部46为航向轴电机的定子，其活动安装于所述第二转轴50，可绕所述 第二转轴50转动。所述第二固定部46包括支座，轴承、线圈绕组以及电路板等，所述支座为圆盘状，所述轴承、线圈绕组以及电路板等安装于所述圆盘状的支座，所述第二转轴50穿过所述第二固定部46的轴承。所述第二转动部62为航向轴电机的转子，其固定安装于所述第二转轴50，可与所述第二转轴50一同相对于所述第二固定部46转动。所述第二转动部62包括套环622，壳体624和磁性元件626。所述套环622为圆环状,其固定安装于所述连接部64的一端。所述壳体624为圆柱形，其收容于所述套环622内，所述壳体624设有安装孔6240。所述磁性元件626为磁环，其气隙磁场为径向分布，所述磁性元件626收容于所述壳体624内，并且所述磁性元件626固定安装于所述壳体624内。所述磁性元件626围绕所述第二固定部46的线圈绕组，所述第二转轴50的一端插入所述安装孔6240，并且所述第二转轴50的一端固定安装于所述安装孔6240内。所述航向轴电机工作时，所述第二固定部46的线圈绕组通电，在所述磁性元件626产生的磁场作用下，所述转轴50，所述套环622，所述壳体624以及所述磁性元件626一同相对于所述第二固定部46转动。
在其他可能的实施例中，所述航向轴电机也可以是盘式电机。与盘式电机相比较，无刷电机的直径较小，所述航向轴电机采用无刷电机，可提高所述云台100的俯仰极限角度。
可以理解的是，在一些其它实施中，所述第二固定部46可为航向轴电机的转子，其固定安装于所述第二转轴50，可与所述第二转轴50一同相对于所述第二转动部62转动；而所述第二转动部62可为航向轴电机的定子，其活动安装于所述第二转轴50，可绕所述第二转轴50转动。
所述连接部64的一端固定安装于所述第二转动部62，另一端固定安装于所述第三固定部66。所述第三连接件60大致为“L”型，所述连接部64垂直于所述第二转动部62，所述连接部64和所述第三固定部66位于同一平面。
所述连接部64和所述第三固定部66设有传输线通道，可允许所述传输线穿过。
可以理解的是，在一些其它实施例中，所述第三连接件60不限于为“L”型，也可为其它形状，例如，所述第三连接件60可为弧形。
所述第三转轴70沿横滚轴设置，其具有第三转动轴线R，所述第三转动轴线R与横滚轴重合。所述第三转动轴线R垂直于所述第二转动轴线Y和第一转 动轴线P，所述第二转动轴线Y垂直于所述第一转动轴线P。所述第三转轴70可由钢材料制得。
所述第三固定部66的外轮廓为圆盘状，其套设于所述第三转轴70。所述第三固定部66具有第二通孔620。所述第二通孔620为圆弧形通孔，所述第二通孔620靠近所述第三转轴70设置，且所述第二通孔620所在的圆形的中心位于所述第三转动轴线R上，所述第二通孔620的弧度为0至180度，用于允许所述传输线通过。在本实施例中，所述第二通孔620的弧度为90度。
所述第四连接件80的外轮廓为圆盘状，其套设于所述第三转轴70，所述第三固定部66可绕所述第三转动轴线R相对于所述第四连接件80转动。所述第四连接件80，第三转轴70以及第三固定部66构成横滚轴电机，也即所述第四连接件80为第三转动部。在本实施例中，所述横滚轴电机为盘式电机，所述第三固定部66为横滚轴电机的定子，其活动安装于所述第三转轴70，可绕所述第三转轴70转动。所述第三固定部66包括支座，轴承、线圈以及电路板等，所述支座为圆盘状，所述轴承、线圈以及电路板等安装于所述圆盘状的支座。所述第三转动部80为横滚轴电机的转子，其固定安装于所述第三转轴70，可与所述第三转轴70一同相对于所述第三固定部66转动。所述第三转动部80包括支板和安装于所述支板的永磁体等，所述支板为圆盘状，与所述支座平行，所述第三转轴70的一端固定安装于所述支座。所述横滚轴电机为盘式电机，具有体积小、重量轻、结构紧凑、效率高的优点，可使得所述云台100的结构更紧凑。在所述第三固定部66绕所述第三转轴70相对于所述第三转动部80转动时，所述传输线在所述第三转动部80的带动下，可在所述第二通孔620内转动。
可以理解的是，在一些其它实施中，所述第三固定部66可为横滚轴电机的转子，其固定安装于所述第三转轴70，可与所述第三转轴70一同相对于所述第三转动部80转动；而所述第三转动部80可为横滚轴电机的定子，其活动安装于所述第三转轴70，可绕所述第三转轴70转动。
所述摄像装置200连接所述第三转动部80，所述摄像装置200可与所述第三转动部80一同绕所述第三转轴70转动。所述摄像装置200包括镜头，镜头座以及壳体。所述镜头固定于所述镜头座上，所述镜头座安装于所述壳体，所述镜头和镜头座皆收容于所述壳体，所述壳体固定安装于所述第三转动部80。所述镜头的光轴与所述第三转动轴线R重合，所述横滚轴电机工作时，所述第 三转动部80带动所述摄像装置200绕所述第三转动轴线R转动。
可以理解的是，在一些其它实施例中，所述摄像装置200包括镜头，镜头座以及壳体。所述镜头固定于所述镜头座上，所述镜头座与所述第三转动部80固定连接，所述壳体固定安装于所述第三固定部66。所述镜头，镜头座以及第三转动部80皆收容于所述壳体内。所述横滚轴电机工作时，所述第三转动部80仅带动所述镜头和镜头座转动，而所述壳体不动，使得所述横滚轴电机的工作负载小，可采用功率和尺寸较小的所述横滚轴电机，可进一步减小所述云台100的体积。
请一并参阅图4，图5和图7，所述传输线包括相机传输线90和电机传输线。所述相机传输线90贯穿于所述安装臂32和第一固定部34，并从所述第一通孔340穿过进入所述连接臂44(见图4)。
所述相机传输线90继续贯穿所述连接臂44和第二固定部46，并从所述缺口460穿过而进入所述连接部64和第三固定部66(见图4)。所述相机传输线90从所述第二通孔620穿过而进入所述摄像装置200，所述相机传输线90与所述摄像装置200的传感器210和镜头驱动电路板220电连接，用于从无人飞行器接收信号并传输至所述传感器210和镜头驱动电路板220。
所述电机传输线贯穿于所述安装臂32和第一固定部34，并从所述第一通孔340穿过进入所述连接臂44，所述电机传输线电连接位于所述连接臂44和所述第二固定部46内的所述电机电路板48。所述电机传输线用于从无人飞行器接收信号并传输至所述电机电路板48。所述电机电路板48与俯仰轴电机、航向轴电机、横滚轴电机电连接，以控制所述俯仰轴电机、航向轴电机、横滚轴电机工作。
所述电机传输线和所述相机传输线90贯穿于所述安装臂32和第一固定部34，并从所述第一通孔340穿过进入所述连接臂44，所述相机传输线90继续贯穿所述连接臂44和第二固定部46，并从所述第二通孔460穿过而进入所述连接部64和第三固定部66，所述相机传输线90从所述第二通孔620穿过而进入所述摄像装置200，使得所述电机传输线和所述相机传输线90全部设置于所述云台100内部，可减少所述传输线在所述云台100内占据的空间，从而使得所述云台100的结构更加紧凑。
在本实施例中，所述传输线为极细同轴线。可以理解的是，在一些其它实 施例中，所述传输线可为柔性电路板(Flexible Printed Circuit Board，FPCB)排线，也可以采用相同材质或不同材质的传输线，如采用单芯线或者其它类型的信号线以及多种信号线的组合。
可以理解的是，在一些其它实施例中，所述航向轴电机可省略，也即所述第二固定部46和第二转动部62可省略，所述连接臂44直接固定于所述连接部64，所述连接臂44和所述连接部64可为一体结构。
所述俯仰轴电机工作时，所述第一固定部34绕第一转动轴线P相对于所述第一转轴20与所述第二连接件40转动，转动角度为0至90度，所述第二连接件40带动所述第二转轴50、第三连接件60、第三转轴70、第三转动部80以及摄像装置200绕第一转动轴线P转动。
所述航向轴电机工作时，所述第二固定部46绕第二转动轴线Y相对于所述第二转轴50与所述第三连接件60转动，转动角度为0至90度，所述第三连接件60带动所述第三转轴70、第三转动部80以及摄像装置200绕第二转动轴线Y转动。
所述横滚轴电机工作时，所述第三固定部66绕第三转动轴线R相对于所述第三转轴70与所述第三转动部80转动，转动角度为0至90度，所述第三转动部80带动所述摄像装置200绕第三转动轴线R转动。
请参阅图8，所述安装座10包括减震件11和安装板12，所述减震件11安装于所述安装板12，用于将所述拍摄组件300安装于所述无人飞行器的机身。
所述安装板12为一减震板，大致为矩形框架，包括镂空区域120，可减轻所述云台100的重量。所述安装板12可由弹性材料制得，例如，塑胶材料或橡胶材料等。所述安装臂32的一端固定安装于所述安装板12，使得所述俯仰轴电机通过所述安装臂32安装于所述安装板12。
可以理解的是，在一些其它实施例中，所述安装板12的形状不限于为矩形，可根据实际需求而改变，例如，所述安装板12可为圆形板状。
四个所述减震件11安装于所述安装板12的四个角。每个所述减震件11可由弹性材料制得，例如，塑胶材料或橡胶材料等。可以理解的是，在一些其它实施例中，所述减震件11的数量不限为一个，只要至少一个即可。
每个所述减震件11包括第一安装部110，第二安装部112，第一连接部114以及第二连接部116，所述第一连接部114和所述第二连接部116皆连接于所述 第一安装部110和所述第二安装部112之间。每个所述减震件11具有中心线O。
请一并参阅图9至图11，所述第一安装部110用于安装于所述无人飞行器的机身，所述第一安装部110包括第一凸沿1100和第一连接柱1102，所述第一凸沿1100和所述第一连接柱1102皆为圆柱形，所述第一凸沿1100的直径大于所述第一连接柱1102的直径，所述第一连接柱1102的一端连接所述第一凸沿1100，所述第一连接柱1102的另一端连接所述第一连接部114和所述第二连接部116，所述第一凸沿1100的中轴线与所述第一连接柱1102的中轴线皆与所述中心线O重合。所述第一安装部110设有第一通孔1104，所述第一通孔1104贯穿所述第一凸沿1100和所述第一连接柱1102。
相似地，所述第二安装部112安装于所述安装板12，所述第二安装部112包括第二凸沿1120和第二连接柱1122，所述第二凸沿1120和所述第二连接柱1122皆为圆柱形，所述第二凸沿1120的直径大于所述第一连接柱1122的直径，所述第二连接柱1122的一端连接所述第二凸沿1120，所述第二连接柱1122的另一端连接所述第一连接部114和所述第二连接部116，所述第二凸沿1120的中轴线与所述第一连接柱1122的中轴线皆与所述中心线O重合。所述第二连接柱1122穿过所述安装板12，所述安装板12的一侧抵靠所述第二凸沿1120，所述安装板12的另一侧抵靠所述第一连接部114和所述第二连接部116。所述第二安装部112设有第二通孔1124，所述第二通孔1124贯穿所述第二凸沿1120和所述第二连接柱1122。
设置所述第一通孔1104和所述第二通孔1124，可增强所述第一安装部110和所述第二安装部112的形变来吸收振动，从而增强所述减震件112的减震效果。
可以理解的是，在一些其它实施例中，所述第一凸沿1100，所述第一连接柱1102，所述第二凸沿1120以及所述第二连接柱1122不限于为圆柱形，只要所述第一凸沿1100的横截面积大于所述第一连接柱1102的横截面积，使得所述第一凸沿1100能扣于所述无人飞行器的机身即可；所述第二凸沿1120的横截面积大于所述第二连接柱1122的横截面积，使得所述第二凸沿1120能扣于所述安装板12即可。
三个所述第一连接部114和三个所述第二连接部116都连接于所述第一连接柱1102和所述第二连接柱1122之间。所述第一连接部114和所述第二连接部 116交替设置，每个所述第一连接部114位于相邻的两个所述第二连接部116之间，每个所述第二连接部116位于相邻的两个所述第一连接部114之间。三个所述第一连接部114围绕所述中心线O均匀分布，三个所述第二连接部116也围绕所述中心线O均匀分布。每个所述第一连接部114为弯曲条状，在每个所述第一连接部114中，其中部与所述中心线O的距离最大，每个所述第一连接部114的宽度D1从其中部向两端逐渐减小。每个所述第二连接部116也为弯曲条状，在每个所述第二连接部116中，其中部与所述中心线O的距离最大，每个所述第二连接部116的宽度D2从其中部向两端逐渐减小。每个所述第一连接部114的中部与所述中心线O的距离大于每个所述第一连接部114的中部与所述中心线O的距离。本发明实施例所述“中部”是指所述第一连接部114或所述第二连接部116中宽度最大的部分。
每个所述第一连接部114的中部与所述中心线O的距离最大，每个所述第一连接部114的宽度D1从其中部向两端逐渐减小，可增强所述第一连接部114的形变能力，类似地，每个所述第二连接部116的中部与所述中心线O的距离最大，每个所述第二连接部116的宽度D2从其中部向两端逐渐减小，可增强所述第二连接部116的形变能力，从而可提高所述减震件11的减振效果。
另外，每个所述第一连接部114的中部与所述中心线O的距离大于每个所述第二连接部116的中部与所述中心线O的距离，使得所述第一连接部114和所述第二连接部116的减振效果叠加，即共同起作用，从而增加了所述减振件12的阻尼和刚性，进而使所述减震件11能够对高频和低频振动均有减振效果。
可以理解的是，在一些其它实施例中，所述第一连接部114的数量可以根据实际需要增加或减少，只要为至少两个即可，同样地，所述第二连接部116的数量可以根据实际需要增加或减少，只要为至少两个即可；至少一个所述第一连接部114位于两个相邻的所述第二连接部116之间，同样地，至少一个所述第二连接部116位于两个相邻的所述第一连接部114之间，例如，两个相邻的所述第一连接部114之间设有两个所述第二连接部116，而两个相邻的所述第二连接部116之间设有一个所述第一连接部114。
可以理解的是，在一些其它实施例中，所述第一连接部114和所述第二连接部116中的一种为弯曲条状，而另一种为直线条状，例如，每个所述第一连接部114为弯曲条状，而每个所述第二连接部116为直线条状；所述第一连接 部114和所述第二连接部116可都由弹性材料制得，所述第一安装部110和所述第二安装部112可由刚性材料制得。
可以理解的是，在一些其它实施例中，所述减震件11可为其它结构的减震元件，只要能起到减震作用即可，例如，所述第一连接部114和所述第二连接部116被替换成弹性球体，所述第一安装部110和所述第二安装部112固定安装于所述弹性球体的相对两侧；或者，所述减震件11可以省略，所述安装板12可直接安装于所述无人飞行器的机身。
与现有技术相比较，在本发明实施例的所述云台100和所述拍摄组件300中，所述航向轴电机为无刷电机，具有较小的直径，可提高所述云台100的俯仰极限角度。
另外，所述安装臂32和所述第一固定部34为一体结构，所述第一转动部42，连接臂44以及第二固定部46为一体结构，所述第二转动部62，连接部64以及第三固定部66为一体结构，可使得所述云台100的结构紧凑，有利于所述云台100的小型化，而且一体结构的强度高，抗疲劳、抗震性能佳，使得所述云台100所搭载的摄像装置200工作时，晃动或震动减少，提高了所述云台100对其所搭载的摄像装置200的控制精度和稳定性。
而且，所述电机电路板48设置于所述连接臂44和所述第二固定部46内，可使得所述云台100的结构紧凑。
同时，所述电机传输线和所述相机传输线90贯穿于所述安装臂32和第一固定部34，并从所述第一通孔340穿过进入所述连接臂44，所述相机传输线90继续贯穿所述连接臂44和第二固定部46，并从所述第二通孔460穿过而进入所述连接部64和第三固定部66，所述相机传输线90从所述第二通孔620穿过而进入所述摄像装置200，使得所述电机传输线和所述相机传输线90全部设置于所述云台100内部，可减少所述传输线在所述云台100内占据的空间，从而使得所述云台100的结构更加紧凑。
最后，所述航向轴电机连接于所述俯仰轴电机和所述横滚轴电机之间，即本发明实施例中的云台的电机布置为俯仰轴电机-航向轴电机-横滚轴电机，这种布置方式可使得所述云台100的结构更紧凑。
本发明另一实施例还提供一种无人飞行器，包括机身、与所述机身相连的机臂、设于所述机臂上的动力装置以及上述实施例提供的拍摄组件300。拍摄组 件300与机身相连。其中，所述机臂可以与所述机身固定连接、一体成型或者可相对于所述机身折叠。动力装置通常包括安装于所述机臂远离所述机身一端的电机和与所述电机的电机轴相连的螺旋桨，所述电机轴转动带动所述螺旋桨高速旋转以产生所述无人飞行器飞行所需的拉升力。本发明的无人飞行器可以是四旋翼无人飞行器、六旋翼飞行器、八旋翼飞行器、固定翼飞行器、航模等。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (36)

  1. 一种云台(100)，用于搭载摄像装置(200)，其特征在于，所述云台(100)包括：
    俯仰轴电机；
    航向轴电机；
    连接臂(44)，所述连接臂(44)的一端连接所述俯仰轴电机，所述连接臂(44)的另一端连接所述航向轴电机；
    横滚轴电机，所述横滚轴电机连接于所述航向轴电机，所述横滚轴电机用于搭载所述摄像装置(200)，所述横滚轴电机用于驱动所述摄像装置(200)绕横滚轴转动；
    所述航向轴电机用于驱动所述横滚轴电机和所述摄像装置(200)绕航向轴转动，所述俯仰轴电机用于驱动所述航向轴电机、所述横滚轴电机和所述摄像装置(200)绕俯仰轴转动；以及
    传输线，所述传输线穿过所述俯仰轴电机后进入所述连接臂(44)。
  2. 根据权利要求1所述的云台(100)，其特征在于，所述俯仰轴电机、所述航向轴电机和所述横滚轴电机中，至少有一个为盘式电机。
  3. 根据权利要求2所述的云台(100)，其特征在于，所述俯仰轴电机和/或所述横滚轴电机为盘式电机。
  4. 根据权利要求2或3所述的云台(100)，其特征在于，所述航向轴电机为盘式电机或无刷电机。
  5. 根据权利要求1-4中任一项所述的云台(100)，其特征在于，所述俯仰轴电机包括第一转轴(20)，第一固定部(34)和第一转动部(42)；
    所述第一固定部(34)和所述第一转动部(42)套设于所述第一转轴(20)，所述第一固定部(34)可相对于所述第一转动部(42)转动。
  6. 根据权利要求5所述的云台(100)，其特征在于，
    所述第一固定部(34)包括第一通孔(340)；
    所述传输线穿过所述第一通孔(340)后进入所述连接臂(44)。
  7. 根据权利要求6所述的云台(100)，其特征在于，所述第一通孔(340)为圆弧形通孔，其所在的圆形的中心位于所述俯仰轴上，所述第一通孔(340)的弧度为0至180度。
  8. 根据权利要求6或7所述的云台(100)，其特征在于，所述云台(100)还包括安装臂(32)，所述安装臂(32)的一端和所述第一固定部(34)连接，所述传输线贯穿所述安装臂(32)和所述第一固定部(34)后，从所述第一通孔(340)穿过。
  9. 根据权利要求8所述的云台(100)，其特征在于，所述安装臂(32)和所述第一固定部(34)为一体结构。
  10. 根据权利要求8或9所述的云台(100)，其特征在于，所述航向轴电机包括第二转轴(50)，第二固定部(46)和第二转动部(62)；
    所述第二固定部(46)和所述第二转动部(62)套设于所述第二转轴(50)，所述第二固定部(46)可相对于所述第二转动部(62)转动；
    所述连接臂(44)连接于所述第一转动部(42)与所述第二固定部(46)之间。
  11. 根据权利要求10所述的云台(100)，其特征在于，所述云台(100)还包括设置于所述连接臂(44)和所述第二固定部(46)内的电机电路板(48)，所述电机电路板(48)分别与所述俯仰轴电机、所述航向轴电机以及所述横滚轴电机电连接；
    所述传输线包括电机传输线，所述电机传输线贯穿所述安装臂(32)和所述第一固定部(34)，并从所述第一通孔(340)穿过进入所述连接臂(44)，所述电机传输线电连接所述电机电路板(48)。
  12. 根据权利要求10或11所述的云台(100)，其特征在于，所述连接臂(44)、所述第一转动部(42)与所述第二固定部(46)为一体结构。
  13. 根据权利要求10至12中任一项所述的云台(100)，其特征在于，所述第二固定部(46)包括缺口(460)；
    所述传输线包括相机传输线(90)，所述相机传输线(90)贯穿所述安装臂(32)和所述第一固定部(34)，从所述第一通孔(340)穿过后，继续贯穿所述连接臂(44)和所述第二固定部(46)，并从所述缺口(460)穿过。
  14. 根据权利要求13所述的云台(100)，其特征在于，所述缺口(460)设于所述第二固定部(46)的边缘，且贯通所述第二固定部(46)的边缘。
  15. 根据权利要求13所述的云台(100)，其特征在于，所述缺口(460)靠近所述第二转轴(50)设置，且所述缺口(460)呈圆弧形，所述缺口(460)的弧度为0至180度。
  16. 根据权利要求13-15中任一项所述的云台(100)，其特征在于，包括连接部(64)；
    所述横滚轴电机包括第三转轴(70)，第三固定部(66)和第三转动部(80)；
    所述第三固定部(66)和所述第三转动部(80)套设于所述第三转轴(70)，所述第三固定部(66)可相对于所述第三转动部(80)转动，所述第三转动部(80)用于搭载所述摄像装置(200)；
    所述连接部(64)连接于所述第二转动部(62)和所述第三固定部(66)之间。
  17. 根据权利要求16所述的云台(100)，其特征在于，所述第三固定部(66)包括第二通孔(620)；
    所述相机传输线(90)从所述缺口(460)穿过后，进入所述连接部(64)和所述第三固定部(66)，所述相机传输线(90)穿过所述第二通孔(620)，用 于电连接所述摄像装置(200)。
  18. 根据权利要求16或17所述的云台(100)，其特征在于，所述连接部(64)、所述第二转动部(62)和所述第三固定部(66)为一体结构。
  19. 根据权利要求17或18所述的云台(100)，其特征在于，所述第二通孔(620)为圆弧形通孔，其所在的圆形的中心位于所述横滚轴上，所述第二通孔(620)的弧度为0至180度。
  20. 根据权利要求1至19中任一项所述的云台(100)，其特征在于，所述传输线为极细同轴线。
  21. 根据权利要求1至20中任一项所述的云台(100)，其特征在于，所述云台(100)还包括安装座(10)，所述安装座(10)安装于所述俯仰轴电机。
  22. 根据权利要求21所述的云台(100)，其特征在于，所述安装座(10)包括减震件(11)和安装板(12)，所述安装板(12)安装于所述俯仰轴电机，至少一个所述减震件(11)安装于所述安装板(12)。
  23. 根据权利要求22所述的云台(100)，其特征在于，所述减震件(11)具有中心线(O)，所述减震件(11)包括第一安装部(110)，与所述安装板(12)相连的第二安装部(112)，由弹性材料制得的第一连接部(114)以及由弹性材料制得的第二连接部(116)；
    所述第一连接部(114)的两端分别连接所述第一安装部(110)和所述第二安装部(112)；
    所述第二连接部(116)的两端分别连接所述第一安装部(110)和所述第二安装部(112)；
    所述第一连接部(114)和所述第二连接部(116)皆为弯曲条状；
    在所述第一连接部(114)中，其中部与所述中心线(O)的距离最大；
    在所述第二连接部(116)中，其中部与所述中心线(O)的距离最大，所 述第一连接部(114)的中部与所述中心线(O)的距离大于所述第一连接部(114)的中部与所述中心线(O)的距离。
  24. 根据权利要求23所述的云台(100)，其特征在于，所述第一连接部(114)的数量为至少两个，所述第二连接部(116)的数量为至少两个；
    至少一个所述第一连接部(114)位于两个相邻的所述第二连接部(116)之间；
    至少一个所述第二连接部(116)位于两个相邻的所述第一连接部(114)之间。
  25. 根据权利要求22或24所述的云台(100)，其特征在于，所述第一连接部(114)的数量为三个，所述第二连接部(116)的数量为三个，每个所述第一连接部(114)位于相邻的两个所述第二连接部(116)之间，每个所述第二连接部(116)位于相邻的两个所述第一连接部(114)之间。
  26. 根据权利要求23至25中任一项所述的云台(100)，其特征在于，所述第一连接部(114)的宽度(D1)从其中部向靠近所述第一安装部(110)的方向、以及从其中部向靠近所述第二安装部(112)的方向逐渐减小。
  27. 根据权利要求23至26中任一项所述的云台(100)，其特征在于，所述第二连接部(116)的宽度(D2)从其中部向靠近所述第一安装部(110)的方向、以及从其中部向靠近所述第二安装部(112)的方向逐渐减小。
  28. 根据权利要求24至27中任一项所述的云台(100)，其特征在于，
    所述第一连接部(114)围绕所述中心线(O)均匀分布；
    所述第二连接部(116)围绕所述中心线(O)均匀分布。
  29. 根据权利要求23至28中任一项所述的云台(100)，其特征在于，所述第一安装部(110)包括第一凸沿(1100)和第一连接柱(1102)；
    所述第一连接柱(1102)的一端连接所述第一凸沿(1100)，所述第一连接 柱(1102)的另一端连接所述第一连接部(114)和所述第二连接部(116)；
    所述第一凸沿(1100)的横截面积大于所述第一连接柱(1102)的横截面积。
  30. 根据权利要求29所述的云台(100)，其特征在于，所述第一安装部(110)设有第一通孔(1104)，所述第一通孔(1104)贯穿所述第一凸沿(1100)和所述第一连接柱(1102)。
  31. 根据权利要求29或30所述的云台(100)，其特征在于，所述第一凸沿(1100)和所述第一连接柱(1102)皆为圆柱形，所述第一凸沿(1100)的直径大于所述第一连接柱(1102)的直径，所述第一凸沿(1100)的中轴线与所述第一连接柱(1102)的中轴线重合。
  32. 根据权利要求23至31中任一项所述的云台(100)，其特征在于，所述第二安装部(112)包括第二凸沿(1120)和第二连接柱(1122)；
    所述第二连接柱(1122)的一端连接所述第二凸沿(1120)，所述第二连接柱(1122)的另一端连接所述第一连接部(114)和所述第二连接部(116)；
    所述第二凸沿(1120)的横截面积大于所述第一连接柱(1122)的横截面积。
  33. 根据权利要求32所述的云台(100)，其特征在于，所述第二安装部(112)设有第二通孔(1124)，所述第二通孔(1124)贯穿所述第二凸沿(1120)和所述第二连接柱(1122)。
  34. 根据权利要求32或33所述的云台(100)，其特征在于，所述第二凸沿(1120)和所述第二连接柱(1122)皆为圆柱形，所述第二凸沿(1120)的直径大于所述第一连接柱(1122)的直径，所述第二凸沿(1120)的中轴线与所述第一连接柱(1122)的中轴线重合。
  35. 一种拍摄组件(300)，其特征在于，包括摄像装置(200)和权利要求 1至34任一项所述的云台(100)，所述云台中的所述横滚轴电机搭载所述摄像装置(200)。
  36. 一种无人飞行器，包括机身、与所述机身相连的机臂和设于所述机臂的动力装置，其特征在于，所述无人飞行器还包括权利要求35所述的拍摄组件(300)，所述拍摄组件与所述机身相连。
PCT/CN2018/107929 2017-11-29 2018-09-27 云台、拍摄组件及无人飞行器 WO2019105124A1 (zh)

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