WO2019153821A1 - 一种云台及无人飞行器 - Google Patents

一种云台及无人飞行器 Download PDF

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Publication number
WO2019153821A1
WO2019153821A1 PCT/CN2018/115453 CN2018115453W WO2019153821A1 WO 2019153821 A1 WO2019153821 A1 WO 2019153821A1 CN 2018115453 W CN2018115453 W CN 2018115453W WO 2019153821 A1 WO2019153821 A1 WO 2019153821A1
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WO
WIPO (PCT)
Prior art keywords
motor
shock absorbing
lens barrel
axis
platform
Prior art date
Application number
PCT/CN2018/115453
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
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 WO2019153821A1 publication Critical patent/WO2019153821A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the present invention relates to the field of aircraft, and in particular to a cloud platform and an unmanned aerial vehicle having the same.
  • the drone referred to as the Unmanned Aerial Vehicle (UAV)
  • UAV Unmanned Aerial Vehicle
  • the UAV is equipped with a variety of sensors or camera devices through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the miniaturization of the UAV is a development trend. Miniaturization also requires the preservation of the function of the UAV. It is especially important that the cloud platform is part of the shooting system of the unmanned aerial vehicle. The size of the cloud platform is directly related to whether the size of the unmanned aerial vehicle can be small.
  • the general pan/tilt has three-axis anti-shake, but on some very small aircraft, only two-axis anti-shake heads can be mounted. However, the current two-axis pan/tilt has a poor damping effect.
  • the embodiment of the invention provides a cloud platform and an unmanned aerial vehicle with good vibration damping effect.
  • a pan/tilt that includes:
  • a first motor for mounting the camera device and for driving the camera device to rotate about a first rotation axis
  • the first motor and the image pickup device are mounted to the lens barrel;
  • a second motor mounted to the lens barrel, the second motor for driving the lens barrel, the first motor and the camera device to rotate about a second axis of rotation, the first axis of rotation and the The second axis of rotation is perpendicular;
  • a second shock absorbing assembly mounted on the lens barrel, the first shock absorbing assembly and the second shock absorbing assembly being respectively disposed on opposite sides of the lens barrel along the second rotation axis.
  • the first motor comprises:
  • a first rotating portion mounted to the first fixing portion and rotatable relative to the first fixing portion about the first rotation axis;
  • the imaging device is coupled to the first rotating portion.
  • the first motor is housed in the lens barrel.
  • the second motor is disposed outside the lens barrel, and includes:
  • the first shock absorbing assembly is connected to the second fixing portion
  • the second rotating portion is mounted to the second fixing portion and rotatable relative to the second fixing portion about the second rotation axis;
  • the lens barrel is connected to the second rotating portion.
  • the first shock absorbing assembly includes a first support member coupled to the second motor and a first shock absorbing member disposed on the first support member.
  • the first support member is a hollow cylinder that is sleeved on the second motor.
  • the central axis of the first support member coincides with the second axis of rotation.
  • the first support member is substantially perpendicular to the second axis of rotation and a first body portion extending from the first body portion in a direction away from the first body portion Raised
  • the first shock absorbing member is mounted to the first protrusion.
  • the first protrusion has a plurality of, the plurality of the first protrusions are evenly distributed along the circumferential direction of the first body portion, and the first damping member also has a plurality of a plurality of the first shock absorbing members are respectively disposed on the plurality of the first protrusions.
  • the second shock absorbing assembly includes a second support member, a second shock absorbing member and a connecting member;
  • the connecting member is fixedly mounted to the lens barrel
  • the second support member is mounted to the connecting member, and the second support member is rotatable relative to the connecting member about the second axis of rotation;
  • the second damper member is mounted to the second support member.
  • the connecting member includes a body portion connected to the lens barrel and an extending portion extending from the body portion along the second axis of rotation away from the body portion;
  • the second support member is provided with a mounting through hole, and the extending portion is received in the mounting through hole.
  • the extension portion is a hollow cylinder, and a central axis of the extension portion coincides with the second rotation axis.
  • the second support member includes a second body portion that is substantially perpendicular to the second axis of rotation and a second body portion that extends away from the second body portion Second protrusion
  • the second body portion is mounted to the connector.
  • the second protrusion has a plurality of, the plurality of the second protrusions are evenly distributed along the circumferential direction of the second body portion, and the second damping member also has a plurality of a plurality of the second shock absorbing members are respectively disposed on the plurality of the second protrusions.
  • the lens barrel is provided with a first wire hole
  • the second damper assembly is provided with a second wire hole, the first wire hole is in communication with the second wire hole, and the first wire hole and the second wire hole are used for The wires of the first motor and the camera device are allowed to pass through.
  • the lens barrel includes a first barrel and a second barrel that is fastened to the first barrel, and the first motor is fixedly mounted to the first barrel.
  • the lens barrel is cylindrical, and a central axis of the lens barrel coincides with the second rotation axis.
  • the camera device includes a lens mount and at least one lens
  • the at least one lens is fixedly mounted to the lens mount;
  • the lens mount is mounted to the first motor.
  • the present invention also provides an unmanned aerial vehicle comprising: a fuselage, an arm connected to the fuselage, a power unit disposed on the arm, and a pan/tilt as described above, The pan/tilt is mounted to the fuselage.
  • the body is provided with a receiving cavity
  • the pan/tilt is received in the receiving cavity
  • the first shock absorbing assembly and the second shock absorbing assembly of the pan/tilt are respectively mounted on an inner wall of the receiving cavity.
  • the first shock absorbing assembly of the embodiment of the present invention is mounted to the second motor, the second shock absorbing assembly is mounted to the lens barrel, and the first shock absorbing assembly and the The second damper assembly is disposed on opposite sides of the lens barrel along the second rotation axis, and can cooperate to eliminate vibration transmitted by the UAV to the cloud platform, so that the vibration reduction effect of the cloud platform is improved. Guaranteed aerial photography quality.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a perspective view of another angle of the unmanned aerial vehicle shown in Figure 1;
  • Figure 3 is a perspective view of the head of the unmanned aerial vehicle shown in Figure 1;
  • Figure 4 is a partial exploded view of the pan/tilt head shown in Figure 3;
  • Figure 5 is an exploded view of the gimbal shown in Figure 3;
  • Figure 6 is an exploded view of another angle of the platform shown in Figure 3;
  • Fig. 7 is an exploded perspective view showing still another angle of the pan/tilt head shown in Fig. 3.
  • an unmanned aerial vehicle 600 includes a fuselage 500 , an arm 400 , a power unit 700 , and a platform 100 .
  • the arm 400 is mounted on the body 500.
  • the arm 400 is fixedly connected or integrally formed with the body 500.
  • the arm 400 and the body 500 are provided. It is also possible to articulate, ie the arm 400 is detachable or can be unfolded or folded relative to the body 500.
  • the power unit 700 is mounted to the arm 400 for powering the UAV 600.
  • the pan/tilt head 100 is mounted to the body 500 for capturing an image.
  • the body 500 includes a control circuit component composed of electronic components such as an MCU, and the control circuit component includes a plurality of control modules, for example, for controlling the operation of the power component to control the flight attitude of the UAV 600.
  • a flight control module for navigating the positioning module of the UAV 600, and a data processing module for processing environmental information acquired by the related onboard device.
  • the body 500 is provided with a receiving cavity 502.
  • the UAV 600 is a quadrotor unmanned aerial vehicle, i.e., the UAV 600 has four machines, 400 and four power units 700.
  • Four of the arms 400 are mounted to the fuselage 500, wherein two of the arms 400 are located on one side of the fuselage 500, and two other of the arms 400 are located in another of the fuselage 500 side.
  • Each of the power units 700 is mounted to the four arms 400, respectively.
  • Each of the power devices 700 includes a motor and a propeller, the propeller is mounted on a motor shaft of the motor, and the motor is mounted on an end of the arm 400 away from the body 500 for driving the propeller to rotate at a high speed. , thereby generating the power required for the UAV 600 to fly.
  • the number of the arms 400 and the number of the power devices 700 may be increased or decreased according to actual needs, as long as at least one, for example, the number of the arms 400 For two, the number of the power devices 700 is also two. Even the UAV 600 can be a fixed wing aircraft or a crossover aircraft.
  • the body 500 has a receiving cavity 502, and the platform 100 is mounted in the receiving cavity 502 of the body 500.
  • the pan/tilt head 100 is mounted on the body 500 for fixing the camera device 200 or arbitrarily adjusting the posture of the camera device 200 (for example, changing the height, inclination, and/or direction of the camera device 200). And the imaging device 200 is stably maintained in the set posture.
  • the platform 100 includes a lens barrel 10, a camera device 200, a first motor 20, a second motor 30, a first shock absorbing assembly 40, and a second shock absorbing assembly 50.
  • the imaging device 200 is housed in the lens barrel 10, and the first motor 30 is used to drive the imaging device 200 to rotate about the first axis of rotation.
  • the second motor 30 is connected to the lens barrel 10 and disposed outside the lens barrel 10 for driving the lens barrel 10, the imaging device 200 and the first motor 30 to rotate about a second rotation axis, wherein the second rotation axis and the first rotation The axis is vertical.
  • the first shock absorbing assembly 40 is disposed between the inner wall of the receiving cavity 502 and the second motor 30, and is connected to the two.
  • the second shock absorbing assembly 50 is disposed between the lens barrel 10 and the inner wall of the receiving cavity 502 and is connected to the two.
  • the first damper assembly 40 and the second damper assembly 50 are respectively disposed on opposite sides of the lens barrel 10 along the second rotation axis, and the lens barrel 10 is rotatable around the second rotation axis Rotating relative to the second shock absorbing assembly 50.
  • the outer circumference of the lens barrel 10 is substantially cylindrical, and its central axis coincides with the second rotation axis.
  • the lens barrel 10 includes a first cylinder 102 and a second cylinder 104 that is fastened to the first cylinder 102. Specifically, the lens barrel 10 is divided into the first plane by a plane passing through a central axis thereof.
  • the first motor 20 is mounted on the first cylinder 102, and the first cylinder 102 is provided with a first notch 1020.
  • the second cylinder 104 is provided with a second notch 1040 and a through hole 1042.
  • the first notch 1020 and the second notch 1040 together form a first wire hole, and the first wire hole is used for allowing The wires of the first motor 20 and the image pickup device 200 pass through.
  • the through hole 1042 is configured to receive a lens of the imaging device 200.
  • the lens barrel 10 includes the first cylindrical body 102 and the second cylindrical body 104 separated from each other.
  • the imaging device 200 may be first fixed to the first motor 20 when installed, and then The first motor 20 is fixed to the inner wall of the first cylinder 102, and finally the second cylinder 104 is fastened to the first cylinder 102, so that the lens of the imaging device 200 is received in the through hole 1042.
  • the image pickup device 200 and the first motor 20 are conveniently mounted in the lens barrel 10 by the separated first cylindrical body 102 and the second cylindrical body 104.
  • the imaging device 200 and the first motor 20 are mounted in the lens barrel 10, so that the structure of the platform 100 is tight, and the moment of inertia of the platform 100 is small.
  • the outer contour of the lens barrel 10 is substantially cylindrical, the central axis of the lens barrel 10 coincides with the second axis of rotation, and the barrel 10 is rotated when rotated about the second axis of rotation.
  • the moment of inertia is small.
  • the lens barrel 10 is not limited to being divided into the first cylinder 102 and the second cylinder 104 by a plane passing through a central axis thereof, and may be adopted according to actual needs.
  • the other division method divides the lens barrel 10 into two or more parts to facilitate mounting of the image pickup apparatus 200 and the first motor 20 in the lens barrel 10.
  • the outer contour of the lens barrel 10 is not limited to a substantially cylindrical shape, and may be changed according to actual needs, as long as the first motor 20 and the imaging device 200 can be carried. And it may be fixedly connected to the second rotating portion 304.
  • the lens barrel 10 may be spherical or ellipsoidal or the like.
  • the first motor 20 is mounted with the imaging device 200 and is mounted in the lens barrel 10.
  • the first motor 20 includes a first fixing portion 202, a first rotating portion 204, and a first rotating shaft 206 (see FIG. 7).
  • the first fixing portion 202 is sleeved on the first rotating shaft 206 and fixedly mounted on the first cylindrical body 102 .
  • the central axis of the first rotating shaft 206 coincides with the first axis of rotation.
  • the first rotating portion 204 is fixedly mounted on the first rotating shaft 206, and the first rotating portion 204 and the first rotating shaft 206 can be together with the first rotating portion and the first fixed portion. 202 turns.
  • the imaging device 200 is fixedly coupled to the first rotating portion 204.
  • the first axis of rotation is a roll axis, that is, the first motor 20 is used to drive the camera device 200 to rotate about the roll axis.
  • the first motor 20 may be a disk motor
  • the first fixing portion 202 is a stator of a disk motor, and includes a bearing, a bearing, a coil, a circuit board, and the like.
  • the holder is in the shape of a disk.
  • a bearing, a coil, a circuit board, and the like are mounted on the disc-shaped holder, and the bearing is sleeved on the first rotating shaft 206.
  • the first rotating portion 204 is a rotor of a disk motor, and includes a support plate and a permanent magnet or the like mounted to the support plate, the support plate is in the shape of a disk, parallel to the support, the support plate Fixedly mounted to one end of the first rotating shaft 206.
  • the first motor 20 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 first fixing portion 202 can also be a rotor of a disc motor fixedly mounted on the first rotating shaft 206, which can be opposite to the first rotating shaft 206.
  • the first rotating portion 204 is rotated; and the first rotating portion 204 is correspondingly a stator of the disk motor, which is movably mounted on the first rotating shaft 206 and rotatable around the first rotating shaft 206.
  • the second motor 30 includes a second fixing portion 302, a second rotating portion 304 and a second rotating shaft 306.
  • the central axis of the second rotating shaft 306 coincides with the second axis of rotation.
  • the second fixing portion 302 and the second rotating portion 304 are both sleeved on the second rotating shaft 306, and the second fixing portion 302 is movably mounted on the second rotating shaft 306, the second rotation
  • the portion 304 is fixedly mounted to the second rotating shaft 306, and the second rotating portion 304 and the second rotating shaft 306 are rotatable together with respect to the second fixing portion 302 about the second rotating axis.
  • the second rotating portion 304 is fixedly mounted to the lens barrel 10.
  • the second fixing portion 302 is fixedly mounted to the first shock absorbing assembly 40 .
  • the second axis of rotation is a pitch axis, that is, the second motor 30 is used to drive the lens barrel 10, the first motor 20, and the camera device 200 to rotate about the pitch axis.
  • the second motor 30 may be a disk motor
  • the second fixing portion 302 is a stator of a disk motor, including a bearing, a bearing, a coil, a circuit board, and the like.
  • the bearing 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, and the bearing is sleeved on the second rotating shaft 306.
  • the second rotating portion 304 is a rotor of a disk motor, and includes a support plate and a permanent magnet mounted on the support plate, and the support plate has a disk shape parallel to the support, the support plate Fixedly mounted to one end of the second rotating shaft 306.
  • the second motor 30 is a disk motor, and has the advantages of small volume, light weight, compact structure, and high efficiency, which can make the structure of the pan/tilt head 100 more compact.
  • the second fixing portion 302 can be a rotor of a disc motor fixedly mounted to the second rotating shaft 306, which can be opposite to the second rotating shaft 306.
  • the second rotating portion 304 is rotatable; and the second rotating portion 304 is a stator of the disc motor movably mounted on the second rotating shaft 306 to be rotatable about the second rotating shaft 306.
  • the first shock absorbing assembly 40 includes a first support member 402 and a first shock absorbing member 404, and the first shock absorbing member 404 is mounted on the first support member 402 for mounting the platform 100 to The body 500.
  • the first support member 402 is substantially a hollow cylinder, wherein an axis coincides with the second axis of rotation.
  • the first support member 402 may be made of an elastic material such as a plastic material or a rubber material or the like.
  • the first support member 402 is sleeved on the second fixing portion 302 , and the first support member 402 is fixedly mounted on the second fixing portion 302 .
  • the first support member 402 includes a first body portion and a first protrusion 4024 extending from the first body portion in a direction away from the first body portion.
  • the first body portion is substantially annular, and the first body portion is substantially perpendicular to the axis of the second axis of rotation.
  • the first support member 402 includes three first protrusions 4024, and the three first protrusions 4024 are evenly distributed around the circumference of the first body portion.
  • the shape of the first support member 402 is not limited to a hollow cylinder, and may be changed according to actual needs.
  • the first support member 402 may be a plate shape.
  • the second fixing portion 302 can be fixedly mounted to the first support member 402 by screws or the like.
  • the number of the first damper members 404 is three, and the three first dampers 404 are fixedly mounted to the three first protrusions 4024, respectively.
  • Each of the first shock absorbing members 404 may be made of an elastic material such as a plastic material or a rubber material or the like.
  • Each of the first shock absorbing members 404 may be a shock absorbing column or a shock absorbing ball or the like. It can be understood that, in some other embodiments, the number of the first damper member 404 and the first protrusion 4024 may be increased or decreased according to actual needs, as long as at least one is, for example, the first The number of the shock absorbing members 404 and the first projections 4024 is four.
  • the second shock absorbing assembly 50 includes a second support member 502, a second shock absorbing member 504 and a connecting member 505.
  • the second support member 502 is mounted to the connecting member 505
  • the second shock absorbing member 504 is mounted to the second supporting member 502 .
  • the connecting member 505 is fixedly mounted on the lens barrel 10, the connecting member 505 is provided with a second wire hole 5050, and the second wire hole 5050 extends through the connecting member 505, the second wire hole 5050 is connected to the first wire hole.
  • the connector 505 includes a body portion 506 and an extension portion 508.
  • the body portion 506 is fixedly mounted to the lens barrel 10, which is a hollow cylinder.
  • the extension 508 extends from the body portion 506 in a direction away from the body portion 506 along a second axis of rotation, which is also a hollow cylinder.
  • the diameter of the extension portion 508 is smaller than the diameter of the body portion 506, and the central axis of the body portion 506 and the central axis of the extension portion 508 both coincide with the second axis of rotation.
  • the second routing hole 5050 is in communication with the first routing hole, and allows the wires of the camera device 200 and the first motor 20 (including power lines and signal lines) to be worn.
  • the electronic components in the body 500 are electrically connected.
  • the wires of the camera device 200 and the first motor 20 can be disposed in the platform 100 through the second wire hole 5050 and the first wire hole that are connected to each other, and the The volume of the gimbal 100 is described.
  • the second support member 502 is substantially a hollow cylinder, wherein an axis coincides with the second axis of rotation.
  • the second support member 502 may be made of an elastic material such as a plastic material or a rubber material or the like.
  • the second support member 502 is provided with a mounting through hole 5020, and the extending portion 508 is inserted into the mounting through hole 5020, and the extending portion 508 is rotatable relative to the second rotating axis in the mounting through hole 5020.
  • the second support member 502 rotates.
  • the second support member 502 includes a second body portion and a second protrusion 5024 extending from the second body portion away from the second body portion.
  • the second body portion has an annular shape that is substantially perpendicular to the second axis of rotation.
  • the second support member 502 includes three of the second protrusions 5024, and the three of the second protrusions 5024 are evenly distributed around the circumference of the second body portion.
  • the shape of the second support member 502 is not limited to a hollow cylinder, and may be changed according to actual needs, as long as it is a cylinder and the installation through hole 5020 is opened.
  • the second support 502 can be a prism.
  • the number of the second damper members 504 is three, and the three second damper members 504 are fixedly mounted to the three second protrusions 5024, respectively.
  • Each of the second shock absorbing members 504 may be made of an elastic material such as a plastic material or a rubber material or the like.
  • Each of the second shock absorbing members 504 may be a shock absorbing column or a shock absorbing ball or the like. It can be understood that, in some other embodiments, the number of the second damper member 504 and the second protrusion 5024 may be increased or decreased according to actual needs, as long as it is at least one, for example, the first The number of the second shock absorbing members 504 and the second projections 5024 is four.
  • the image pickup apparatus 200 includes a lens mount 210 and a lens 220.
  • the lens 220 is fixedly mounted on the lens holder 210 , and the lens 220 is received in the through hole 1042 .
  • the lens mount 210 is fixedly mounted to the first rotating portion 204.
  • the lens holder 210 has a cylindrical shape and is sleeved on the first rotating portion 204 .
  • the number of the lenses 220 is one. It can be understood that, in some other embodiments, the number of the lenses 220 may be increased according to actual needs, as long as at least one is, for example, the The number of the lenses 220 is two, and the two lenses 220 are mounted side by side on the lens mount 210.
  • the second cylinder 104 defines two through holes 1042, and each of the lenses 220 is received in the lens 220. Corresponding one of the through holes 1042.
  • the first damper member 404 and the second damper member 504 are fixedly mounted on the inner wall of the receiving cavity 502, respectively.
  • the second axis of rotation is horizontally disposed when the unmanned aerial vehicle 600 is flying horizontally.
  • the first rotating portion 204 drives the imaging device 200 to rotate about the first rotation axis.
  • the second rotating portion 304 drives the lens barrel 10, the connecting member 505, the first motor 20 and the camera device 200 rotate around the second rotation axis. .
  • the first shock absorbing assembly 40 is mounted to the second motor 30, the second shock absorbing assembly 50 is mounted to the lens barrel 10, the first shock absorbing assembly 40 and the
  • the second damper assembly 50 is disposed on opposite sides of the lens barrel 10 along the second rotation axis, and can cooperatively eliminate the vibration transmitted by the UAV 600 to the platform 100, so that the platform 100 The vibration reduction effect is improved, and the aerial photography quality is guaranteed.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种云台（100）及无人飞行器（600），其中云台（100）包括摄像装置（200）、第一电机（20）、第二电机（30）、镜筒（10）、第一减震组件（40）和第二减震组件（50）。第一电机（20）用于驱动摄像装置（200）绕第一旋转轴线转动。第一电机（20）安装于镜筒（10）。第二电机（30）安装于镜筒（10），第二电机（30）用于驱动镜筒（10）、第一电机（20）和摄像装置（200）绕第二旋转轴线转动，第一旋转轴线与第二旋转轴线相垂直。第一减震组件（40）安装于第二电机（30）。第二减震组件（50）安装于镜筒（10），第一减震组件（40）和第二减震组件（50）沿第二旋转轴线设置于镜筒（10）的相对两侧。第一减震组件和第二减震组件可协同消除无人飞行器向云台传递的振动，使得云台的减振效果提高。

Description

一种云台及无人飞行器
【相关申请的交叉引用】
本申请要求申请号为201810134088.4，申请日为2018年2月9日申请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】
本发明涉及飞行器领域，尤其涉及一种云台及具有所述云台的无人飞行器。
【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。无人飞行器通过云台搭载多类传感器或摄像装置，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。
为了方便用户携带，无人飞行器的小型化是发展趋势。小型化的同时也需要保留无人飞行器的功能。云台作为无人飞行器的拍摄系统的一部分尤为重要，云台的大小直接关系到无人飞行器的体积能否做小。一般的云台有三轴防抖，但是在有些非常小的飞行器上只能搭载两轴的防抖云台。然而，目前的两轴云台减振效果不佳。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种减振效果佳的云台及无人飞行器。
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，包括：
摄像装置；
第一电机，用于搭载所述摄像装置，且用于驱动所述摄像装置绕第一旋 转轴线转动；
镜筒，所述第一电机和所述摄像装置安装于所述镜筒；
第二电机，安装于所述镜筒，所述第二电机用于驱动所述镜筒、所述第一电机和所述摄像装置绕第二旋转轴线转动，所述第一旋转轴线与所述第二旋转轴线相垂直；
第一减震组件，其安装于所述第二电机；
第二减震组件，其安装于所述镜筒，所述第一减震组件和所述第二减震组件沿所述第二旋转轴线分别设置于所述镜筒的相对两侧。
在本发明的一实施例中，所述第一电机包括：
第一固定部，与所述镜筒相连；以及
第一转动部，安装于所述第一固定部且可相对于所述第一固定部绕所述第一旋转轴线转动；
所述摄像装置与所述第一转动部相连。
在本发明的一实施例中，所述第一电机收容于所述镜筒内。
在本发明的一实施例中，所述第二电机设置于所述镜筒的外部，包括：
第二固定部，所述第一减震组件与所述第二固定部相连；以及
所述第二转动部，安装于第二固定部且可相对于所述第二固定部绕所述第二旋转轴线转动；
所述镜筒与所述第二转动部相连。
在本发明的一实施例中，所述第一减震组件包括与所述第二电机相连的第一支撑件和设置在所述第一支撑件上的第一减震件。
在本发明的一实施例中，所述第一支撑件为中空圆柱体，其套设于所述第二电机。
在本发明的一实施例中，所述第一支撑件的中轴线与所述第二旋转轴线重合。
在本发明的一实施例中，所述第一支撑件与所述第二旋转轴线大致垂直的第一主体部和自所述第一主体部沿远离所述第一主体部方向延伸的第一凸起；
所述第一减震件安装于所述第一凸起。
在本发明的一实施例中，所述第一凸起有多个，多个所述第一凸起沿所 述第一主体部的周向均匀分布，所述第一减震件也有多个，多个所述第一减震件分别设置在多个所述第一凸起上。
在本发明的一实施例中，所述第二减震组件包括第二支撑件，第二减震件和连接件；
所述连接件固定安装于所述镜筒；
所述第二支撑件安装于所述连接件，所述第二支撑件可绕所述第二旋转轴线相对于所述连接件转动；
所述第二减震件安装于所述第二支撑件。
在本发明的一实施例中，所述连接件包括与所述镜筒相连的本体部和自所述本体部沿着所述第二旋转轴线向远离所述本体部的方向延伸的延伸部；
所述第二支撑件设有安装通孔，所述延伸部收容于所述安装通孔。
在本发明的一实施例中，所述延伸部为中空圆柱体，所述延伸部的中轴线皆与所述第二旋转轴线重合。
在本发明的一实施例中，所述第二支撑件包括与所述第二旋转轴线大致垂直的第二主体部和自所述第二主体部沿远离所述第二主体部的方向延伸的第二凸起；
所述第二主体部安装于所述连接件。
在本发明的一实施例中，所述第二凸起有多个，多个所述第二凸起沿所述第二主体部的周向均匀分布，所述第二减震件也有多个，多个所述第二减震件分别设置在多个所述第二凸起上。
在本发明的一实施例中，所述镜筒设有第一走线孔；
所述第二减震组件设有第二走线孔，所述第一走线孔与所述第二走线孔相连通，所述第一走线孔和所述第二走线孔用于允许所述第一电机和所述摄像装置的导线穿过。
在本发明的一实施例中，所述镜筒包括第一筒体和与所述第一筒体扣合相连的第二筒体，所述第一电机固定安装于所述第一筒体。
在本发明的一实施例中，所述镜筒为圆筒形，所述镜筒的中轴线与所述第二旋转轴线重合。
在本发明的一实施例中，所述摄像装置包括镜头座和至少一个镜头；
所述至少一个镜头固定安装于所述镜头座；
所述镜头座安装于所述第一电机。
为解决其技术问题，本发明还提供一种无人飞行器，包括机身、与所述机身相连的机臂、设于所述机臂的动力装置和如上述所述的云台，所述云台安装于所述机身。
在本发明的一实施例中，所述机身设有收容腔；
所述云台收容于所述收容腔内；
所述云台的第一减震组件和第二减震组件分别安装于所述收容腔的内壁。
与现有技术相比较，本发明实施例的所述第一减震组件安装于所述第二电机，所述第二减震组件安装于所述镜筒，所述第一减震组件和所述第二减震组件沿所述第二旋转轴线设置于所述镜筒的相对两侧，可协同消除无人飞行器向所述云台传递的振动，使得所述云台的减振效果提高，保证了航拍质量。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的一种无人飞行器的立体图；
图2为图1所示的无人飞行器的另一角度的立体图；
图3为图1所示的无人飞行器中云台的立体图；
图4为图3所示的云台的局部分解图；
图5为图3所示的云台的分解图；
图6为图3所示的云台的另一角度的分解图；
图7为图3所示的云台的又一角度的分解图。
【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“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，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。
请一并参阅图1和图2，本发明其中一实施例提供的一种无人飞行器600，包括机身500，机臂400，动力装置700以及云台100。所述机臂400安装于所述机身500，在本发明的一实施例中，机臂400与机身500固定连接或一体成型，在其他可能的实施例中，机臂400与机身500还可以活动连接，即机臂400可拆卸或可相对于机身500展开或折叠。所述动力装置700安装于所述机臂400，用于为所述无人飞行器600提供动力。所述云台100安装于所述机身500，用于拍摄图像。
所述机身500内包括由MCU等电子元器件组成的控制电路组件，该控制电路组件包括多个控制模块，如，用于控制所述动力组件工作以控制所述无人飞行器600飞行姿态的飞行控制模块，用于导航所述无人飞行器600的定位模块，以及用于处理相关机载设备所获取的环境信息的数据处理模块等。所述机身500设有收容腔502。
在本发明的一实施例中，无人飞行器600为四旋翼无人飞行器，即无人飞行器600具有四个机,400和四个动力装置700。四个所述机臂400安装于所述机身500，其中两个所述机臂400位于所述机身500的一侧，另两个所述机臂400位于所述机身500的另一侧。
四个所述动力装置700分别安装于四个所述机臂400。每个所述动力装置700均包括电机和螺旋桨，所述螺旋桨安装于所述电机的电机轴，所述电机安装于所述机臂400远离机身500的一端，用于驱动所述螺旋桨高速转动，从 而产生无人飞行器600飞行所需的动力。
可以理解的是，在一些其它实施中，所述机臂400的数量和所述动力装置700的数量可以根据实际需求增加或减少，只要为至少一个即可，例如，所述机臂400的数量为两个，所述动力装置700的数量也为两个。甚至，所述无人飞行器600还可以为固定翼飞行器或穿越机。
在本发明的一实施例中，机身500具有收容腔502，所述云台100安装于所述机身500的收容腔502内。所述云台100安装于所述机身500，用于实现摄像装置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。
请一并参阅图3和图4，所述云台100包括镜筒10，摄像装置200，第一电机20，第二电机30，第一减震组件40和第二减震组件50。其中，摄像装置200收容于镜筒10内，第一电机30用于驱动摄像装置200绕第一旋转轴线旋转。第二电机30与镜筒10相连且设于镜筒10的外部，用于驱动镜筒10、摄像装置200和第一电机30绕第二旋转轴线转动，其中，第二旋转轴线与第一旋转轴线垂直。第一减震组件40设于收容腔502的内壁与第二电机30之间，且与二者相连。第二减震组件50设于镜筒10与收容腔502的内壁之间，并与二者相连。所述第一减震组件40和所述第二减震组件50沿所述第二旋转轴线分别设置于所述镜筒10的相对两侧，所述镜筒10可绕所述第二旋转轴线相对于所述第二减震组件50转动。
请一并参阅图5至图7，所述镜筒10的外轮廓大致为圆筒形，其中心轴线与所述第二旋转轴线重合。所述镜筒10包括第一筒体102和与第一筒体102扣合相连的第二筒体104，具体来说，所述镜筒10被经过其中心轴线的平面分割成所述第一筒体102和所述第二筒体104。所述第一电机20安装于所述第一筒体102，所述第一筒体102设有第一缺口1020。所述第二筒体104设有第二缺口1040和通孔1042，所述第一缺口1020和所述第二缺口1040共同和形成第一走线孔，所述第一走线孔用于允许第一电机20和摄像装置200的导线穿过。所述通孔1042用于收容所述摄像装置200的镜头穿过。
在本实施例中，所述镜筒10包括分离的所述第一筒体102和所述第二筒体104，安装时可先将所述摄像装置200固定于所述第一电机20，然后将所 述第一电机20固定于所述第一筒体102的内壁，最后将所述第二筒体104扣合于所述第一筒体102，使摄像装置200的镜头收容于通孔1042内。通过分离的所述第一筒体102和所述第二筒体104可方便将所述摄像装置200和所述第一电机20安装于所述镜筒10内。另外，所述摄像装置200和所述第一电机20安装于所述镜筒10内，可使得所述云台100的结构紧构，且所述云台100的转动惯量小。而且，所述镜筒10的外轮廓大致为圆筒形，所述镜筒10的中轴线与所述第二旋转轴线重合，在绕所述第二旋转轴线转动时，所述镜筒10的转动惯量小。
可以理解的是，在一些其它实施例中，所述镜筒10不限于被经过其中心轴线的平面分割成所述第一筒体102和所述第二筒体104，也可根据实际需要采用其它的分割方式将所述镜筒10分割成两部分或者更多部分，以方便将所述摄像装置200和所述第一电机20安装于所述镜筒10内。
可以理解的是，在一些其它实施例中，所述镜筒10的外轮廓不限于大致为圆筒形，可以根据实际需求而改变，只要能承载所述第一电机20和所述摄像装置200，且可与所述第二转动部304固定连接即可，例如，所述镜筒10可为球形或椭球形等。
在本发明的一实施例中，所述第一电机20搭载摄像装置200，且安装于所述镜筒10内。所述第一电机20包括第一固定部202，第一转动部204和第一转轴206(见图7)。所述第一固定部202套设于所述第一转轴206且固定安装于所述第一筒体102。所述第一转轴206的中轴线与所述第一旋转轴线重合。所述第一转动部204固定安装于所述第一转轴206，所述第一转动部204和所述第一转轴206两者可一同绕所述第一旋转轴线相对于所述第一固定部202转动。所述摄像装置200与所述第一转动部204固定连接。
在本实施例中，所述第一旋转轴线为横滚轴，也即第一电机20用于驱动摄像装置200绕横滚轴转动。所述第一电机20可以为盘式电机，所述第一固定部202为盘式电机的定子，其包括支座，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，所述轴承套设于所述第一转轴206。所述第一转动部204为盘式电机的转子，其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206的一端。所述第一电机20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202也可以为盘式电机的转子，其固定安装于所述第一转轴206，可与所述第一转轴206一同相对于所述第一转动部204转动；而所述第一转动部204相应地为盘式电机的定子，其活动安装于所述第一转轴206，可绕所述第一转轴206转动。
在本发明的一实施例中，所述第二电机30包括第二固定部302，第二转动部304和第二转轴306。所述第二转轴306的中轴线与所述第二旋转轴线重合。所述第二固定部302和所述第二转动部304两者都套设于所述第二转轴306，所述第二固定部302活动安装于所述第二转轴306，所述第二转动部304固定安装于所述第二转轴306，所述第二转动部304和所述第二转轴306两者可一同绕所述第二旋转轴线相对于所述第二固定部302转动。所述第二转动部304固定安装于所述镜筒10。所述第二固定部302固定安装于所述第一减震组件40。
在本实施例中，所述第二旋转轴线为俯仰轴，也即第二电机30用于驱动镜筒10、第一电机20和摄像装置200绕俯仰轴转动。在本发明的一实施例中，所述第二电机30可为盘式电机，所述第二固定部302为盘式电机的定子，其包括支座，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，所述轴承套设于所述第二转轴306。所述第二转动部304为盘式电机的转子，其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二转轴306的一端。所述第二电机30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，所述第二固定部302可为盘式电机的转子，其固定安装于所述第二转轴306，可与所述第二转轴306一同相对于所述第二转动部304转动；而所述第二转动部304可为盘式电机的定子，其活动安装于所述第二转轴306，可绕所述第二转轴306转动。
所述第一减震组件40包括第一支撑件402和第一减震件404，所述第一减震件404安装于所述第一支撑件402，用于将所述云台100安装于所述机身500。
所述第一支撑件402大致为中空圆柱体，其中轴线与所述第二旋转轴线重合。所述第一支撑件402可由弹性材料制得，例如，塑胶材料或橡胶材料等。所述第一支撑件402套设于所述第二固定部302，且所述第一支撑件402固定安装于所述第二固定部302。所述第一支撑件402包括第一主体部以及自所述第一主体部向远离所述第一主体部的方向延伸的第一凸起4024。第一主体部大致呈圆环形，第一主体部与第二旋转轴轴线大致垂直。在本发明的一实施例中，第一支撑件402包括三个第一凸起4024，三个所述第一凸起4024围绕所述第一主体部的周向均匀分布。
可以理解的是，在一些其它实施例中，所述第一支撑件402的形状不限于为中空圆柱体，可根据实际需求而改变，例如，所述第一支撑件402可为板状，所述第二固定部302可通过螺钉等方式固定安装于所述第一支撑件402。
在本发明的一实施例中，所述第一减震件404的数量同为三个，三个所述第一减震件404分别固定安装于三个所述第一凸起4024。每个所述第一减震件404可由弹性材料制得，例如，塑胶材料或橡胶材料等。每个所述第一减震件404可为减震柱或减震球等。可以理解的是，在一些其它实施例中，所述第一减震件404和所述第一凸起4024的数量可根据实际需求增加或减少，只要为至少一个即可，例如，所述第一减震件404和所述第一凸起4024的数量皆为四个。
在本发明的一实施例中，所述第二减震组件50包括第二支撑件502，第二减震件504和连接件505。所述第二支撑件502安装于所述连接件505，所述第二减震件504安装于所述第二支撑件502。
所述连接件505固定安装于所述镜筒10，所述连接件505设有第二走线孔5050，所述第二走线孔5050贯穿所述连接件505，所述第二走线孔5050与所述第一走线孔相连通。所述连接件505包括本体部506和延伸部508。所述本体部506固定安装于所述镜筒10，其为中空圆柱体。所述延伸部508从所述本体部506沿第二旋转轴线向远离本体部506的方向延伸而出，所述延伸部508也为中空圆柱体。所述延伸部508的直径比所述本体部506的直径小，所述本体部506的中轴线和所述延伸部508的中轴线皆与所述第二旋转轴线重合。在本实施例中，所述第二走线孔5050与所述第一走线孔相连通，可允许所述摄像装置200和所述第一电机20的导线(包括电源线和信号线) 穿过，以电连接所述机身500内的电子元器件。通过相连通的所述第二走线孔5050与所述第一走线孔，可使得所述摄像装置200和所述第一电机20的导线设置于所述云台100内，可减小所述云台100的体积。
所述第二支撑件502大致为中空圆柱体，其中轴线与所述第二旋转轴线重合。所述第二支撑件502可由弹性材料制得，例如，塑胶材料或橡胶材料等。所述第二支撑件502设有安装通孔5020，所述延伸部508插入所述安装通孔5020，所述延伸部508可在所述安装通孔5020内绕所述第二旋转轴线相对于所述第二支撑件502转动。所述第二支撑件502包括第二主体部和自所述第二主体部向远离所述第二主体部方向延伸的第二凸起5024。第二主体部呈圆环状，大致与第二旋转轴线垂直。在本发明的一实施例中，第二支撑件502包括三个所述第二凸起5024，三个所述第二凸起5024围绕所述第二主体部的周向均匀分布。
可以理解的是，在一些其它实施例中，所述第二支撑件502的形状不限于为中空圆柱体，可根据实际需求而改变，只要为柱体且开设有所述安装通孔5020即可，例如，所述第二支撑件502可为棱柱体。
在本发明的一实施例中，所述第二减震件504的数量为三个，三个所述第二减震件504分别固定安装于三个所述第二凸起5024。每个所述第二减震件504可由弹性材料制得，例如，塑胶材料或橡胶材料等。每个所述第二减震件504可为减震柱或减震球等。可以理解的是，在一些其它实施例中，所述第二减震件504和所述第二凸起5024的数量可根据实际需求增加或减少，只要为至少一个即可，例如，所述第二减震件504和所述第二凸起5024的数量皆为四个。
所述摄像装置200包括镜头座210和镜头220。所述镜头220固定安装于所述镜头座210，所述镜头220收容于所述通孔1042。所述镜头座210固定安装于所述第一转动部204。所述镜头座210为圆筒状，其套设于所述第一转动部204。在本实施例中，所述镜头220的数量为一个，可以理解的是，在一些其它实施例中，所述镜头220的数量可以根据实际需求增加，只要为至少一个即可，例如，所述镜头220的数量为两个，两个所述镜头220并排安装于所述镜头座210，相应地，所述第二筒体104开设两个所述通孔1042，每个所述镜头220收容于对应的一个所述通孔1042。
安装所述摄像组件300于所述机身500时，将所述第一减震件404和所述第二减震件504分别固定安装于所述收容腔502的内壁。当所述无人飞行器600水平飞行时，所述第二旋转轴线水平设置。
当所述第一电机20工作时，所述第一转动部204带动所述摄像装置200绕所述第一旋转轴线转动。当所述第二电机30工作时，所述第二转动部304带动所述镜筒10，所述连接件505，所述第一电机20以及所述摄像装置200绕所述第二旋转轴线转动。
在本实施例中，所述第一减震组件40安装于所述第二电机30，所述第二减震组件50安装于所述镜筒10，所述第一减震组件40和所述第二减震组件50沿所述第二旋转轴线设置于所述镜筒10的相对两侧，可协同消除所述无人飞行器600向所述云台100传递的振动，使得所述云台100的减振效果提高，保证了航拍质量。
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 (20)

  1. 一种云台(100)，其特征在于，包括：
    摄像装置(200)；
    第一电机(20)，用于搭载所述摄像装置(200)，且用于驱动所述摄像装置(200)绕第一旋转轴线转动；
    镜筒(10)，所述第一电机(20)和所述摄像装置(200)安装于所述镜筒(10)；
    第二电机(30)，安装于所述镜筒(10)，所述第二电机(30)用于驱动所述镜筒(10)、所述第一电机(20)和所述摄像装置(200)绕第二旋转轴线转动，所述第一旋转轴线与所述第二旋转轴线相垂直；
    第一减震组件(40)，其安装于所述第二电机(30)；
    第二减震组件(50)，其安装于所述镜筒(10)，所述第一减震组件(40)和所述第二减震组件(50)沿所述第二旋转轴线分别设置于所述镜筒(10)的相对两侧。
  2. 根据权利要求1所述的云台(100)，其特征在于，所述第一电机(20)包括：
    第一固定部(202)，与所述镜筒(10)相连；以及
    第一转动部(204)，安装于所述第一固定部(202)且可相对于所述第一固定部(202)绕所述第一旋转轴线转动；
    所述摄像装置(200)与所述第一转动部(204)相连。
  3. 根据权利要求1或2所述的云台(100)，其特征在于，所述第一电机(20)收容于所述镜筒(10)内。
  4. 根据权利要求1-3中任一项所述的云台(100)，其特征在于，所述第二电机(30)设置于所述镜筒(10)的外部，包括：
    第二固定部(302)，所述第一减震组件(40)与所述第二固定部(302)相连；以及
    所述第二转动部(304)，安装于第二固定部(302)且可相对于所述第二固定部(302)绕所述第二旋转轴线转动；
    所述镜筒(10)与所述第二转动部(304)相连。
  5. 根据权利要求1-4中任一项所述的云台(100)，其特征在于，所述第一减震组件(40)包括与所述第二电机(30)相连的第一支撑件(402)和设置在所述第一支撑件(402)上的第一减震件(404)。
  6. 根据权利要求5所述的云台(100)，其特征在于，所述第一支撑件(402)为中空圆柱体，其套设于所述第二电机(30)。
  7. 根据权利要求5或6所述的云台(100)，其特征在于，所述第一支撑件(402)的中轴线与所述第二旋转轴线重合。
  8. 根据权利要求5-7中任一项所述的云台(100)，其特征在于，所述第一支撑件(402)与所述第二旋转轴线大致垂直的第一主体部和自所述第一主体部沿远离所述第一主体部方向延伸的第一凸起(4024)；
    所述第一减震件(404)安装于所述第一凸起(4024)。
  9. 根据权利要求8所述的云台(100)，其特征在于，所述第一凸起(4024)有多个，多个所述第一凸起(4024)沿所述第一主体部的周向均匀分布，所述第一减震件(404)也有多个，多个所述第一减震件(404)分别设置在多个所述第一凸起(4024)上。
  10. 根据权利要求1-9中任一项所述的云台(100)，其特征在于，所述第二减震组件(50)包括第二支撑件(502)，第二减震件(504)和连接件(505)；
    所述连接件(505)固定安装于所述镜筒(10)；
    所述第二支撑件(502)安装于所述连接件(505)，所述第二支撑件(502)可绕所述第二旋转轴线相对于所述连接件(505)转动；
    所述第二减震件(504)安装于所述第二支撑件(502)。
  11. 根据权利要求10所述的云台(100)，其特征在于，所述连接件(505)包括与所述镜筒(10)相连的本体部(506)和自所述本体部(506)沿着所述第二旋转轴线向远离所述本体部(506)的方向延伸的延伸部(508)；
    所述第二支撑件(502)设有安装通孔(5020)，所述延伸部(508)收容于所述安装通孔(5020)。
  12. 根据权利要求11所述的云台(100)，其特征在于，所述延伸部(508)为中空圆柱体，所述延伸部(508)的中轴线皆与所述第二旋转轴线重合。
  13. 根据权利要求10-12中任一项所述的云台(100)，其特征在于，所述第二支撑件(502)包括与所述第二旋转轴线大致垂直的第二主体部和自所述第二主体部沿远离所述第二主体部的方向延伸的第二凸起(5024)；
    所述第二主体部安装于所述连接件(505)。
  14. 根据权利要求13所述的云台(100)，其特征在于，所述第二凸起(5024)有多个，多个所述第二凸起(5024)沿所述第二主体部的周向均匀分布，所述第二减震件(504)也有多个，多个所述第二减震件(504)分别设置在多个所述第二凸起(5024)上。
  15. 根据权利要求1-14中任一项所述的云台(100)，其特征在于，所述镜筒(10)设有第一走线孔；
    所述第二减震组件(50)设有第二走线孔(5050)，所述第一走线孔与所述第二走线孔(5050)相连通，所述第一走线孔和所述第二走线孔(5050)用于允许所述第一电机(20)和所述摄像装置(200)的导线穿过。
  16. 根据权利要求1-15中任一项所述的云台(100)，其特征在于，所述镜筒(10)包括第一筒体(102)和与所述第一筒体(102)扣合相连的第二筒体(104)，所述第一电机(20)固定安装于所述第一筒体(102)。
  17. 根据权利要求1-16中任一项所述的云台(100)，其特征在于，所述镜筒(10)为圆筒形，所述镜筒(10)的中轴线与所述第二旋转轴线重合。
  18. 根据权利要求1-17中所述的云台(100)，其特征在于，所述摄像装置(200)包括镜头座(210)和至少一个镜头(220)；
    所述至少一个镜头(220)固定安装于所述镜头座(210)；
    所述镜头座(210)安装于所述第一电机(20)。
  19. 一种无人飞行器(600)，其特征在于，包括机身(500)、与所述机身(500)相连的机臂(400)、设于所述机臂(400)的动力装置和如权利要求1-18中任一项所述的云台(100)，所述云台(100)安装于所述机身(500)。
  20. 根据权利要求19所述的无人飞行器(600)，其特征在于，所述机身(500)设有收容腔(502)；
    所述云台(100)收容于所述收容腔(502)内；
    所述云台(100)的第一减震组件(40)和第二减震组件(50)分别安装于所述收容腔(502)的内壁。
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EP4310008A1 (fr) * 2022-07-18 2024-01-24 Airbus Operations Ensemble pour aéronef comportant un châssis et un module de vision d'un système de vision en vol améliorée

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