WO2019173988A1 - 一种旋转机构、无人机的起落架及机架、无人机 - Google Patents

一种旋转机构、无人机的起落架及机架、无人机 Download PDF

Info

Publication number
WO2019173988A1
WO2019173988A1 PCT/CN2018/079003 CN2018079003W WO2019173988A1 WO 2019173988 A1 WO2019173988 A1 WO 2019173988A1 CN 2018079003 W CN2018079003 W CN 2018079003W WO 2019173988 A1 WO2019173988 A1 WO 2019173988A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating
rotating mechanism
carrier
frame
mechanism according
Prior art date
Application number
PCT/CN2018/079003
Other languages
English (en)
French (fr)
Inventor
刘彦辰
李玉
谢文麟
赵岩崇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/079003 priority Critical patent/WO2019173988A1/zh
Priority to CN201880014342.5A priority patent/CN110461709A/zh
Publication of WO2019173988A1 publication Critical patent/WO2019173988A1/zh

Links

Images

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
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft

Definitions

  • the embodiment of the present invention relates to the field of unmanned aerial vehicles, and particularly relates to a rotating mechanism, a landing gear and a frame of a drone, and a drone.
  • the tripod plays an extremely important mission in the safe take-off and landing process of the UAV, and is one of the important components of the UAV.
  • the drone manufacturing industry has developed rapidly and has been widely used in aerial photography, plant protection, surveying and mapping.
  • the retractable tripod has been designed.
  • the shooting device has a large field of view and the shooting direction of the shooting device is special, the foot is still prone to occur. It is not conducive to the aerial photography effect of the drone.
  • the existing tripod adopts a fixed-connected synchronous tripod, and the fixed-connected synchronous tripod can be fixed on the head of the drone, so that when the pan-tilt supports the shooting device to change the shooting direction,
  • the solid-state synchronized tripod can be rotated synchronously with the pan/tilt to avoid the tripod within the field of view of the camera.
  • the rigid connection of the fixed-link synchronous tripod affects the modality of the gimbal itself, which is not conducive to the independent operation of the gimbal.
  • the embodiment of the present application provides a rotating mechanism, a landing gear and a frame of a drone, and a drone, which are used to realize the following rotation of the tripod of the drone with respect to the carrier mounted by the drone, and no one There is no rigid connection between the tripod and the carrier, so that the carrier's own mode can be not affected, which is beneficial to the independent operation of the carrier.
  • the first aspect of the present application provides a rotating mechanism, which is applied to a drone, and the drone includes a center body and a carrier and a tripod disposed under the center body, and the carrier is used for supporting the payload and rotating Organizations can include:
  • the drive portion is configured to drive the rotation of the rotating portion when the carrier rotates.
  • a second aspect of the present application provides a landing gear for a drone, which may include a tripod and a rotating mechanism as in the first aspect.
  • the third aspect of the present application provides a rack of a drone, the rack includes a center body of the drone, the rack is used for mounting a carrier, the carrier is used for supporting a payload, and the rack further includes the second aspect. Fall off the shelf.
  • a fourth aspect of the present application provides a drone that can include a rack as provided in the third aspect and a carrier mounted by the rack, the carrier for supporting the payload.
  • the embodiments of the present application have the following advantages:
  • the embodiment of the present application provides a rotating mechanism, which may include a rotating portion and a driving portion.
  • a rotating structure which may include a rotating portion and a driving portion.
  • the rotation The portion can be used for connection with a tripod that can be used to drive the rotation of the rotating portion when the carrier rotates.
  • the carrier rotates
  • the payload of the carrier support will rotate synchronously
  • the tripod connected by the rotating portion will also rotate under the action of the driving portion, which will follow the rotation of the payload supported by the carrier, and the tripod and the rotating mechanism.
  • the rotating parts are connected so that the stand and the carrier are separated rather than rigidly connected to each other, thereby not affecting the self mode of the carrier, and facilitating the independent operation of the carrier.
  • the payload supported by the carrier is, for example, an imaging device
  • driving the stand to rotate correspondingly with the carrier it is possible to avoid the situation in which the stand enters the field of view of the imaging device.
  • FIG. 1 is a partial structural schematic view of a drone according to an embodiment of the present application.
  • FIG. 2 is a schematic view of a rotating portion of a rotating mechanism in an embodiment of the present application
  • FIG. 3 is a schematic overall view of a rotating mechanism in an embodiment of the present application.
  • FIG. 4 is a schematic structural view of a support portion in a rotating mechanism according to an embodiment of the present application.
  • FIG. 5 is a schematic exploded view of a rotating mechanism in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the overall structure of an unmanned aerial vehicle according to an embodiment of the present application.
  • the embodiment of the present application provides a rotating mechanism, a landing gear and a frame of a drone, and a drone, which are used to realize the following rotation of the tripod of the drone with respect to the carrier mounted by the drone, and no one There is no rigid connection between the tripod and the carrier, so that the carrier's own mode can be not affected, which is beneficial to the independent operation of the carrier.
  • the drone can be applied to the field of aerial photography, and in particular, it can be applied to the shooting requirements of the crew with better load-bearing performance and structural stability.
  • the embodiment of the present application provides a rotating mechanism, which can realize the separation of the tripod and the pan/tilt, and is beneficial to the independence of the gimbal. Work, and through the corresponding control of the rotating structure can also solve the problem of the tripod wearing the painting during the shooting of the drone.
  • the UAV can be applied to other scenarios in addition to the above application scenarios, and is not specifically limited herein.
  • an embodiment of the rotating mechanism in the embodiment of the present application may include:
  • the rotating portion 1 is for connecting with the stand 3;
  • the drive unit 2 is for driving the rotation of the rotating portion 1 when the carrier 4 rotates.
  • the rotating mechanism can be applied to a drone, and the drone can include a center body 5, which is a main part of the drone, and can include a flight control system of the drone, The drone performs corresponding flight control; a plurality of arms can be arranged symmetrically or at intervals around the center body 5, and one or more power systems can be provided at one end of each arm away from the center body, one or more The power system is used to power the drone's ascending, advancing, rotating and the like; the base body 5 can be provided with a tripod 3 below, and the tripod 3 can be used to support the ground or the fixed crop when the drone is landed.
  • the carrier 4 can be mounted under the center body 5, and the carrier 4 can Used to support the payload 6 to assist in the implementation of other corresponding functions of the drone through the payload 6.
  • the center body 5 of the drone may include a first mounting plate 51 and a second mounting plate 52.
  • a battery for powering the drone may be disposed between the first mounting plate 51 and the second mounting plate 52;
  • a mounting portion for mounting the arm may be disposed on a side of the first mounting plate 51 and the second mounting plate 52,
  • the arm is located between the first mounting plate 51 and the second mounting plate 52; the end of the arm away from the center body 5 can be provided with two power systems to provide power for the flight of the drone; the stand 3 of the drone
  • the mounted carrier 4 can be disposed below the second mounting plate 52.
  • the rotating structure may also be disposed under the central body 5 of the drone, specifically: the rotating parts 1, the driving part 2 and the corresponding components of the drone below the second mounting plate 52 (the body of the drone may Including a plurality of components, the driving portion 2 may be directly or indirectly connected to one or more of the plurality of components, specifically connected to corresponding components of the drone below the second mounting plate 52, to realize a rotating mechanism.
  • the rotating body 1 is connected to the stand 3 in a stable and reliable connection with the body of the drone, and capable of maintaining the corresponding transmission function of the rotating portion 1 and the main transmission function of the driving portion 2.
  • the driving portion 2 can drive the rotation of the rotating portion 1 according to the rotation information of the carrier, thereby realizing the following rotation of the payload 6 supported by the carrier 3 supported by the rotating portion 1 to the carrier 4.
  • the following rotation may include a synchronous rotation or a follow-up rotation of other preset rules.
  • the direction and/or the speed of the rotating part 1 following the rotation can be correspondingly set as needed to realize the following different rotation manners of the tripod 3, and meet the different following rotation requirements of the stand 3 with respect to the payload 6. .
  • following rotation of the stand 3 relative to the payload 6 may include avoiding the effect of the stand 3 on the demand for the payload 6.
  • the payload is such as an imaging device
  • all of the stand 3 may be located outside the field of view of the imaging device while the carrier is rotating.
  • the rotating portion 1 can avoid the connection between the stand 3 and the carrier 4 (the connection can include direct Connected or indirectly connected, so that the tripod 3 and the carrier 4 are separated from each other, rather than rigidly connected to each other, so that when the carrier 4 is in operation, it does not affect its own mode due to the tripod 3, which is beneficial to the carrier.
  • the independent operation of 4 if the posture of the carrier 4 is not changed due to the shaking of the stand 3, affects the operation of the carrier 4, and the following method can also satisfy the following rotation of the payload 6 supported by the stand 3 and the carrier 4. It can solve the problem that the tripod 3 wears into the painting during the aerial photography of the drone.
  • the stand 3 since the stand 3 is separated from the carrier 4, when the drone is dropped, the stand 3 does not directly transmit the impact force to the carrier 4, thereby facilitating the structural stability of the carrier 4 and also protecting the carrier 4. .
  • the carrier 4 may be a pan/tilt.
  • a gimbal may refer to a pivotal support that allows the payload 6 to rotate about one or more axes of rotation.
  • the pan/tilt may provide stability to the payload 6 of the support, may also be configured to control the state of the payload 6, and provide rotational and/or translational mobility for the payload 6.
  • the pan/tilt can be a single-axis pan/tilt, a two-axis pan/tilt or a three-axis pan/tilt or other types of pan/tilt.
  • the payload 6 may refer to a load or any part of an object supported by the gimbal.
  • Payload 6 can be configured to perform no operations or functions.
  • payload 6 may be configured to perform a corresponding operation or function, also referred to as a functional payload.
  • payload 6 may include one or more sensors for surveying one or more targets. The sensor collects information about the environment around the sensor.
  • any suitable sensor can be incorporated into the payload, such as an imaging device (eg, a visual imaging device (eg, image capture device, camera, etc.), an infrared imaging device, an ultraviolet imaging device, a thermal imaging device, etc.), an audio capture device (for example, parabolic microphones, radio frequency (RF) sensors, magnetic sensors, ultrasonic sensors, and the like.
  • the payload 6 may comprise a single type of sensor, emitter and/or tool, may also comprise multiple types of sensors, emitters and/or tools, and may also include any number of sensors, emitters and or tools and Combinations, such as sensor arrays.
  • the imaging device may be a camera, such as a video camera.
  • the carrier 4 is a three-axis pan/tilt and the payload 6 is an imaging device will be described as an example.
  • the carrier 4 can be rotated about a first axis A1 (eg, a heading yaw axis), a second axis A2 (eg, a roll roll axis), and a third axis A3 (eg, a pitch pitch axis).
  • a first axis A1 eg, a heading yaw axis
  • A2 eg, a roll roll axis
  • a third axis A3 eg, a pitch pitch axis.
  • the imaging device supported by the three-axis pan/tilt will also rotate synchronously around the yaw axis.
  • the flight control system of the drone can be rotated around the yaw axis according to the three-axis pan/tilt when the three-axis pan/tilt is rotated.
  • the rotation information controls the driving unit 2 so that the driving unit 2 can drive the rotating unit 1 in accordance with the rotation information such as the rotation speed and/or the rotation direction of the three-axis pan and tilt around the yaw axis, thereby realizing the stand 3 to which the rotating unit 1 is connected with respect to
  • the imaging device rotates synchronously around the yaw axis, thereby avoiding the tripod 3 within the field of view of the imaging device, preventing the tripod 3 from being worn.
  • the tripod 3 since the tripod 3 does not have a direct connection or an indirect connection with the three-axis pan/tilt, it does not affect the self-modality of the three-axis pan/tilt head, which is beneficial to the independent operation of the three-axis pan/tilt head.
  • the tripod 3 may include two or more, wherein the number of the tripods 3 may be the same as the number of the rotating parts 1, or may be larger than the number of the rotating parts 1, for example, one rotation.
  • the part 1 can be connected to one stand 1 , and one rotating part 1 can also be connected to more than one stand 1 . Accordingly, the number of the rotating parts 1 can be the same as the number of the driving parts 2 or larger than the number of the driving parts 2 .
  • the specific settings can be set according to actual needs, and are not specifically limited here.
  • the tripod 3 may include two or more, wherein one or more of the tripods 3 may be rotated as needed during the rotation of the carrier 4, one or more The tripod 3 can be driven to rotate by the same driving unit 2, or can be rotated by different driving units 2, and the rotation information such as the rotation direction and/or the rotation speed of the one or more tripods 3 can be the same or Different, there is no specific limit here.
  • the rotating mechanism includes a driving portion 2 and a rotating portion 2, one driving a rotating portion 2, and a rotating portion 2 connecting all the legs 3 of the drone as an example, the rotating mechanism
  • the details of the rotating part 1, the driving part 2, and other additional structures are further described in detail:
  • FIG. 2 another embodiment of the rotating mechanism in the embodiment of the present application may include:
  • the rotating portion 1 includes a rotating member 11 and a frame member 12, and the rotating member 11 is coupled to the frame member 12;
  • the rotating member 11 is also used to connect with the driving portion 2;
  • the frame member 12 is also used to connect to the stand 3.
  • the rotating portion 1 may include a rotating member 11 and a frame member 12.
  • the rotating member 11 and the frame member 12 may be connected by means such as screws, and the rotating member 11 may also be used for connection with the driving portion 2, and the frame member 12 may also be used for connection with the stand 3.
  • the rotary member 11 can drive the rotation of the frame member 12, so that the rotation of the stand 3 can be realized, that is, the stand 3 can be loaded with the payload on the carrier 4.
  • the rotation of 6 rotates, such as the synchronous movement of the stand 3 and the payload 6.
  • the rotating member 11 and/or the frame member 12 may be directly or indirectly connected to one or more components on the fuselage of the drone, and may be specifically disposed under the second mounting plate 52 to enable the drone. While the body supports the rotating portion 1, the corresponding driven function of the rotating portion 1 can be maintained.
  • rotating member 11 and the frame member 12 may be separate structures, or may be an integrally formed structure, which is not specifically limited herein.
  • the frame member 12 may be disposed at the bottom of the rotating member 11, and the side of the frame member 12 may be coupled to the stand 3. Therefore, when the stand 3 is connected to the side of the frame member 12, the connection stability can be improved due to the large connection area, which is advantageous for reducing the impact force when the drone is landing; secondly, the frame member 12 is provided.
  • the frame member 12 is provided at the bottom of the rotary member 11, it is possible to prevent the hindrance of the tripod 3 when the drive unit 2 drives the rotary member 11, and to facilitate the control of the mounting height of the drive unit 2 and the rotary member 11, and the simplification of the mounting. It is beneficial to improve the integration degree, space utilization and appearance of the entire structure of the drone when the rotating mechanism is applied to the drone.
  • the positional relationship between the frame member 12 and the rotating member 11 and the stand 3 may be other positional designs as needed in addition to the above description, and is not specifically limited herein.
  • the frame member 12 can include an upper frame 121 and a lower frame 122.
  • the height between the upper frame 121 and the lower frame 122 may be larger than the diameter of the stand 3 to improve the connection stability of the stand 3 and to strengthen the support for the stand 3.
  • the upper frame 121 and the lower frame 122 may be respectively provided with a first mounting portion and a second mounting portion for connecting the stand 3, and accordingly, the stand 3 may include a mounting portion for engaging the first mounting portion and the second mounting portion Thereby, the mounting and fixing of the stand 3 on the side of the frame member 12 is achieved.
  • the outer circumference of the upper frame 121 and the lower frame 122 may be a polygon, and the number of sides of the polygon may be determined according to the number of the stand 3 to improve the aesthetic appearance, and at the same time, may cooperate with the center of the rotating part 1 described later herein.
  • the opening structure is used to increase space utilization and reduce the exposed structure.
  • the outer periphery of the upper frame 121 and the lower frame 122 may be hexagonal, and one leg 3 is provided on each side.
  • the shapes of the outer circumferences of the upper frame 121 and the lower frame 122 may be otherly arranged as needed, and are not specifically limited herein.
  • the mounting portion included in the tripod 3 may be a portion integrally formed with the tripod 3, or may be a separately separated portion for connecting the tripod 3 and the frame member 12, and the separately separated portion may be A separate intermediate connector may also be attached to the rotating mechanism, which is not specifically limited herein.
  • the rotating mechanism may further comprise a connecting piece 7 which may be used to connect the stand 3 on the rotating part 1.
  • the connector 8 is a mounting portion that is separate from the stand 3 as described above, and is attached to the rotating mechanism.
  • the connecting member 7 may be a carbon pipe connecting member.
  • first mounting portion and/or the second mounting portion may be a screw hole structure to fix the connecting leg frame 3 on the frame member 12 by bolts or screws.
  • first mounting portion and/or the second mounting portion may be other structures, such as a buckle, and the connection manner between the stand 3 and the frame member 12 is
  • connection manners may be used.
  • the connections described in the embodiments of the present application may include, but are not limited to, a direct connection, an indirect connection, a detachable connection, or a permanent connection, and are not specifically limited herein.
  • the frame member 12 may further include a middle frame 123, and the middle frame 123 may be disposed between the upper frame 121 and the lower frame 122. That is, the upper and lower ends of the middle frame 123 may be connected to the upper frame 121 and the lower frame 122, respectively.
  • the middle frame 123 may include a plurality of and is spaced apart by the stand 3 to surround the outer periphery of the space formed by the upper frame 121 and the lower frame. The increase of the middle frame 123 is advantageous for increasing the structural strength of the frame member 12.
  • the middle frame 123 may be a hollow structure, that is, the middle frame 123 may be provided with a plurality of through holes, and the size, shape, arrangement and arrangement density of the plurality of through holes may be differently set according to requirements to strengthen the frame.
  • the structural strength of the member 12 simultaneously reduces the weight load of the frame member 12, so that the rotating structure can improve the endurance of the drone when applied to the drone.
  • the stand 3 can also be connected to the middle frame 123 while being connected to the upper frame 121 and the lower frame 122 to further improve the connection stability and strengthen the strength of the connection structure. It is also possible to connect only to the middle frame 123, and the connection relationship and the connection manner are not specifically limited herein.
  • the rotating member 11 may be a drive wheel to facilitate power transmission of the drive portion 2.
  • the transmission wheel may include but is not limited to a gear or a pulley.
  • the carrier 4 may include an adapter 41, and the center of the rotating portion 1 may be provided with an opening structure, that is, the opening structure A hole can be used for the adapter 41 that runs through the carrier 4. Therefore, when the adapter 41 can be mounted as the carrier 4 on the intermediate connector on the drone, the adapter 41 passes through the opening structure penetrating the center of the rotating portion 1, and both ends thereof can respectively protrude from the opening structure. Thus, one end of the adapter 41 can be fixedly mounted on the drone, and the other end can be connected to the carrier 4.
  • the adapter 41 may not be disposed, or may be a part of the carrier 4, and may be adjusted accordingly according to requirements, and is not specifically limited herein. .
  • another embodiment of the rotating mechanism in the embodiment of the present application may include:
  • the driving portion 2 includes a motor 21 for driving the driving member 22 and a driving member 22 for driving the rotating portion 1.
  • the driving unit 2 may include a motor 21 and a driving member 22 below the center body 5 of the feathering drone.
  • the output shaft of the motor 21 can be connected to the driving member 22, and the driving member 22 can be driven by the motor 21.
  • the motor 21 can be controlled by an electronic governor, and the electronic governor can communicate with the flight control system of the drone, and the electronic governor transmits the correlation information according to the rotation information of the carrier 4 by receiving the flight control system of the drone.
  • the signal can be controlled correspondingly to the rotation information such as the rotation direction and the rotation speed of the motor 21, so that the rotation information such as the rotation direction and the rotation speed of the driving member 22 can be adjusted correspondingly via the motor 21.
  • the driving member 22 can drive the rotation of the rotating portion 1 under the driving of the motor 21.
  • the motor 21 can include a motor mount 211.
  • the upper end surface of the driving member 22 may be provided with a mounting portion for mounting the motor 21, and the motor 21 may be connected to the driving member 22 through the motor mounting seat 211, and at the same time, the motor mounting seat 211 may be used to fix the driving portion 2 to drive
  • the portion 2 can be fixed at a certain position to drive the rotating portion 1.
  • the one end of the motor mounting seat 211 away from the motor 21 can be fixedly connected to any suitable part of the drone, and can be specifically disposed under the second mounting plate 52 of the center body 5 of the drone.
  • the spherical damper plate connection below the mounting plate 52 (the damper system may include a spherical damper plate) as long as the stability of the driving portion 2 can be achieved.
  • the drive member 22 can be a drive wheel.
  • the following two driving modes may be included:
  • the driving portion 2 may further include a driving belt 23, and two ends of the driving belt 23 may be respectively sleeved on the rotating member 11 of the rotating portion 1 and the driving member 22 of the driving portion 2 to realize the driving member 22 It is connected to the drive of the rotary member 11. Under the action of the motor 21, the driving member 22 can drive the rotating portion 2 through the belt 23.
  • the driving member 22 can be used as a driving wheel
  • the rotating member 11 can be used as a driven wheel
  • the driving member 22 can drive the rotating portion 1 by the transmission action of the transmission belt 23.
  • the driving belt 23 in the embodiment of the present application may be a flat belt or a toothed belt, which may be disposed according to the structure or actual use of the rotating member 11 and the driving member 22, where No specific restrictions.
  • the driving member 22 can be engaged with the rotating portion 1, that is, the driving member 22 and the rotating member 11 in the rotating portion 1 can both be gear structures, and the two can be engaged with each other.
  • the driving member 22 can be used as a driving wheel, and the rotating member 11 can be used as a driven wheel.
  • the driving member 22 can drive the rotating portion 1 by the engagement with the rotating member 11.
  • the driving method of driving the rotating unit 1 by the driving unit 2 may be other methods in practical applications, as long as it can be implemented reasonably, limited.
  • the driving member 22 is not limited to the driving structure of the above-mentioned driving wheel.
  • another embodiment of the rotating mechanism in the embodiment of the present application may include:
  • the rotating mechanism further includes a support portion 8 for supporting the rotating portion 1.
  • the rotating mechanism may further include the supporting portion 8.
  • the support portion 8 can be used to support the rotating portion 1.
  • the support portion 8 can be connected to any suitable component of the fuselage of the drone, and can be specifically connected to the second mounting plate 52 of the center body 5 of the drone.
  • the support portion 8 may include a support shaft 81 and a lower shaft support plate 82.
  • the lower shaft support plate 82 may be disposed at an outer periphery of the lower end surface of the support shaft 81 and connected to the outer periphery of the lower end surface of the support shaft 81, and the outer circumference of the lower shaft support plate 82 may be, for example, a circular shape; 1 may surround the outer periphery of the support shaft 81 and may be placed on the lower shaft support plate 82 to provide a corresponding supporting action by the lower shaft support plate 82.
  • the support shaft 81 may be a hollow shaft structure, that is, the center of the support shaft 81 is also a through hole, so that the adapter 41 of the carrier 4 can penetrate the support shaft. 81 to achieve the corresponding connection.
  • the above structure can be seen from the outside to the inside: the rotating part 1, the supporting part 8, and the adapter 41 of the carrier 4, which is designed to maintain the original structure of the stand 3 around the carrier 4, and at the same time, in the carrier 4, and the weight of the support payload 6 is large, which is advantageous for maintaining the balance of the drone and reducing flight resistance.
  • the support portion 8 may further include a support post 83, which may be disposed at an upper end of the support shaft 81 to be connected to the second mounting plate 52 such as shown in FIG. 1 through the support post 83.
  • a support post 83 may be disposed at an upper end of the support shaft 81 to be connected to the second mounting plate 52 such as shown in FIG. 1 through the support post 83.
  • the height space formed by the support columns 83 can be used to install other additional structures of the drone, thereby facilitating the improvement of space utilization.
  • one end of the support post 83 connected to the UAV body may be provided with a connecting plate such as a triangle to increase the connection area with the fuselage of the UAV and improve the connection stability.
  • connecting plate of the supporting column 83 and the end of the UAV body may have other shapes, such as a square shape, a circular shape, other regular shapes, irregular shapes, and the like, which are not specifically limited herein.
  • the support portion 8 may also include an upper axle support plate 84.
  • the upper shaft support plate 94 may be coupled to the upper end of the support shaft 81, that is, the upper shaft support plate 84 may be disposed around the outer periphery of the upper end surface of the support shaft 81, and the outer circumference of the upper shaft support plate 84 may be, for example, a square, the support column 83 It may be provided on the upper shaft support plate 84.
  • the support post 83 may be disposed near the edge of the upper shaft support plate 84 to increase the spatial extent surrounded by the plurality of support columns 83, which is advantageous for space utilization.
  • the outer circumference of the lower shaft support plate 82 is a circular design, which can reduce the material cost while achieving the supporting effect.
  • the outer circumference of the upper shaft support plate 84 is, for example, a square design.
  • the space range formed by the plurality of support columns 83 is enlarged.
  • the lower shaft support plate 82 and the upper shaft support plate 84 may adopt other shapes of structural design in addition to the above-described shape description. , there is no specific limit here.
  • the upper shaft support plate 84 may include a plurality of through holes to reduce the weight of the support portion 8 and improve the endurance of the drone.
  • the shape of the plurality of through holes may be between each other.
  • the shapes are the same and symmetric, and the shapes thereof may be different.
  • the shape, arrangement rule, and size are not specifically limited herein.
  • another embodiment of the rotating mechanism in the embodiment of the present application may include:
  • the rotating mechanism further includes a first bearing 9 mounted to the upper surface of the rotating portion 1.
  • the rotating structure may further include the first bearing 9 in order to reduce the friction coefficient of the rotating portion 1 during the movement and to ensure the rotation accuracy thereof.
  • the first bearing 9 can be attached to the upper surface of the rotating portion 1.
  • the rotating portion 1 includes the rotating member 11 for realizing rotation, and the rotating member 11 is above the rotating portion 1, the first bearing 9 may be provided on the upper surface of the rotating member 11.
  • the rotating mechanism may further include a second bearing 10, and the second bearing 10 may be mounted on the lower surface of the rotating portion 1. .
  • the first bearing 10 and/or the second bearing 10 can be correspondingly disposed on the upper surface or the lower part of the rotating portion 1 for realizing rotation.
  • the surface is not limited to the entire upper surface or lower surface of the rotating portion 1.
  • the upper surface of the rotating portion 1 or the contact surface that is in contact with the upper surface may be provided with a first bearing structure that is integrally connected, that is, the first bearing structure is connected to the upper surface of the rotating portion 1 as The integral, or the first bearing structure, is integrated with the contact surface of the upper surface of the rotating portion 1 in place of the first bearing 10.
  • the lower surface of the rotating portion 1 or the contact surface to which the lower surface is attached may be provided with a second bearing structure integrally connected to replace the second bearing 10.
  • the rotating portion 1 includes the rotating member 11 for realizing rotation
  • the first bearing structure may be provided on the upper surface of the rotating member 11 or with the rotation.
  • the contact surface on which the upper surface of the member 11 is attached, or when the rotary member 11 is provided at the lower portion of the rotary portion 2, the second bearing structure may be provided on the lower surface of the rotary member 11 or attached to the lower surface of the rotary member 11.
  • first bearing structure and/or the second bearing structure may include, but not limited to, a ball bearing structure, and the ball bearing structure may be correspondingly changed according to the existing design and the structure of the rotating portion 1, as long as the rotating portion 1 can be reduced The coefficient of friction during the movement can be.
  • the embodiment of the present application further provides a landing gear for a drone, which may include a stand 3 and any rotation described above. mechanism.
  • the driving portion 2 of the rotating mechanism in the landing gear can drive the rotating portion 1 to rotate according to the rotation of the carrier 4, thereby realizing the foot.
  • the following rotation of the shelf 3 with respect to the payload 6 supported by the carrier 4 can solve the problem of the tripod 3 being worn and drawn during the aerial photography of the drone.
  • the tripod 3 since the tripod 3 is connected to the rotating portion 1 in the rotating mechanism, and the rotating mechanism does not have a direct or indirect connection relationship with the carrier 4, the tripod 3 does not affect the self mode of the carrier 4, which is advantageous for the carrier. 4 independent work.
  • the stand 3 since the stand 3 is separated from the carrier 4, when the drone is dropped, the stand 3 does not directly transmit the impact force to the carrier 4, thereby facilitating the structural stability of the carrier 4 and also protecting the carrier 4. .
  • the rotating portion 1 in the rotating mechanism may be a part of the tripod 3, that is, the tripod 3 is provided with a structure for rotating, and the structure for rotating corresponds to the rotating portion 1.
  • the tripod 3 In order to drive the tripod 3 in the corresponding direction or speed under the action of the driving portion 2 in the rotating mechanism.
  • the stand 3 can include a first stand member 31 and a second stand member 32.
  • one end of the first tripod member 31 can be connected to the rotating portion 1 in the rotating mechanism, and the other end can be connected to the second tripod member 32.
  • the first tripod member 31 is connected with the second tripod member 32 and has a bent structure, which can alleviate the impact force of the second tripod member 32 contacting the ground or the fixed crop when the drone falls, and reduce the impact on the drone. influences.
  • the length of the first tripod member 31 may be smaller than the length of the second tripod member 32 to improve the support strength of the tripod 3.
  • the stand 3 may further include a holding member 33, and the first stand member 31 may be connected by the holding member 33 and the second stand member 32.
  • the holding member 33 can be a carbon tube holding member to improve the structural strength.
  • connection manner of the first tripod member 31 and the second tripod member 32 is in addition to the above description. In practical applications, other methods, such as welding, may not be used here. Make specific limits.
  • the stand 3 in order to reduce the load weight of the drone and reduce the torque output of the motor 21 in the rotating mechanism, the stand 3 may be a hollow structure, for example.
  • the embodiment of the present application further provides a rack of a drone, and the rack may include a center body 5 of the drone, and the rack may be used.
  • the carrier for supporting the payload 6 may further include any of the above-mentioned landing gears, that is, a tripod 3 and a rotating mechanism are disposed below the center body 5 to support the drone. The following rotation of the payload 6 supported by the stand 3 with respect to the carrier 4 can be satisfied by the action of the rotating mechanism.
  • a first sensor may be disposed under the center body 5, and the stand 3 of the landing gear may be provided with a first fit.
  • the second sensor, the first sensor and the second sensor of the sensor can be used to position the stand 3 to determine the rotational position of the stand 3, and can be based on the corresponding positioning information after the stand 3 is rotated accordingly. Return to the original position of the stand 3.
  • the stand 3 may not return to the original position.
  • the number of the second sensors may be the same as the number of the tripods 3, or may be smaller than the tripods.
  • the number of 3, for example, the second sensor can be provided only on one stand 3, which is not specifically limited herein.
  • the first sensor and/or the second sensor may include, but are not limited to, a Hall magnet sensor as long as the corresponding positioning function can be implemented.
  • the frame may further include a shock absorbing system coupled to the adapter 41 of the carrier 4.
  • the damping system can be configured to vibrate the carrier 4 from the drone to reduce the effects of the vibration of the drone on the carrier 4.
  • the shock absorbing system may be disposed within a height space formed by the support post 83 without change.
  • the structure of the center body 5 of the original drone is advantageous for the preparation process and the simplification of the structure.
  • the damping system may include, but is not limited to, a cross damper plate.
  • the embodiment of the present application further provides a drone, which may include any of the above racks and a carrier 4 mounted by the rack.
  • a carrier 4 can be mounted, and the carrier 4 can be used to support a payload 6, which can be, for example, an imaging device to meet the aerial photography needs of the drone.
  • the stand 3 can be driven by the driving portion 2 to the rotating portion 1 to achieve following rotation with respect to the carrier 4. Therefore, due to the separate design of the stand 3 and the carrier 4, the self mode of the carrier 4 is not affected by the stand 3, and the synchronous rotation with the carrier 4 can also be realized, thereby solving the tripod during the shooting of the drone. 3
  • the problem of wearing the painting is not to threaten the safety of the drone due to the problem that the tripod 3 cannot be properly retracted.
  • the above structure has strong connection stability and structural strength, is beneficial to achieve stability during the shooting process of the drone, improves the performance of the drone, and can also avoid the impact force received by the drone when it is landing.
  • the tripod 3 is directly transferred to the carrier 4, improving the safety of the use of the carrier 4.

Abstract

一种旋转机构，应用于无人机，无人机包括中心体和设于中心体下方的载体、脚架，载体用于支撑有效载荷，旋转机构包括：旋转部和驱动部；旋转部用于与脚架连接；驱动部用于在载体旋转时驱动旋转部旋转。该旋转机构可以实现无人机的脚架相对于无人机挂载的载体的跟随旋转，且无人机的脚架与载体之间不存在刚性连接，从而可以不对载体的自身模态造成影响，有利于载体的独立工作。

Description

一种旋转机构、无人机的起落架及机架、无人机 技术领域
本申请实施例涉及无人机结构领域，尤其涉及一种旋转机构、无人机的起落架及机架、无人机。
背景技术
脚架作为无人机具有承力兼操纵性的附件装置，在无人机的安全起降过程中担负着极其重要的使命，是无人机的重要部件之一。
近几年，无人机制造业快速发展，在航拍、植保、测绘等领域得到广泛应用。在航拍领域中，为了降低脚架对拍摄设备的干扰，收放式的脚架已有设计，然而，当拍摄设备的视场范围较大且拍摄设备的拍摄方向较为特殊时，仍容易出现脚架穿帮入画的情况，不利于无人机的航拍效果。
基于上述问题，现有的脚架采用了固连式同步脚架，该固连式同步脚架可以固定于无人机的云台上，从而在云台支撑拍摄设备进行拍摄方向的变化时，固连式同步脚架可以随云台一起同步旋转，以在拍摄设备的视场范围内避开脚架。
然而，固连式同步脚架由于与云台的固定连接，其与云台的刚性连接关系影响了云台自身的模态，不利于云台的独立工作。
发明内容
本申请实施例提供了一种旋转机构、无人机的起落架及机架、无人机，用于实现无人机的脚架相对于无人机挂载的载体的跟随旋转，且无人机的脚架与载体之间不存在刚性连接，从而可以不对载体的自身模态造成影响，有利于载体的独立工作。
有鉴于此，本申请第一方面提供一种旋转机构，该旋转机构应用于无人机，无人机包括中心体和设于中心体下方的载体、脚架，载体用于支撑有效载荷，旋转机构可以包括：
旋转部和驱动部；
旋转部用于与脚架连接；
驱动部用于在载体旋转时驱动旋转部旋转。
本申请第二方面提供一种无人机的起落架，可包括脚架和如第一方面的旋转机构。
本申请第三方面提供一种无人机的机架，机架包括无人机的中心体，机架用于挂载载体，载体用于支撑有效载荷，机架还包括如第二方面的起落架。
本申请第四方面提供一种无人机，可包括如第三方面提供的机架以及由机架挂载的载体，载体用于支撑有效载荷。
从以上技术方案可以看出，本申请实施例具有以下优点：
本申请实施例提供了一种旋转机构，该旋转机构可以包括旋转部和驱动部，当该旋转结构应用于包括中心体和设于中心体下方的载体、脚架的无人机时，该旋转部可以用于与脚架连接，该驱动部可以在载体旋转时，用于驱动旋转部旋转。由此，当载体旋转时，载体支撑的有效载荷将同步旋转，旋转部连接的脚架则在驱动部的作用下，也将跟随载体支撑的有效载荷的旋转而旋转，而脚架与旋转机构的旋转部连接，从而使得脚架与载体得到分离而非彼此刚性连接，由此可以不对载体的自身模态造成影响，有利于载体的独立工作。同时，在载体支撑的有效载荷为诸如成像装置时，通过驱动脚架随载体进行相应的旋转，可以避免脚架进入成像装置的视场范围的情况。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例中无人机的部分结构示意图；
图2为本申请实施例中旋转机构的旋转部示意图；
图3为本申请实施例中旋转机构的整体示意图；
图4为本申请实施例中旋转机构中支撑部的结构示意图；
图5为本申请实施例中旋转机构的爆炸示意图；
图6为本申请实施例中无人机的整体结构示意图。
具体实施方式
本申请实施例提供了一种旋转机构、无人机的起落架及机架、无人机，用于实现无人机的脚架相对于无人机挂载的载体的跟随旋转，且无人机的脚架与载体之间不存在刚性连接，从而可以不对载体的自身模态造成影响，有利于载体的独立工作。
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
本申请实施例中，无人机可以应用于航拍领域，尤其可以以具有较好的承重性能、结构稳定性而适用于剧组拍摄需求。为了解决脚架固连无人机的云台而影响云台工作的问题，本申请实施例提供了一种旋转机构，该旋转结构可以实现脚架与云台的分离，有利于云台的独立工作，而通过对旋转结构的相应控制也能够解决无人机拍摄过程中脚架穿帮入画的问题。
下面将针对上述应用场景对本申请实施例中的旋转机构、无人机的起落架、无人机的机架、无人机进行相应的展开说明。
当然，无人机除了上述应用场景之外，也可以应用于其它场景，此处不做具体限定。
为便于理解，下面对本申请实施例中的旋转机构进行具体详细的描述，请参阅图1，本申请实施例中旋转机构一个实施例可以包括：
旋转部1和驱动部2；
旋转部1用于与脚架3连接；
驱动部2用于在载体4旋转时驱动旋转部1旋转。
本申请实施例中，该旋转机构可以应用于无人机，该无人机可以包括中心体5，该中心体5为无人机的主体部分，可以包括无人机的飞行控制系统，以对无人机进行相应的飞行控制；中心体5的周围可以对称或间隔排列有相应数量的机臂，每一个机臂远离中心体的一端可以设有一个或多个动力系统，这一个或多个动力系统用于给无人机的上升、前进、转动等运动提供动力；中心体5的下方可以设有脚架3，脚架3可以用于在无人机着落时支撑在地面或在定作物上，从而避免中心体5等结构与地面或定作物的接触，以起到支撑无人机的同时保护无人机；进一步的，中心体5的下方还可以挂载有载体4，载体4可以用于支撑有效载荷6，以通过有效载荷6辅助实现无人机的其它相应功能。
示例性的，如图1所示，无人机的中心体5可以包括第一安装板51和第二安装板52。第一安装板51和第二安装板52之间可以设有为无人机供电的电池；第一安装板51和第二安装板52的侧边上可以设有用于安装机臂的安装部，使得机臂位于第一安装板51和第二安装板52之间；机臂远离中心体5的一端可以设有两个动力系统，以为无人机的飞行提供动力；无人机的脚架3以及挂载的载体4则可以设于第二安装板52的下方。其中，旋转结构也可以设于无人机的中心体5的下方，具体为：旋转部1、驱动部2与第二安装板52下方的无人机的相应部件(无人机的机身可以包括多个部件，驱动部2可以与这多个部件中的一个或多个部件直接连接或间接连接，具体可与第二安装板52下方的无人机的相应部件连接)，以实现旋转机构与无人机的机身的稳定、可靠连接，且能够保持旋转部1相应的被传动功能、驱动部2的主传动功能，旋转部1则与脚架3连接。当无人机挂载的载体4旋转时，驱动部2可以根据载体的旋转信息驱动旋转部1旋转，由此实现旋转部1连接的脚架3对载体4支撑的有效载荷6的跟随旋转，该跟随旋转可以包括同步旋转或者其它预设规则的跟随旋转。其中，旋转部1跟随旋转的方向和/或速度可以根据需要进行相应的设置，以实现脚架3的多种不同方式的跟随旋转方式，满足脚架3相对 于有效载荷6的不同跟随旋转需求。
优选的，脚架3相对于有效载荷6的跟随旋转可以包括避免脚架3对有效载荷6的需求的影响。例如，当有效载荷为诸如成像装置时，在载体旋转时，所有脚架3可以位于成像装置的视场范围外。
从上述结构可知，脚架3与旋转部1连接，而旋转部1与载体4之间不存在连接关系，则旋转部1可以避免脚架3与载体4之间的连接(该连接可以包括直接连接或间接连接)，使得脚架3与载体4是彼此分离的，而非彼此刚性连接，从而在载体4工作时，不会由于脚架3的原因而对自身模态造成影响，有利于载体4的独立工作，如不会由于脚架3的晃动造成载体4的姿态变化而影响载体4的工作，同时通过相应的方法设计也能够满足脚架3与载体4支撑的有效载荷6的跟随旋转，可以解决无人机航拍过程中脚架3穿帮入画的问题。
进一步的，由于脚架3与载体4分离，那么在无人机降落时，脚架3不会将冲击力直接传递至载体4，从而有利于载体4的结构稳定性，也有利于保护载体4。
本申请实施例中，可选地，载体4可以为云台。云台可以是指允许有效载荷6绕一条或多条旋转轴线进行旋转的枢转支撑件。云台可以为支撑的有效载荷6提供稳定性，也可以被配置成控制有效载荷6的状态，并为有效载荷6提供旋转和/或平移移动能力。其中，云台可以为单轴云台、双轴云台或三轴云台或其它类型的云台。
本申请实施例中，可选地，有效载荷6可以是指由云台支撑的载荷或物体的任何部分。有效载荷6可以被配置为不执行任何操作或功能。或者，有效载荷6可以是被配置成用于执行相应的操作或功能，也称为功能性有效载荷。例如，有效载荷6可以包括用于勘测一个或多个目标的一个或多个传感器。该传感器可以收集关于传感器周围环境的信息。可以将任何适合的传感器结合到有效载荷中，例如成像装置(例如，视觉成像装置(例如，图像捕捉装置、相机等)、红外线成像装置、紫外线成像装置、热成像装置等)、音频捕捉装置(例如，抛物线麦克风)、射频(rf)传感器、磁传感器、超声波传感器等中。其中，有效载荷6可以包括单一类型的传感器、发射体和/或工具，也可以包括多种类型的传感器、发射体和/或工具，还可以包括任何数量的传感器、发射体和或工具以及其组合，例如传感器阵列。
进一步的，本申请实施例中，当该旋转机构对应的无人机用于剧组拍摄时，成像装置可以为摄像机，如视频摄像机。
以载体4为三轴云台、有效载荷6为成像装置为例进行说明。当载体4为三轴云台时，其可以绕第一轴A1(例如，航向yaw轴)、第二轴A2(例如，横滚roll轴)以及第三轴A3(例如，俯仰pitch轴)旋转。其中，在三轴云台绕yaw轴旋转的过程中，由三轴云台支撑的成像装置也将绕yaw轴同步旋转。基于脚架3在无人机中的相对位置设计，为了避免脚架3挡住成像装置的镜头，无人机的飞控系统在三轴云台旋转时，可以根据三轴云台绕yaw轴旋转的旋转信息控制驱动部2，使得驱动部2可以按照三轴云台绕yaw轴旋转的旋转速度和/或旋转方向等旋转信息驱动旋转部1，从而实现旋转部1连接的脚架3相对于成像装置绕yaw轴的同步旋转，进而在成像装置的视场范围内避开脚架3，防止脚架3穿帮入画的情况。同时，由于脚架3并未与三轴云台之间存在直接连接或间接连接，从而不会影响三轴云台的自身模态，有利于三轴云台的独立工作。
可以理解，本申请实施例中，脚架3可以包括两个或两个以上，其中，脚架3的数量可以与旋转部1的数量相同，也可以大于旋转部1的数量，例如，一个旋转部1可以与一个脚架1连接，一个旋转部1也可以与一个以上的脚架1连接，相应的，旋转部1的数量可以与驱动部2的数量相同，也可大于驱动部2的数量，具体均可以根据实际需要进行相应的设置，此处不做具体限定。
需要说明的是，本申请实施例中，脚架3可以包括两个或两个以上，其中，在载体4的旋转过程中，可以根据需要旋转脚架3中的一个或以上，这一个或以上的脚架3可以由同一驱动部2驱动而旋转，也可以由不同驱动部2驱动而旋转，且这一个或以上的脚架3的旋转方向和/或旋转速度等旋转信息可以相同，也可以不同，此处不做具体限定。
在上述实施例的结构基础上，下面以旋转机构包括一驱动部2和一旋转部2，一驱动一旋转部2，一旋转部2连接无人机的所有脚架3为例，对旋转机构中的旋转部1、驱动部2以及其它附加结构等内容进行进一步的详细说明：
请参阅图2，本申请实施例中旋转机构另一实施例可以包括：
旋转部1包括旋转件11和框架件12，旋转件11和框架件12连接；
旋转件11还用于与驱动部2连接；
框架件12还用于与脚架3连接。
具体的，旋转部1可以包括旋转件11和框架件12。其中，旋转件11和框架件12可以通过诸如螺钉的方式连接，且旋转件11还可以用于与驱动部2连接，框架件12还可以用于与脚架3连接。由此，当旋转件11在驱动部2的作用下实现旋转时，旋转件11可以带动框架件12的旋转，从而可以实现脚架3的旋转，即脚架3可以随载体4上的有效载荷6的旋转而旋转，如脚架3与有效载荷6的同步运动。通过上述结构，不仅有利于脚架3的连接稳定性，也有利于简化旋转件11的结构设计。
其中，旋转件11和/或框架件12可以与无人机的机身上的一个或多个部件直接连接或间接连接，具体可设于第二安装板52的下方，以使得无人机的机身支撑旋转部1的同时，可以保持旋转部1相应的被传动功能。
可以理解的是，本申请实施例中，旋转件11和框架件12可以为单独分离的结构，也可以为一体成型的结构，此处不做具体限定。
可选地，在一些实施例中，框架件12可以设于旋转件11的底部，框架件12的侧面可以连接有脚架3。由此，在脚架3连接于框架件12的侧面时，由于连接面积较大，其连接稳定性可以得到提高，有利于在无人机降落时减少冲击力的影响；其次，框架件12设于旋转件11的底部，可以防止驱动部2驱动旋转件11时受到的脚架3旋转时的阻碍，也有利于驱动部2以及旋转件11的安装高度的控制以及安装的简易化，更有利于在旋转机构应用于无人机时，提高无人机整个结构的集成度、空间利用度以及外观美化。
可以理解的是，在实际应用中，框架件12与旋转件11、脚架3的位置关系除了上述说明的内容，还可以根据需要进行其它的位置设计，此处不做具体限定。
可选地，在一些实施例中，框架件12可以包括上框架121和下框架122。当脚架3为诸如管状结构时，上框架121和下框架122之间的高度可以大于脚架3的直径，以提高脚架3的连接稳定性，并加强对脚架3的支撑作用。上框架121和下框架122可以分别设有用于连接脚架3的第一安装部和第二安装部，相应地，脚架3可以包括用于配合第一安装部和第二安装部的安装部，从而实现脚架3在框架件12的侧面上的安装与固定。
其中，上框架121和下框架122的外周围可以为多边形，该多边形的边数 可以根据脚架3的数量而定，以提高外观美感，同时，可以配合本文后续说明的旋转部1的中心的开口结构，以提高空间利用度，并减少外露结构。例如，当脚架3包括3个时，上框架121和下框架122的外周围可以为六边形，每一边间隔设有一个脚架3。当然，上框架121和下框架122的外周围的形状也可以根据需要进行其它设置，此处不做具体限定。
可以理解的是，脚架3包括的安装部可以是与脚架3一体成型的部分，也可以是单独分离的部分，以用于连接脚架3与框架件12，该单独分离的部分可以是独立的中间连接件，也可以附属于旋转机构，此处不做具体限定。
可选地，在一些实施例中，旋转机构还可以包括连接件7，连接件7可以用于在旋转部1上连接脚架3。该连接件8即如上述说明的与脚架3单独分离的安装部，附属于旋转机构。为了进一步加强脚架3与旋转部1的连接稳定性以及结构强度，连接件7可以为碳管连接件。
其中，第一安装部和/或第二安装部可以为螺孔结构，以通过螺栓或螺钉在框架件12上固定连接脚架3。
需要说明的是，第一安装部和/或第二安装部除了上述说明的结构，在实际应用中，还可以为其它结构，如卡扣，脚架3与框架件12之间的连接方式除了上述说明的内容，也可以采用其它连接方式，本申请实施例中说明的连接可以包括但不限于直接连接、间接连接、可拆除连接或永久性连接等，此处不做具体限定。
进一步的，在一些实施例中，框架件12还可以包括中框架123，中框架123可以设于上框架121与下框架122之间。即，中框架123的上下两端可以分别与上框架121与下框架122连接。其中，中框架123可以包括多个，并由脚架3间隔开来环绕于上框架121与下框架形成的空间的外周围。中框架123的增加，有利于提高框架件12的结构强度。同时，中框架123可以为镂空结构，即中框架123上可以设有多个通孔，该多个通孔的尺寸、形状、排列方式、排列密度可以根据需要进行不同的设置，以在加强框架件12的结构强度的同时减小框架件12的重量负荷，使得旋转结构在应用于无人机时，可以提高无人机的续航能力。
可以理解的是，当框架件12包括中框架123时，脚架3也可以在与上框架121、下框架122连接的同时，与中框架123连接，以进一步提高连接稳定 性，加强连接结构强度，还可以只与中框架123连接，其连接关系以及连接方式此处不做具体限定。
可选地，在一些实施例中，旋转件11可以为传动轮，以便于驱动部2的动力传动。其中，传动轮可以包括但不限于齿轮或滑轮。
可选地，在一些实施例中，为了便于载体4的自由旋转及结构空间利用率的加强，载体4可以包括转接件41，旋转部1的中心可以设有开口结构，该开口结构即通孔，可以用于贯穿载体4的转接件41。由此，当转接件41可以作为载体4挂载于无人机上的中间连接件时，转接件41通过贯穿旋转部1的中心的开口结构，其两端可以分别凸出于开口结构，从而转接件41的一端可以固定挂载于无人机上，另一端则可以实现与载体4的连接。
可以理解的是，基于载体4与脚架3的位置关系的不同，转接件41也可以不进行设置，或者作为载体4的一部分，具体可以根据需要进行相应的调整，此处不做具体限定。
请参阅图3，本申请实施例中旋转机构另一实施例可以包括：
驱动部2包括电机21和驱动件22，电机21用于驱动驱动件22，驱动件22用于驱动旋转部1。
具体的，驱动部2飞羽无人机的中心体5的下方，可以包括电机21和驱动件22。其中，电机21的输出轴可以与驱动件22连接，驱动件22可以由电机21驱动。例如，电机21可以由电子调速器进行控制，电子调速器可以与无人机的飞控系统通信，电子调速器通过接收无人机的飞控系统根据载体4的旋转信息发送的相关信号，可以对电机21的旋转方向以及旋转速度等旋转信息进行相应的控制，从而使得驱动件22的旋转方向以及旋转速度等旋转信息可以经由电机21得到相应的调整。驱动件22在电机21的驱动下，可以驱动旋转部1的旋转。
示例性的，电机21可以包括电机安装座211。驱动件22的上端面可以设有用于安装电机21的安装部，电机21可以通过电机安装座211实现与驱动件22的连接，同时，电机安装座211可以用于固定驱动部2，以使得驱动部2可以固定于某一位置而驱动旋转部1。其中，电机安装座211远离电机21的一端可以与无人机的任一合适的部位固定连接，具体可以设于无人机的中心体5的第二安装板52的下方，如与设于第二安装板52的下方的球形减震板连接(减 震系统可以包括球形减震板)，只要能够实现驱动部2的稳定性即可。
可选地，在一些实施例中，驱动件22可以为驱动轮。其中，驱动件22作为驱动轮时，可以包括以下两种驱动方式：
1、在一些实施例中，驱动部2还可以包括传动带23，该传动带23的两端分别可以套设于旋转部1的旋转件11、驱动部2的驱动件22上，以实现驱动件22与旋转件11的传动连接。在电机21的作用下，驱动件22可以通过传动带23驱动旋转部2。其中，驱动件22可以作为主动轮，旋转件11可以作为从动轮，驱动件22可以通过传动带23的传动作用驱动旋转部1。
可以理解的是，本申请实施例中的传动带23可以是表面平整的传动带，也可以是表面具有齿形的传动带，可以依据旋转件11和驱动件22的结构或实际使用需要而设置，此处不做具体限定。
2、在一些实施例中，驱动件22可以与旋转部1啮合，即驱动件22与旋转部1中的旋转件11可以均为齿轮结构，两者之间可以相互啮合。其中，驱动件22可以作为主动轮，旋转件11可以作为从动轮，驱动件22可以通过与旋转件11的啮合作用驱动旋转部1。
需要说明的是，本申请实施例中，驱动部2驱动旋转部1的驱动方式除了上述说明的内容，在实际应用中，还可以采用其它方式，只要能够合理实现即可，此处不做具体限定。
可以理解的是，本申请实施例中，驱动件22除了为上述说明的驱动轮，在实际应用中，也可以为其它适用于驱动的结构，此处不做具体限定。
请参阅图3和图4，本申请实施例中旋转机构另一实施例可以包括：
旋转机构还包括支撑部8，支撑部8用于支撑旋转部1。
具体的，为了提高旋转机构的稳定性，减弱无人机降落时对无人机造成的冲击力，进而造成对无人机挂载的载体4的冲击影响，旋转机构还可以包括支撑部8，以加强结构强度。支撑部8可以用于支撑旋转部1。其中，支撑部8可以与无人机的机身的任一合适的部件连接，具体可以与无人机的中心体5的第二安装板52连接。
可选地，在一些实施例中，支撑部8可以包括支撑轴81和下轴支撑板82。其中，下轴支撑板82可以设于支撑轴81的下端面的外周围，并与支撑轴81的下端面的外周围连接，该下轴支撑板82的外周围可以为诸如圆形；旋转部 1可以环绕于支撑轴81的外周围，同时可以置于下轴支撑板82上，以由下轴支撑板82起到相应的支撑作用。
相应地，为了加强空间资源的合理利用，加强结构的集成度，支撑轴81可以为空心轴结构，即支撑轴81的中心也为通孔，以使得载体4的转接件41可以贯穿支撑轴81而实现相应的连接。由此，上述结构由外向内依次可以看到：旋转部1、支撑部8、载体4的转接件41，该结构设计保持了脚架3围绕载体4的原有结构设计，同时，在载体4以及支撑的有效载荷6的重量较大时，有利于维持无人机的平衡，减少飞行阻力等。
可选地，在一些实施例中，支撑部8还可以包括支撑柱83，支撑柱83可以设于支撑轴81的上端，以通过支撑柱83与诸如图1所示的第二安装板52连接，从而实现与无人机机身的固定。同时，支撑柱83形成的高度空间范围可以用于安装无人机的其它附加结构，从而有利于提高空间利用度。
其中，支撑柱83与无人机机身连接的一端可以设有诸如三角形的连接板，以加大与无人机的机身的连接面积，提高连接稳定性。
可以理解的是，支撑柱83与无人机机身连接的一端的连接板可以有其它形状设计，如方形、圆形、其它规则形状、不规则形状等，此处不做具体限定。
可选地，在一些实施例中，支撑部8还可以包括上轴支撑板84。上轴支撑板94可以与支撑轴81的上端连接，即上轴支撑板84可以环绕于支撑轴81上端面的外周围设置，该上轴支撑板84的外周围可以为诸如方形，支撑柱83可以设于上轴支撑板84上。具体的，支撑柱83可以设于靠近上轴支撑板84的边缘的位置，以提高多个支撑柱83围绕的空间范围，有利于空间利用。
可以理解的是，本申请实施例中，下轴支撑板82的外周围为诸如圆形设计，可以减少材料成本的同时实现支撑作用，上轴支撑板84的外周围为诸如方形设计，则可以便于支撑柱83的连接的同时扩大多个支撑柱83围绕形成的空间范围，在实际应用中，下轴支撑板82与上轴支撑板84除了上述的形状说明，还可以采用其它形状的结构设计，此处不做具体限定。
需要说明的是，本申请实施例中，上轴支撑板84可以包括多个通孔，以减轻支撑部8的重量，提高无人机的续航能力，这个多个通孔彼此之间的形状可以相同并对称设置，其形状也可以不同，其形状、排列规则、尺寸大小此处不做具体限定。
请参阅图5，本申请实施例中旋转机构另一实施例可以包括：
旋转机构还包括第一轴承9，第一轴承9安装于旋转部1的上表面。
具体的，当旋转部1的上表面与其它部件接触时，为了降低旋转部1在运动过程中的摩擦系数，并保证其回转精度，旋转结构还可以包括第一轴承9。该第一轴承9可以安装于旋转部1的上表面。其中，当旋转部1包括用于实现旋转的旋转件11，且旋转件11在旋转部1的上方时，第一轴承9还可以设于旋转件11的上表面。
当旋转部1的下表面与其它部件接触时，为了进一步降低旋转部1在运动过程中的摩擦系数，旋转机构还可以包括第二轴承10，第二轴承10可以安装于旋转部1的下表面。
如此，当旋转部1的上下表面均可能与其它部件接触时，通过在旋转部1的上表面和/或下表面设置相应的轴承，可以极大地提高旋转部1的旋转顺滑性。
可以理解的是，本申请实施例中，基于旋转部1的结构设计与组成，第一轴承10和/或第二轴承10可以相应地设于旋转部1中实现旋转的部件的上表面或下表面，而不局限于旋转部1的整体的上表面或下表面。
相应地，在一些实施例中，旋转部1的上表面或与上表面贴合的接触面可以设有连接为一体的第一轴承结构，即第一轴承结构与旋转部1的上表面连接为一体，或第一轴承结构与旋转部1的上表面贴合的接触面连接为一体，以替代第一轴承10。对应地，旋转部1的下表面或与下表面贴合的接触面可以设有连接为一体的第二轴承结构，以替代第二轴承10。
可以理解的是，当旋转部1包括用于实现旋转的旋转件11时，若旋转件11设于旋转部1的上部，则第一轴承结构也可以设于旋转件11的上表面或与旋转件11的上表面贴合的接触面上，或者，当旋转件11设于旋转部2的下部，则第二轴承结构也可以设于旋转件11的下表面或与旋转件11的下表面贴合的接触面上，具体可以参照上述第一轴承9与第二轴承10的相应说明，此处不再赘述。
其中，第一轴承结构和/或第二轴承结构可以包括但不限于滚珠轴承结构，该滚珠轴承结构可以按照现有设计以及旋转部1的结构进行相应的变化，只要能够实现降低旋转部1在运动过程中的摩擦系数即可。
在上述实施例的结构基础上，请参阅图3和图5，本申请实施例还提供了一种无人机的起落架，该起落架可以包括脚架3和上面所述的任一种旋转机构。
在该起落架应用于无人机的过程中，当无人机挂载的载体4旋转时，起落架中旋转机构的驱动部2可以根据载体4的旋转情况驱动旋转部1旋转，从而实现脚架3相对于载体4支撑的有效载荷6的跟随旋转，可以解决无人机航拍过程中脚架3穿帮入画的问题。同时，由于脚架3与旋转机构中的旋转部1连接，而旋转机构并未与载体4之间存在直接或间接连接关系，从而脚架3不会影响载体4的自身模态，有利于载体4的独立工作。
进一步的，由于脚架3与载体4分离，那么在无人机降落时，脚架3不会将冲击力直接传递至载体4，从而有利于载体4的结构稳定性，也有利于保护载体4。
可以理解的是，本申请实施例中，旋转机构中的旋转部1可以为脚架3的一部分，即脚架3上设有用于转动的结构，该用于转动的结构相当于旋转部1，以使得在旋转机构中驱动部2的作用下，直接驱动脚架3按照相应的方向或速度转动。
可选地，在一些实施例中，脚架3可以包括第一脚架件31和第二脚架件32。其中，第一脚架件31的一端可以与旋转机构中的旋转部1连接，另一端则可以与第二脚架件32连接。第一脚架件31与第二脚架件32连接后呈折弯结构，可以缓解无人机降落时第二脚架件32接触地面或定作物受到的冲击力，降低对无人机的冲击影响。同时，第一脚架件31的长度可以小于第二脚架件32的长度，以提高脚架3的支撑强度。
可选地，在一些实施例中，脚架3还可以包括抱紧件33，第一脚架件31可以通过抱紧件33和第二脚架件32连接。由此，第一脚架件31与第二脚架件32可以便于拆装。其中，抱紧件33可以为碳管抱紧件，以提高结构强度。
可以理解的是，本申请实施例中，第一脚架件31和第二脚架件32的连接方式除了上述说明的内容，在实际应用中，还可以采用其它方式，如焊接，此处不做具体限定。
需要说明的是，本申请实施例中，为了减轻无人机的承载重量，减少旋转机构中电机21的扭矩输出，脚架3可以为诸如中空结构。
在上述实施例的结构基础上，请参阅图1和图3，本申请实施例还提供了一种无人机的机架，该机架可以包括无人机的中心体5，机架可以用于挂载支撑有效载荷6的载体，还可以包括上面所述的任一种起落架，即在中心体5的下方设有脚架3以及旋转机构，以实现对无人机的支撑的同时，能够在旋转机构的作用下满足脚架3相对于载体4支撑的有效载荷6的跟随旋转。
可选地，在一些实施例中，为了控制脚架3的旋转以及对脚架3的定位，中心体5的下方可以设有第一传感器，起落架的脚架3上可以设有配合第一传感器的第二传感器，第一传感器和第二传感器可以用于对脚架3进行定位，以确定脚架3的旋转位置，并可以在脚架3进行相应的旋转后，能够根据相应的定位信息回归脚架3的原始位置。当然，在实际应用中，若脚架3的相对位置不影响无人机的降落，并不会影响支撑结构强度，脚架3也可以不回归至原始位置。
可以理解的是，当脚架3包括两个或以上时，若两个或以上的脚架3的位置相对固定，那么第二传感器的数量可以与脚架3的数量相同，也可以小于脚架3的数量，例如，可以只在一个脚架3上设置第二传感器，此处不做具体限定。
其中，第一传感器和/或第二传感器可以包括但不限于霍尔磁铁传感器，只要能够实现相应的定位功能即可。
可选地，在一些实施例中，机架还可以包括减震系统，减震系统与载体4的转接件41连接。减震系统可以被配置成用于将载体4与无人机进行震动隔离，以减小无人机的震动对载体4的影响。
可选地，在一些实施例中，当起落架的旋转机构包括支撑部8，且支撑部8包括支撑柱83时，减震系统可以设于支撑柱83形成的高度空间范围内，且不用改变原有的无人机的中心体5的结构，有利于制备工艺以及结构的简化。其中，减震系统可以包括但不限于十字减震板。
在上述实施例的结构基础上，请参阅图6，本申请实施例还提供了一种无人机，该无人机可以包括上面的任一种机架以及由机架挂载的载体4，中心体的下方则可以挂载有载体4，载体4可以用于支撑有效载荷6，该有效载荷6可以为诸如成像装置，以满足无人机的航拍需求。
通过上述描述可知，当旋转机构应用至无人机时，脚架3可由驱动部2对旋转部1的驱动而实现相对于载体4的跟随旋转。由此，由于脚架3与载体4的分离式设计，载体4的自身模态不会受到脚架3的影响，也能够实现与载体4的同步旋转，从而解决无人机拍摄过程中脚架3穿帮入画的问题，也不会由于脚架3无法正常收放的问题而威胁无人机的安全。进一步的，上述结构具有较强的连接稳定性以及结构强度，有利于实现无人机拍摄过程中的稳定性，提高无人机的使用性能，还能够避免无人机降落时受到的冲击力从脚架3直接传递至载体4，提高载体4的使用安全。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
在本申请所提供的几个实施例中，应该理解到，以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，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申请各实施例技术方案的精神和范围。

Claims (37)

  1. 一种旋转机构，应用于无人机，所述无人机包括中心体和设于所述中心体下方的载体、脚架，所述载体用于支撑有效载荷，其特征在于，所述旋转机构包括：
    旋转部和驱动部；
    所述旋转部用于与所述脚架连接；
    所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
  2. 根据权利要求1所述的旋转机构，其特征在于，所述载体为云台。
  3. 根据权利要求1或2所述的旋转机构，其特征在于，所述有效载荷为成像装置。
  4. 根据权利要求1至3中任一项所述的旋转机构，其特征在于，所述旋转部包括旋转件和框架件，所述旋转件与所述框架件连接；
    所述旋转件还用于与所述驱动部连接；
    所述框架件还用于与所述脚架连接。
  5. 根据权利要求4所述的旋转机构，其特征在于，所述框架件设于所述旋转件的底部，所述框架件的侧面连接有所述脚架。
  6. 根据权利要求5所述的旋转机构，其特征在于，所述框架件包括上框架和下框架，所述上框架和所述下框架分别设有用于连接所述脚架的第一安装部和第二安装部。
  7. 根据权利要求6所述的旋转机构，其特征在于，所述第一安装部和/或所述第二安装部为螺孔结构。
  8. 根据权利要求6或7所述的旋转机构，其特征在于，所述框架件还包括中框架，所述中框架设于所述上框架与所述下框架之间。
  9. 根据权利要求4至8中任一项所述旋转机构，其特征在于，所述旋转件为传动轮。
  10. 根据权利要求1至9中任一项所述的旋转机构，其特征在于，所述旋转部的中心设有开口结构，所述开口结构用于贯穿所述载体的转接件。
  11. 根据权利要求1至10中任一项所述的旋转机构，其特征在于，所述旋转机构还包括连接件，所述连接件用于在所述旋转部上连接所述脚架。
  12. 根据权利要求11所述的旋转机构，其特征在于，所述连接件为碳管连接件。
  13. 根据权利要求1至12中任一项所述的旋转机构，其特征在于，所述驱动部包括电机和驱动件，所述电机用于驱动所述驱动件，所述驱动件用于驱动所述旋转部。
  14. 根据权利要求13所述的旋转机构，其特征在于，所述驱动件为驱动轮。
  15. 根据权利要求13或14所述的旋转机构，其特征在于，所述驱动部还包括传动带，所述驱动件通过所述传动带驱动所述旋转部。
  16. 根据权利要求14所述的旋转机构，其特征在于，所述驱动件与所述旋转部啮合，所述驱动件通过啮合作用驱动所述旋转部。
  17. 根据权利要求1至16中任一项所述的旋转机构，其特征在于，所述旋转机构还包括支撑部，所述支撑部用于支撑所述旋转部。
  18. 根据权利要求17所述的旋转机构，其特征在于，所述支撑部包括支撑轴和下轴支撑板，所述下轴支撑板设于所述支撑轴的下端；
    所述旋转部环绕于所述支撑轴的外周围，所述旋转部置于所述下轴支撑板上。
  19. 根据权利要求18所述的旋转机构，其特征在于，所述支撑轴为空心轴结构，所述空心轴结构用于贯穿所述载体的转接件。
  20. 所述权利要求18或19所述的旋转机构，其特征在于，所述支撑部还包括支撑柱，所述支撑柱设于所述支撑轴的上端。
  21. 根据权利要求20所述的旋转机构，其特征在于，所述支撑部还包括上轴支撑板，所述上轴支撑板设于所述支撑轴的上端，所述支撑柱设于所述上轴支撑板上。
  22. 根据权利要求1至21中任一项所述的旋转机构，其特征在于，所述旋转机构还包括第一轴承，所述第一轴承安装于所述旋转部的上表面。
  23. 根据权利要求1至22中任一项所述的旋转机构，其特征在于，所述旋转机构还包括第二轴承，所述第二轴承安装于所述旋转部的下表面。
  24. 根据权利要求1至21中任一项所述的旋转机构，其特征在于，所述旋转部的上表面或与所述上表面贴合的接触面设有连接为一体的第一轴承结 构。
  25. 根据权利要求1至21、24中任一项所述的旋转机构，其特征在于，所述旋转部的下表面或与所述下表面贴合的接触面设有连接为一体的第二轴承结构。
  26. 根据权利要求25所述的旋转机构，其特征在于，所述第一轴承结构和/或第二轴承结构为滚珠轴承结构。
  27. 一种无人机的起落架，其特征在于，包括脚架和如权利要求1至26中任一项所述的旋转机构。
  28. 根据权利要求27所述的起落架，其特征在于，所述脚架包括第一脚架件和第二脚架件；
    所述第一脚架件的两端分别与所述第二脚架件、所述旋转机构中的旋转部连接，所述第一脚架件的长度小于所述第二脚架件的长度。
  29. 根据权利要求28所述的起落架，其特征在于，所述脚架还包括抱紧件，所述第一脚架件通过所述抱紧件和所述第二脚架件连接。
  30. 根据权利要求29所述的起落架，其特征在于，所述抱紧件为碳管抱紧件。
  31. 一种无人机的机架，所述机架包括所述无人机的中心体，所述机架用于挂载载体，所述载体用于支撑有效载荷，其特征在于，所述机架还包括如权利要求28至30中任一项所述的无人机的起落架。
  32. 根据权利要求31所述的机架，其特征在于，所述中心体的下方设有第一传感器，所述起落架的脚架上设有配合所述第一传感器的第二传感器，所述第一传感器和所述第二传感器用于对所述脚架进行定位。
  33. 根据权利要求32所述的机架，其特征在于，所述第一传感器和/或第二传感器为霍尔磁铁传感器。
  34. 根据权利要求31至33中任一项所述的机架，其特征在于，所述机架还包括减震系统，所述减震系统与所述载体的转接件连接。
  35. 根据权利要求34所述的机架，其特征在于，当所述起落架的旋转机构包括支撑部，且所述支撑部包括支撑柱时，所述减震系统设于所述支撑柱形成的高度空间范围内。
  36. 根据权利要求35所述的机架，其特征在于，所述减震系统为十字减 震板。
  37. 一种无人机，其特征在于，包括如权利要求31至36中任一项所述的机架以及由所述机架挂载的载体，所述载体用于支撑有效载荷。
PCT/CN2018/079003 2018-03-14 2018-03-14 一种旋转机构、无人机的起落架及机架、无人机 WO2019173988A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/079003 WO2019173988A1 (zh) 2018-03-14 2018-03-14 一种旋转机构、无人机的起落架及机架、无人机
CN201880014342.5A CN110461709A (zh) 2018-03-14 2018-03-14 一种旋转机构、无人机的起落架及机架、无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/079003 WO2019173988A1 (zh) 2018-03-14 2018-03-14 一种旋转机构、无人机的起落架及机架、无人机

Publications (1)

Publication Number Publication Date
WO2019173988A1 true WO2019173988A1 (zh) 2019-09-19

Family

ID=67908615

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/079003 WO2019173988A1 (zh) 2018-03-14 2018-03-14 一种旋转机构、无人机的起落架及机架、无人机

Country Status (2)

Country Link
CN (1) CN110461709A (zh)
WO (1) WO2019173988A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115164853A (zh) * 2022-07-29 2022-10-11 山东省圣达地理信息测绘工程有限公司 一种基于市政工程测绘的激光测绘装置及操作方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2483881A (en) * 2010-09-22 2012-03-28 Thomas Irps A dual-function landing gear and rotor protector for a UAV
CN105109675A (zh) * 2015-09-06 2015-12-02 中国科学院自动化研究所 一种被动增稳可变形起落架陆空飞行机器人
CN106428596A (zh) * 2016-10-28 2017-02-22 中国电力科学研究院 一种配网巡检无人机整体结构及其无人机
CN206012947U (zh) * 2016-08-31 2017-03-15 北京深远世宁科技有限公司 一种无人机起落架、无人机
CN206358353U (zh) * 2016-12-28 2017-07-28 江西顶翔智控科技有限公司 一种无人机脚架收放机构

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN208102312U (zh) * 2018-03-14 2018-11-16 深圳市大疆创新科技有限公司 一种旋转机构、无人机的起落架及机架、无人机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2483881A (en) * 2010-09-22 2012-03-28 Thomas Irps A dual-function landing gear and rotor protector for a UAV
CN105109675A (zh) * 2015-09-06 2015-12-02 中国科学院自动化研究所 一种被动增稳可变形起落架陆空飞行机器人
CN206012947U (zh) * 2016-08-31 2017-03-15 北京深远世宁科技有限公司 一种无人机起落架、无人机
CN106428596A (zh) * 2016-10-28 2017-02-22 中国电力科学研究院 一种配网巡检无人机整体结构及其无人机
CN206358353U (zh) * 2016-12-28 2017-07-28 江西顶翔智控科技有限公司 一种无人机脚架收放机构

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115164853A (zh) * 2022-07-29 2022-10-11 山东省圣达地理信息测绘工程有限公司 一种基于市政工程测绘的激光测绘装置及操作方法

Also Published As

Publication number Publication date
CN110461709A (zh) 2019-11-15

Similar Documents

Publication Publication Date Title
US11140322B2 (en) Stabilizing platform
US20200361629A1 (en) Stabilizing platform
EP3549872B1 (en) Dual-axis platform for use in a small unmanned aerial vehicle and tri-axis platform for use in a small unmanned aerial vehicle
US20210302963A1 (en) Method and system for stabilizing a payload
EP2759479B1 (en) Dual-axis ball head for use in unmanned aerial vehicle, triple-axis ball head for use in unmanned aerial vehicle, and multi-rotor aerial vehicle
WO2015085499A1 (zh) 非正交轴载体
JP2018534490A (ja) 搭載物を安定させる安定化装置
WO2019173990A1 (zh) 安装机构、起落架、机架以及无人机
EP0128935A1 (en) Improved suspension system for supporting and conveying equipment, such as a camera
WO2021253750A1 (zh) 云台、摄像载体及可移动平台
WO2018053925A1 (zh) 云台减震装置及拍摄装置
WO2019173988A1 (zh) 一种旋转机构、无人机的起落架及机架、无人机
KR101848690B1 (ko) 가상현실용 카메라 짐벌을 갖는 무인비행기
CN207725613U (zh) 一种具有摄像功能的无人机
WO2019007129A1 (zh) 云台及具有此云台的摄像组件和无人机
WO2019100825A1 (zh) 无人飞行器
CN211685663U (zh) 三轴吊舱
CN108995820A (zh) 云台、具有该云台的拍摄装置及无人机
KR20150054216A (ko) 항공촬영용 카메라 고정장치
CN207352473U (zh) 一种无人机自动跟踪天线系统
WO2019007835A1 (en) AERIAL VEHICLE PERCHED TO MAKE PANORAMICS
CA1218259A (en) Improved suspension system for supporting and conveying equipment, such as a camera
CN112960131A (zh) 一种应用于多摄像头的云台

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18909324

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18909324

Country of ref document: EP

Kind code of ref document: A1