WO2020019553A1

WO2020019553A1 - Gimbal connecting device and unmanned aerial vehicle

Info

Publication number: WO2020019553A1
Application number: PCT/CN2018/112646
Authority: WO
Inventors: 刘彦辰; 谢文麟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-07-27
Filing date: 2018-10-30
Publication date: 2020-01-30
Also published as: CN208715498U

Abstract

Disclosed is a gimbal connecting device applied to an unmanned aerial vehicle. The unmanned aerial vehicle has a gimbal and a stand. The stand has multiple legs and the gimbal connecting device comprises a rigid connecting assembly (1). The rigid connecting assembly (1) is used for forming a rigid connection between a leg rotating with the gimbal and a shaft arm of the gimbal, and the rigid connecting assembly (1) has a first connecting structure for connection to the leg and a second connecting structure for connection to the shaft arm, the first connecting structure being connected to the second connecting structure. Further disclosed is an unmanned aerial vehicle comprising the gimbal connecting device. The gimbal connecting device can ensure a rigid connection between the stand and the gimbal, such that following rotation of the stand relative to the gimbal is ensured, and the inaccurate control over a corresponding shaft arm in the gimbal due to a gap or tolerance generated by a structure for driving the stand to rotate with the gimbal can be prevented.

Description

PTZ connection device and unmanned aerial vehicle

Technical field

Embodiments of the present invention relate to the field of aircraft, and in particular, to a gimbal connection device and an unmanned aerial vehicle.

Background technique

With the continuous advancement of science and technology, automatic control equipment such as unmanned aerial vehicles have been used more and more widely.

At present, an unmanned aerial vehicle can set a gimbal under the fuselage, and use the gimbal to carry a camera device or other mission load. The gimbal can be rotated around many different axes, so that the camera device or other task loads point in different directions. Generally, in order to prevent the UAV ’s own structure from blocking the camera device, the gimbal will be set under the airframe, so that the airframe will have less obstruction of the field of vision in front of and below the video camera, so that the camera can obtain a good field of vision.

However, the tripod of the UAV will also be located under the fuselage, so the tripod may still block the field of view of the camera device and affect the normal shooting operation of the camera device.

Summary of the Invention

Embodiments of the present invention provide a gimbal connection device and an unmanned aerial vehicle, which can enable a tripod to rotate with the gimbal, and at the same time, can prevent a gap or tolerance generated by a structure that drives the tripod to follow the gimbal's rotation to the corresponding axis in the gimbal. The control of the arm is imprecise.

In a first aspect, an embodiment of the present invention provides a gimbal connection device, which is applied to an unmanned aerial vehicle. The unmanned aerial vehicle has a gimbal and a tripod, and the tripod has a plurality of feet. The gimbal connection device includes a rigid connection component, and The connection component is used to form a rigid connection between the foot that rotates with the gimbal and the axis arm of the gimbal. The rigid connection component has a first connection structure for connecting the leg and a second connection structure for connecting the shaft arm. The connection structure is connected to the second connection structure.

Optionally, the rigid connection component is connected between the leg and the first axis arm in the gimbal that can rotate about the yaw axis.

Optionally, the rigid connection component is connected between the first shaft arm and the leg closest to the first shaft arm in the tripod.

Optionally, the first connection structure is connected to the leg by means of clamping or sleeve; and / or, the second connection structure is connected to the shaft arm by means of clamping or sleeve.

Optionally, the first connection structure includes a collar, and the collar is sleeved on the outside of the leg.

Optionally, the shape of the inner wall of the collar and the cross-sectional shape of the feet match each other.

Optionally, the second connection structure includes a first clamping portion and a second clamping portion detachably connected to the first clamping portion, and the first clamping portion and the second clamping portion are embraced on opposite sides of the shaft arm To clamp the shaft arm between the first clamping portion and the second clamping portion.

Optionally, the shape enclosed by the first clamping portion and the second clamping portion and the sectional shape of the shaft arm match each other.

Optionally, the rigid connection assembly includes at least one rigid connection body, and at least one of the rigid connection bodies is located between the first connection structure and the second connection structure.

Optionally, the rigid connection assembly includes a first rigid connection body and a second rigid connection body. The first rigid connection body is provided with a first connection structure, and the second rigid connection body is provided with a second connection structure. The first rigid connection The body and the second rigid connecting body are detachably connected.

Optionally, the rigid connection assembly includes a third rigid connection body, and the first connection structure and the second connection structure are respectively located at opposite ends of the third rigid connection body along a length direction of the third rigid connection body.

Optionally, the first rigid connecting body and the second rigid connecting body are clamped, screwed or riveted.

Optionally, the rigid connecting body is provided with an avoidance groove for avoiding the image transmission equipment.

Optionally, the rigid connecting body has a weight reduction hole or a weight reduction gap.

According to a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including a body, a tripod, a gimbal, and the gimbal connection device as described above. Both the foot and the gimbal are connected to the body, and the leg includes a plurality of legs. The gimbal connecting device is connected between the leg that follows the rotation of the gimbal and the arm of the gimbal.

Optionally, the gimbal connecting device includes a plurality of gimbal connecting devices, or at least two legs are respectively connected to at least one gimbal connecting device.

Optionally, the unmanned aerial vehicle further includes a camera device, and the camera device is set on the gimbal.

In the embodiments of the present invention, a gimbal connection device and an unmanned aerial vehicle. The gimbal connection device can be applied to an unmanned aerial vehicle. Among them, the unmanned aerial vehicle has a gimbal and a tripod, and the tripod has a plurality of legs. The gimbal connection device includes The rigid connection component is used to connect the foot that rotates with the gimbal and the arm of the gimbal. The rigid connection component has a first connection structure connected to the stand and a second connection structure connected to the shaft arm. The first connection The structure is connected to the second connection structure. In this way, the rigid connection component can ensure that the feet of the tripod rotate with the gimbal, prevent the tripod from blocking the workload on the gimbal, and prevent the gap or tolerance caused by the structure that drives the tripod to follow the rotation of the gimbal. The control of the corresponding arm in the gimbal is inaccurate.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the actual embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a schematic structural diagram of a gimbal connection device according to a first embodiment of the present invention; FIG.

FIG. 2 is a connection schematic diagram of a gimbal connection device provided by Embodiment 1 of the present invention; FIG.

3 is an exploded schematic diagram of a gimbal connection device provided by Embodiment 1 of the present invention;

FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle provided by Embodiment 2 of the present invention.

Reference sign description:

1-rigid connection assembly; 2-head; 3-foot; 4-body; 5-camera equipment; 11-collar; 12-first clamping section; 13-second clamping section; 14-installation hole 15-Avoidance groove 16-Weight reduction gap 21-First axis arm 31-Foot 100-Pan head connection device 200-Unmanned aerial vehicle 1a-First rigid connection body 1b-Second rigid connection body.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 is a schematic structural diagram of a gimbal connection device according to a first embodiment of the present invention. FIG. 2 is a connection schematic diagram of a gimbal connection device provided by Embodiment 1 of the present invention. FIG. 3 is an exploded schematic diagram of a gimbal connection device provided by Embodiment 1 of the present invention. As shown in FIG. 1 to FIG. 3, the gimbal connection device provided in this embodiment can be applied to an unmanned aerial vehicle, where the unmanned aerial vehicle has a gimbal 2 and a tripod 3, and the tripod 3 has multiple feet, and the cloud The stage connection device includes a rigid connection component 1 for connecting the foot 31 that rotates with the gimbal 2 and the shaft arm of the gimbal 2, and can form a rigid connection between the foot 31 and the shaft arm of the gimbal 2. The rigid connection assembly 1 has a first connection structure for connecting the legs 31 and a second connection structure for connecting the shaft arm. The first connection structure is connected to the second connection structure.

Specifically, the gimbal 2 and the tripod 3 are both connected to the body of the unmanned aerial vehicle. In order to stably support the UAV, the tripod 3 has a plurality of legs. Generally, the number of legs can be three or more, and the legs are symmetrically arranged with respect to the aircraft body, so that the legs located at the bottom of the aircraft body can achieve stable and reliable support for the UAV. The gimbal 2 can be used to set camera equipment or other operating loads. When the unmanned aerial vehicle is flying, the gimbal 2 can use the rotation of its own rotation axis to point the camera equipment in different directions.

Because the gimbal 2 will rely on its own rotation to make the work load such as camera equipment point in different directions, when the tripod 3 is relatively fixed to the body, it may hinder the work of the work load. Taking the work load as an imaging device as an example, when the imaging device is pointed at the tripod 3, the tripod 3 will be blocked in front of the imaging device, so that the field of vision of the imaging device is limited. In order to avoid the work load being hindered by the tripod 3, at least one of the legs 31 of the tripod 3 can be rotated synchronously with the gimbal 2; Rotate, or all the feet in the tripod 3 rotate with the gimbal 2 and so on. In this way, when the gimbal 2 rotates, the feet will also rotate as the gimbal 2 rotates, such as synchronous rotation, always avoiding the area in front of the gimbal 2 to ensure that the work load of the camera equipment on the gimbal 2 is better View and working space. In order to simplify the overall structure of the tripod 3, all the legs in the tripod 3 may be rotatable structures, and these legs are connected to the same structure and all rotate synchronously about the same rotation axis. Therefore, as long as the rigid connection component 1 is connected to one leg in the tripod 3, all the legs can be relatively fixed with the gimbal 2. Unless otherwise specified, all the feet in the tripod 3 can be rotated synchronously with the gimbal 2 as an example.

When the feet 31 and the gimbal 2 are rotated synchronously, a rotating shaft may be provided at the connection between the feet 31 and the body, so that the feet 31 can freely rotate relative to the body about the rotating shaft. In order to use a relatively simple structure to drive the support leg 31 to rotate, a transmission mechanism may be provided on a motor driving the rotation of the gimbal 2, and the transmission mechanism and the support leg 31 may be connected. In this way, when the motor drives the gimbal 2 to rotate, the transmission mechanism will also drive the feet 31 to rotate accordingly. Generally, the transmission mechanism can be driven by a belt or the like.

At this time, because transmission mechanisms such as belts may appear to affect the synchronous rotation of the feet 31 and the gimbal 2 in order to allow the feet 31 and the gimbal 2 to rotate synchronously to accurately control the gimbal, A gimbal connection device may be provided on the unmanned aerial vehicle. The gimbal connection device includes a rigid connection component 1. The rigid connection component 1 is used to connect the axis arm of the gimbal 2 and the foot 31 that rotates with the gimbal 2. Among them, since the rigid connection component 1 is rigid and has a high resistance to deformation, the distance between the connection point between the rigid connection component 1 and the shaft arm, and the connection point between the rigid connection component 1 and the leg 31 will always be Keep it constant. In this way, when the pivot arm of the gimbal 2 rotates, the feet 31 connected to the rigid connection assembly 1 in the tripod 3 will also be pulled by the rigid connection assembly 1 and rotate synchronously with the gimbal 2 to further strengthen The relative fixation between the gimbal 2 and the feet 31 is beneficial to avoid the occurrence of virtual positions and play.

Among them, in order to realize the connection with the support leg 31 or the axis arm of the gimbal 2, the rigid connection component 1 may have multiple connection modes and multiple connection structures. In order to facilitate the connection with the leg 31 or the shaft arm, a special connection structure may be provided on the rigid connection component 1. Among them, as an optional implementation manner, the rigid connection component 1 has a first connection structure connected to the stand 3 and a second connection structure connected to the shaft arm, and the first connection structure is connected to the second connection structure.

Specifically, each of the first connection structure and the second connection structure may have a variety of different forms and structures. For example, the first connection structure and the second connection structure may be provided with a snap-in structure or a positioning hole, etc., and are physically fixed with a snap-in, screwed, or riveted connection with the feet in the tripod 3 or the pivot arm of the gimbal 2 To achieve connection; or, the first connection structure and the second connection structure may also be provided with suction cups or magnetic parts, and fixed on the feet or the shaft arms by means of vacuum or magnetic adsorption, using atmospheric pressure or magnetic force; or, The first connection structure and the second connection structure may also be provided with matching surfaces whose shapes match with the legs or the shaft arms, and the first connection structure and the second connection structure are respectively bonded to the legs and the shaft arms through the matching surfaces. The first connection structure and the second connection structure can be directly connected or indirectly connected through a common structure, so that the first connection structure and the second connection structure have a certain relative position, which can make the rigid connection component 1 achieve sufficient The rigidity ensures the synchronous rotation of the feet 31 and the gimbal 2.

As described above, the rigid connection component 1 can have a variety of different structures and connection methods, and only needs to ensure that the rigid connection component 1 is connected between the pivot arm 2 of the gimbal 2 and the leg 31 rotating with the gimbal 2 to allow the cloud The distance between the axis arm of the stage 2 and the leg 31 rotating with the head 2 can be kept constant.

The gimbal 2 can also have a variety of different structures and components. For example, when the head 2 is a single-axis head or a multi-axis head, and the head 2 is a multi-axis head, the number of the arm of the head 2 can be two or more. In this way, the gimbal 2 can rotate around a plurality of rotation axes in different directions and point in different directions in space.

Generally, in order to allow a working load such as a camera device to point in multiple different directions, the pan / tilt head 2 can be a multi-axis pan / tilt, that is, it can realize rotation around a plurality of different axes. For example, as an optional manner, the gimbal 2 has three mutually orthogonal axis arms, and the three axis arms include a first axis arm 21 rotatable about a yaw axis (Yaw axis). In addition, the pivot arm of the gimbal 2 may further include a pivot arm capable of rotating about a pitch axis (Pitch axis), a pivot arm capable of rotating about a roll axis (Roll axis), and the like. Among them, since the gimbal 2 can be disposed below the body of the unmanned aerial vehicle, the body of the unmanned aerial vehicle and the gimbal 2 are generally first connected through a first axis arm, and then the axis arms in the other two directions are sequentially arranged. Correspondingly, when the feet 31 on the tripod 3 rotate, they can also rotate around the yaw axis of the UAV. Therefore, at this time, the rigid connection assembly 1 can be connected between the leg 31 and the first shaft arm 21.

In this way, when the gimbal 2 rotates about the yaw axis, since the rigid connection component 1 is connected between the first shaft arm 21 and the leg 31, the rotatable leg 31 is rigidly connected when following the gimbal 2 for synchronous rotation. The component 1 limits the relative distance between the rotatable leg 31 and the first shaft arm 21, so that the distance between the leg 31 and the first shaft arm 21 always matches the overall length of the rigid connection component 1. In this way, even if the transmission mechanism that drives the rotation of the support leg 31 has a phenomenon such as a virtual position, the rigid connection assembly 1 can pull the support leg 31 to move, so that the support leg 31 and the first shaft arm 21 always maintain a synchronized rotation angle.

In addition, the rigid connection component 1 can also be connected to other shaft arms except the first shaft arm 21, but it can be understood that when the rigid connection component 1 is connected to one of the shaft arms, the rigid connection component 1 will not The connection between 31 affects the normal movement of other axle arms.

In addition, when the gimbal 2 has a plurality of shaft arms, the rotation axis directions of different shaft arms may be non-orthogonal directions.

When the rigid connection component 1 is connected to the axis arm of the gimbal 2, the number of the rigid connection component 1 can be multiple, so that the axis arm of the gimbal 2 can rely on multiple rigid connection components and different legs of the tripod 3. 31 connections. The same pivot arm of the gimbal 2 can also be connected by multiple rigid connection components and the same leg 31. In this way, the connection strength of the rigid connection assembly 1 is higher and the reliability is better. Specific conditions can be set according to actual needs.

When the rigid connection component 1 is used to connect the leg 31 and the axis arm of the gimbal 2, such as the first axis arm 21, the rigid connection component 1 spans between the leg 31 and the axis arm of the gimbal 2; The human aircraft brings a large space occupation or weight gain. In order to reduce the space occupation and weight increase caused by the rigid connection component 1, optionally, the rigid connection component 1 is connected to the first shaft arm 21 and the leg 31 closest to the first shaft arm 21 in the tripod 3. between. At this time, since the rigid connection component 1 is connected to one leg 31 in the tripod 3, all the legs 31 can be rotated synchronously with the gimbal 2; therefore, the rigid connection component 1 is connected to the closest to the first shaft arm 21. Since the distance between the leg 31 and the first shaft arm 21 is short, the rigid connection component 1 will also have a correspondingly shorter size and lighter weight, which occupies Less space and weight.

In order to allow the rigid connection component 1 to be applied to the leg 31 and the gimbal 2, the rigid connection component 1 may be connected to the leg 31 or the axis arm of the gimbal 2 by using a snap connection or a clamping method. Optionally, the first connection structure is connected to the support leg 31 by means of clamping or nesting. At this time, the first connection structure may be clamped on the leg 31 or sleeved on the leg 31 so as to achieve relative fixation with the leg 31.

In addition, the second connection structure may also be connected to the shaft arm by means of clamping or nesting. Since both ends of the pivot arm of the gimbal 2 may need to be connected to other structures, or one end of the pivot arm is a free end, accordingly, the connection method of the second connection structure and the pivot arm may be different. . When both ends of the shaft arm of the gimbal 2 are connected to other structures, the second connection structure can be clamped on the side wall of the shaft arm; and when one end of the shaft arm is a free end, the second connection structure can be In a sleeved manner, the second connecting structure is sleeved on the outside of the shaft arm from one side of the free end.

It should be noted that the clamping or setting methods adopted by the first connection structure and the second connection structure can be freely combined, for example, the first connection structure can be clamped on the support leg 31, and the second connection structure is sleeved. It may be connected to the shaft arm by other means, or both the first connection structure and the second connection structure may be connected by a sleeve method, which is not limited here.

Generally, since the leg 31 is generally a rod-shaped structure with a small cross-sectional area difference, and the end of the leg 31 can be directly used to support the ground without being connected to other structures, the first connection structure can be directly sleeved on The legs 31 are connected externally. At this time, optionally, the first connection structure may include a collar 11, and the collar 11 may be sleeved on the outside of the leg 31.

Specifically, since the first connecting structure has the collar 11, the legs 31 in the tripod 3 can pass through the collar 11, and the collar 11 can be sleeved on the legs 31 at this time. Generally, the leg 31 will protrude below the UAV, and the axis arm of the gimbal 2 and the leg 31 may have a certain horizontal distance, so the direction of the tensile force exerted by the rigid connection component 1 on the leg 31 will be the same as that of the leg. The length directions of 31 are staggered with each other. Therefore, through the connection of the collar 11, the rigid connection component 1 can apply a horizontal pulling force to the leg 31, thereby driving the leg 31 and the axis arm of the gimbal 2 to rotate synchronously. There may be a certain friction between the collar 11 and the leg 31 to prevent the collar 11 from sliding off the leg 31.

In order to achieve a reliable limit between the collar 11 and the leg 31, as an optional connection method, the shape of the inner wall of the collar 11 and the cross-sectional shape of the leg 31 in the tripod 3 can be matched with each other. For example, the cross-sectional profile of the leg 31 may be different shapes such as rounded rectangles, ovals, or circles, and correspondingly, the shape formed by the inner wall of the collar 11 may also be rounded rectangles, ovals, or circles. In this way, when the collar 11 is sleeved on the outside of the leg 31, the inner wall of the collar 11 and the side wall of the leg 31 will cooperate well to reduce the gap between the collar 11 and the leg 31 and avoid the collar 11 and Radial shaking and displacement occur between the legs 31, and at the same time, the collar 11 can be further prevented from slipping off the legs 31.

When the rigid connection component 1 is connected to the shaft arm of the gimbal 2, because the shaft arm can be connected to other structures, it may be difficult for the second connection structure to be directly set on the shaft arm. At this time, the second connection structure may be connected to the shaft arm in a clamping manner. Specifically, as an optional connection manner, the second connection structure includes a first clamping portion 12 and a second clamping portion 13 which is detachably connected to the first clamping portion 12, the first clamping portion 12 and the first The two clamping portions 13 are embracing on opposite sides of the shaft arm to clamp the shaft arm between the first clamping portion 12 and the second clamping portion 13.

Specifically, the second connection structure may be a split structure, that is, it includes a first clamping portion 12 and a second clamping portion 13. The first clamping portion 12 and the second clamping portion 13 can be respectively located on opposite sides of the shaft arm, so that when the first clamping portion 12 and the second clamping portion 13 are connected together, the first clamping portion 12 and the second clamping portion 13 can be The shaft arm between the holding portion 12 and the second clamping portion 13 is clamped therein, thereby completing the fixing between the second connection structure and the shaft arm.

Among them, in order to hold the shaft arm, the first gripping portion 12 and the second gripping portion 13 may span the entire shaft arm in the radial direction of the shaft arm. In this way, the diameter of the first gripping portion 12 along the shaft arm The two end portions of the second clamping portion 13 and the two end portions of the second clamping portion 13 in the radial direction of the shaft arm are correspondingly connected on both sides of the shaft arm to completely hold the shaft arm.

Among them, in order to achieve a detachable connection between the first clamping portion 12 and the second clamping portion 13, both the first clamping portion 12 and the second clamping portion 13 may be provided with a structure such as a mounting hole 14. In this way, a threaded fastener or a riveting member can be inserted into the mounting hole 14, and the connection between the first clamping portion 12 and the second clamping portion 13 can be achieved.

Further, the shape enclosed between the first clamping portion 12 and the second clamping portion 13 may also match the cross-sectional shape of the shaft arm. For example, the cross section of the shaft arm may be a cross-sectional shape such as an ellipse, and accordingly, the first clamping portion 12 and the second clamping portion 13 may have an arc-shaped inner wall, and the arc-shaped inner wall is protruded away from the axis arm. On one side, at this time, the inner walls of the first clamping portion 12 and the second clamping portion 13 can be abutted with the shaft arm, so that the second connection structure and the shaft arm are firmly connected, and the second connection structure and the shaft are avoided. Displacement and movement between arms.

In addition, the first clamping portion 12 and the second clamping portion 13 may be in other detachable forms. For example, one end of the first clamping portion 12 and the second clamping portion 13 may be fixed by a hinge shaft, and the first A detachable connection is achieved between the other end of the clamping portion 12 and a corresponding end of the second clamping portion 13. In this way, the first clamping portion 12 can be rotated and opened relative to the second clamping portion 13 to place the shaft arm in the space between the first clamping portion 12 and the second clamping portion 13, or the shaft arm Release from the clamping between the first clamping portion 12 and the second clamping portion 13 and the like.

It should be noted that the detachable connection structure between the first clamping portion 12 and the second clamping portion 13 is not limited to the above listed methods, but may be various types of detachable connection methods commonly used by those skilled in the art. Etc. are not restricted here.

In order to connect the first connection structure and the second connection structure, the rigid connection assembly 1 may include a single component or a plurality of mutually connected components. Specifically, the rigid connection assembly 1 may include at least one rigid connection body, and the at least one rigid connection body may be located between the first connection structure and the second connection structure. In this way, the connection between the first connection structure and the second connection structure can be achieved by using at least one rigid connection body.

Among them, since the first connection structure and the second connection structure may be connected to the leg 31 or the shaft arm through means such as nesting, at this time, the first connection structure or the second connection structure needs to occur between the leg 31 or the shaft arm. Only when the position changes, can the connection be realized; while the rigid connection component 1 is rigid as a whole, it is difficult to produce deformation. Therefore, when the rigid connection component 1 is connected to the leg 31 and the shaft arm, only one end of the rigid connection component 1 may be connected to the leg 31 or shaft arm, while the other end is difficult to connect. In order to facilitate the rigid connection component 1 to be connected between the leg 31 and the shaft arm with a constant interval, the rigid connection component 1 may be a split structure. At this time, as an optional implementation manner, the rigid connection assembly 1 includes a first rigid connection body 1a and a second rigid connection body 1b. The first rigid connection body 1a is provided with a first connection structure and a second rigid connection body. A second connection structure is provided on 1b, and the first rigid connection body 1a and the second rigid connection body 1b are detachably connected.

In this way, the rigid connection component 1 is divided into two different rigid components. During the installation, the respective connections between the first rigid connection body 1a and the feet and the second rigid connection body 1b and the shaft arm can be achieved first. And then the first rigid connecting body 1a and the second rigid connecting body 1b are connected together. When removing the rigid connection assembly 1 from the unmanned aerial vehicle, the first rigid connection body 1a and the second rigid connection body 1b may be disconnected first, and then the respective connections of the first connection structure and the second connection structure may be released. In this way, both the first rigid connection body 1a and the second rigid connection body 1b can be more conveniently connected to their respective structures, so that the installation and removal process of the rigid connection component 1 is relatively simple.

The first rigid connecting body 1a and the second rigid connecting body 1b can be detachably connected in a variety of different ways. For example, the first rigid connecting body 1a and the second rigid connecting body 1b can be snap-fitted. , Screwed or riveted. In this way, the first rigid connecting body 1a and the second rigid connecting body 1b can be easily removed and installed.

As another optional implementation manner, the rigid connection component 1 may include only a single third rigid connection body, and the first connection structure and the second connection structure are respectively located along the length of the third rigid connection body. Opposite ends. At this time, the rigid connection component 1 may be an integrated structure.

When the rigid connection component 1 is an integrated structure, the first connection structure and the second connection structure are both on the same third rigid connection body, so the rigid connection component 1 has better rigidity as a whole, and can be reliably connected to the feet. Between 31 and the axis arm of the gimbal 2, the synchronous rotation of the feet 31 and the gimbal 2 is realized. At this time, in order to facilitate the installation of the rigid connection component 1, the first connection structure and the second connection structure may be connected to their respective legs or shaft arms by means of clamping or the like.

In addition, since the rigid connection component 1 is connected between the support leg 31 and the pivot arm of the gimbal 2, other equipment may be provided between the support leg and the gimbal 2, such as image transmission equipment. At this time, in order to avoid interference between the gimbal connection device and the image transmission equipment or other structures, optionally, a rigid connecting body in the rigid connection assembly 1 may also be provided with an escape groove for avoiding the image transmission equipment. Specifically, a avoidance groove 15 may be provided on the second rigid connecting body 1b. The shape and position of the avoidance groove 15 are set according to the relative position between the rigid connecting body and the image transmission device, and may be a notch or a groove. And other different shapes.

The video transmission device may be partially contained in the avoidance tank 15. Wherein, when the rigid connection assembly 1 includes a first rigid connection body 1a and a second rigid connection body 1b, while the first rigid connection body 1a and the second rigid connection body 1b are connected, the same structure can be used to implement the image transmission device. Fixing to the second rigid connecting body 1b. For example, while the first rigid connecting body 1a and the second rigid connecting body 1b are fixed with a screw, the video transmission device and the second rigid connecting body 1b can be simultaneously fixed with the screw.

Further, in the gimbal connection device, in order to realize the characteristics such as rigidity of the rigid connection body, a heavy material such as metal can be used. At this time, in order to reduce the weight of the rigid connection body, optionally, a weight reduction hole or a weight reduction gap may be provided on the rigid connection body. Wherein, the weight reduction hole or the weight reduction gap can be set according to the specific structure of the rigid connection body, so as to reduce the overall weight of the rigid connection body without affecting the rigidity of the rigid connection body. For example, a weight reduction gap 16 may be provided on the first rigid connecting body 1a, and the weight reducing gap 16 is close to the connection between the first rigid connecting body 1a and the second rigid connecting body 1b. The first rigid connecting body 1a has a relatively small area. With a large cross-section, the weight reduction gap 16 can be opened to remove excess portions on the first rigid connecting body 1a to achieve weight reduction.

In this embodiment, the gimbal connection device can be applied to an unmanned aerial vehicle. The unmanned aerial vehicle has a gimbal and a tripod, and the tripod has a plurality of feet. The gimbal connection device includes a rigid connection component, and a rigid connection component. The rigid connection assembly has a first connection structure connected to the leg of the tripod and a second connection structure connected to the shaft arm, and the first connection structure is connected to the second connection. Structural connection. In this way, the rigid connection component can ensure that the legs of the tripod rotate synchronously with the gimbal, so as to prevent the tripod from blocking the working load on the gimbal.

FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle provided by Embodiment 2 of the present invention. As shown in FIG. 4, the unmanned aerial vehicle 200 in this embodiment specifically includes a body 4, a tripod 3, a gimbal 2 and the gimbal connection device 100 described in the first embodiment. It is connected to the body 4, the tripod 3 includes a plurality of legs, and the gimbal connection device 100 is connected between the legs that follow the rotation of the gimbal 2 and the shaft arm of the gimbal 2. The specific structure, function, and working principle of the pan / tilt connection device 100 have been described in detail in the first embodiment, and are not repeated here.

Wherein, the tripod 3 and the gimbal 2 of the UAV 200 can be both disposed under the airframe 4 at this time, in order to prevent the tripod 3 from interfering with the normal work of the workload on the gimbal 2 when the gimbal 2 rotates. , The tripod 3 can be provided with a foot that can rotate synchronously with the gimbal 2 and the gimbal connection device 100 is connected between the foot that follows the gimbal 2 and the axis arm of the gimbal 2 so that the gimbal connection device 100 is It can be ensured that the feet can rotate synchronously with the gimbal 2 to avoid the asynchronous rotation between the feet of the tripod 3 and the gimbal 2 due to the virtual position of the transmission structure, which affects the normal work of the workload on the gimbal 2.

Optionally, in the unmanned aerial vehicle 200, the gimbal connection device 100 includes multiple, and multiple gimbal connection devices 100 can be connected to the same leg, or at least two legs are respectively connected to at least one gimbal connection device 100. . In this way, the multiple gimbal connecting devices 100 can make the feet and the gimbal 2 have better connection strength and better reliability.

Optionally, the unmanned aerial vehicle 200 may further include a camera device 5, and the camera device 5 is disposed on the gimbal 2 and works as a workload on the gimbal 2. When the camera device 5 performs a shooting operation, the gimbal connecting device 100 can be connected between the feet of the tripod 3 and the axis arm of the gimbal 2 to ensure that the feet rotate synchronously with the gimbal 2 so as to avoid shooting on the front of the camera device 5 Area so that the imaging device 5 has a good field of view.

In this embodiment, the unmanned aerial vehicle specifically includes a body, a tripod, a gimbal and a gimbal connection device. Both the foot and the gimbal are connected to the body. The stand includes a plurality of feet. The gimbal connection device is connected to follow the gimbal rotation. Between the foot of the gimbal and the axis arm of the gimbal; wherein the gimbal connection device includes a rigid connection component for connecting the foot that rotates with the gimbal and the arm of the gimbal, and the rigid connection component has a The first connection structure connected to the feet and the second connection structure connected to the shaft arm, the first connection structure is connected to the second connection structure. In this way, the tripod in the UAV can rotate synchronously with the gimbal, so as to prevent the tripod from blocking the workload on the gimbal.

Finally, it should be noted that the above embodiments are only used to describe the technical solutions of the embodiments of the present invention, but not limited thereto; although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art It should be understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to replace some or all of the technical features equivalently; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions from the implementation of the present invention Examples of technical solutions.

Claims

A gimbal connection device is applied to an unmanned aerial vehicle. The unmanned aerial vehicle has a gimbal and a tripod, and the tripod has a plurality of feet. The gimbal connection device includes a rigid connection component. The rigid connection component is used to form a rigid connection between the leg that follows the rotation of the head and the axis arm of the head; the rigid connection component has a first connection structure for connecting the leg and A second connection structure for connecting the shaft arm, and the first connection structure is connected to the second connection structure.
The gimbal connection device according to claim 1, wherein the rigid connection component is connected between the leg and a first axis arm in the gimbal that is rotatable about a yaw axis.
The gimbal connection device according to claim 2, wherein the rigid connection component is connected between the first shaft arm and a leg closest to the first shaft arm in the tripod.
The gimbal connection device according to any one of claims 1 to 3, wherein the first connection structure is connected to the leg in a clamping or sleeve manner; and / or, the second connection The structure is connected to the shaft arm in a clamping or sleeve manner.
The gimbal connection device according to claim 4, wherein the first connection structure includes a collar, and the collar is sleeved on the outside of the leg.
The gimbal connecting device according to claim 5, wherein the shape of the inner wall of the collar and the cross-sectional shape of the leg match each other.
The gimbal connecting device according to claim 4, wherein the second connection structure comprises a first clamping portion and a second clamping portion detachably connected to the first clamping portion, and the first A clamping portion and the second clamping portion are embraced on opposite sides of the shaft arm to clamp the shaft arm between the first clamping portion and the second clamping portion.
The gimbal connecting device according to claim 7, wherein a shape enclosed by the first clamping portion and the second clamping portion and a sectional shape of the shaft arm match each other.
The gimbal connection device according to any one of claims 1 to 3, wherein the rigid connection assembly further comprises at least one rigid connection body, and at least one of the rigid connection bodies is located in the first connection structure and the Said between the second connection structures.
The gimbal connection device according to claim 9, wherein the rigid connection component comprises a first rigid connection body and a second rigid connection body, and the first connection structure is provided on the first rigid connection body. The second rigid connection body is provided with the second connection structure, and the first rigid connection body and the second rigid connection body are detachably connected.
The gimbal connection device according to claim 9, wherein the rigid connection component comprises a third rigid connection body, and the first connection structure and the second connection structure are respectively located in the third rigid connection body Opposite ends along its own length.
The gimbal connecting device according to claim 9, wherein the rigid connecting body is provided with an avoiding groove for avoiding image transmission equipment, and / or the rigid connecting body has a weight reduction hole or weight reduction. gap.
An unmanned aerial vehicle, characterized in that it comprises a body, a tripod, a gimbal and a gimbal connection device. The gimbal connection device is applied to an unmanned aerial vehicle. The unmanned aerial vehicle has a gimbal and a tripod. The tripod has a plurality of legs, wherein the gimbal connection device includes a rigid connection component, and the rigid connection component is used for the foot that rotates with the gimbal and the arm of the gimbal A rigid connection is formed between them; the rigid connection assembly has a first connection structure for connecting the legs and a second connection structure for connecting the shaft arm, the first connection structure and the second connection structure connection;

The tripod and the pan / tilt are both connected to the body, the tripod includes a plurality of legs, and the pan / tilt connection device is connected between the legs following the rotation of the pan and the axis of the pan / tilt Between the arms.
The unmanned aerial vehicle according to claim 13, wherein the rigid connection component is connected between the leg and a first axis arm in the gimbal that is rotatable about a yaw axis.
The unmanned aerial vehicle according to claim 14, wherein the rigid connection component is connected between the first shaft arm and a leg closest to the first shaft arm in the tripod.
The unmanned aerial vehicle according to any one of claims 13 to 15, characterized in that the first connection structure is connected to the leg by means of clamping or nesting; and / or the second connection structure It is connected to the shaft arm in a clamping or sleeve manner.
The unmanned aerial vehicle according to claim 16, wherein the first connection structure includes a collar, and the collar is sleeved on the outside of the leg.
The unmanned aerial vehicle according to claim 17, wherein an inner wall shape of the collar and a cross-sectional shape of the leg match each other.
The unmanned aerial vehicle according to claim 16, wherein the second connection structure includes a first clamping portion and a second clamping portion detachably connected to the first clamping portion, and the first A clamping portion and the second clamping portion are embraced on opposite sides of the shaft arm to clamp the shaft arm between the first clamping portion and the second clamping portion.
The unmanned aerial vehicle according to claim 19, wherein a shape enclosed by the first clamping portion and the second clamping portion and a sectional shape of the shaft arm match each other.
The unmanned aerial vehicle according to any one of claims 13-15, wherein the rigid connection assembly further comprises at least one rigid connection body, and at least one of the rigid connection bodies is located in the first connection structure and the Second connection structure.
The unmanned aerial vehicle according to claim 21, wherein the rigid connection component comprises a first rigid connection body and a second rigid connection body, and the first rigid connection body is provided with the first connection structure, The second rigid connection body is provided with the second connection structure, and the first rigid connection body and the second rigid connection body are detachably connected.
The unmanned aerial vehicle according to claim 21, wherein the rigid connection component comprises a third rigid connection body, and the first connection structure and the second connection structure are respectively located in the third rigid connection body. Opposite ends along its own length.
The unmanned aerial vehicle according to claim 21, wherein the rigid connecting body is provided with an escape groove for avoiding image transmission equipment, and / or the rigid connecting body has a weight reduction hole or a weight reduction gap. .
The unmanned aerial vehicle according to any one of claims 13 to 24, wherein the gimbal connection device comprises a plurality, and the feet are connected to a plurality of the gimbal connection devices, or at least two of the gimbal connection devices. The legs are respectively connected to at least one of the gimbal connecting devices.