WO2021007860A1 - 一种云台的锁定机构、云台及无人机 - Google Patents

一种云台的锁定机构、云台及无人机 Download PDF

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Publication number
WO2021007860A1
WO2021007860A1 PCT/CN2019/096591 CN2019096591W WO2021007860A1 WO 2021007860 A1 WO2021007860 A1 WO 2021007860A1 CN 2019096591 W CN2019096591 W CN 2019096591W WO 2021007860 A1 WO2021007860 A1 WO 2021007860A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
locking
assembly
tilt head
Prior art date
Application number
PCT/CN2019/096591
Other languages
English (en)
French (fr)
Inventor
田小雨
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 CN201980033127.4A priority Critical patent/CN112236364A/zh
Priority to PCT/CN2019/096591 priority patent/WO2021007860A1/zh
Publication of WO2021007860A1 publication Critical patent/WO2021007860A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for

Definitions

  • the present invention relates to the field of PTZ, and more specifically, to a locking mechanism of PTZ, PTZ and UAV.
  • the included angle is generally fixed, or the angle adjustment needs to be completed through the overall disassembly. It is difficult for the user to adjust the angle conveniently according to actual needs, resulting in a corresponding user experience Poor.
  • the present invention aims to solve at least one of the technical problems existing in the prior art.
  • a technical solution of one aspect of the present invention provides a locking mechanism of a pan/tilt head, the pan/tilt head includes a first pan/tilt head assembly and a second pan/tilt head assembly, and the locking mechanism includes: a connector, Movably connects the first pan/tilt assembly and the second pan/tilt assembly; a locking member for locking or unlocking the first pan/tilt assembly and the second pan/tilt assembly; and an operating member, the operation The member can rotate around the connecting member and is used to drive the locking member to lock or unlock the first pan/tilt assembly and the second pan/tilt assembly.
  • the technical solution of the second aspect of the present invention provides a pan-tilt, the pan-tilt includes: a first pan-tilt assembly; a second pan-tilt assembly connected to the first pan-tilt assembly; and a pan-tilt locking assembly, which It includes: a connecting piece for movably connecting the first pan/tilt head assembly and the second pan/tilt head assembly; a locking piece for locking or unlocking the first pan/tilt head assembly and the second pan/tilt head assembly; and The operating member, the operating member can rotate around the connecting member, and is used to drive the locking member to lock or unlock the first pan-tilt assembly and the second pan-tilt assembly.
  • the technical solution of the third aspect of the present invention provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes: a body and a pan/tilt; the pan/tilt includes: a first pan/tilt assembly; a second pan/tilt assembly, and the first pan/tilt assembly.
  • pan/tilt locking assembly which includes: a connecting piece for movably connecting the first pan/tilt assembly and the second pan/tilt assembly; a locking piece for locking or unlocking the first pan/tilt assembly A pan-tilt assembly and the second pan-tilt assembly; and an operating member that can rotate around the connecting member and is used to drive the locking member to lock or unlock the first pan-tilt assembly and the second pan-tilt assembly.
  • the present invention connects two pan/tilt components by providing a connecting piece, and drives the locking member to lock or unlock the two clouds by setting an operating member that can rotate around the connecting piece.
  • the relative rotation of the platform assembly realizes the rapid assembly and disassembly of the pan-tilt assembly and the rapid adjustment of the angle.
  • the mechanism has a simple structure and convenient operation, which improves the user experience.
  • FIG. 1 is a schematic structural diagram of a pan-tilt locking mechanism provided by Embodiment 1 of the present invention
  • FIG. 2 is a cross-sectional view of the pan-tilt locking mechanism provided in the first embodiment of the present invention when locked;
  • Figure 3 is a cross-sectional view of the pan/tilt locking mechanism provided by the first embodiment of the present invention when unlocked;
  • FIG. 4 is a schematic diagram of an exploded structure of the pan-tilt locking mechanism provided by Embodiment 1 of the present invention.
  • 100 locking assembly 1 first pan/tilt assembly, 2 second pan/tilt assembly, 3 connecting piece, 4 locking piece, 41 first locking part, 411 fixed end gear, 42 second locking part, 421 movable end gear, 5 operating parts, 6 conducting parts, 7 connecting auxiliary parts, 8 elastic parts, 9 loading and unloading parts.
  • first and second are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • “plurality” means two or more than two, unless specifically defined otherwise.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components
  • a locking assembly 100 of a pan/tilt is provided.
  • the pan/tilt includes: sequentially arranged along the axial direction of the locking assembly 100 (in the direction of arrow M in FIG. 4) The first pan/tilt assembly 1 and the second pan/tilt assembly 2.
  • the locking assembly includes: a connecting piece 3 for movably connecting the first pan/tilt assembly 1 and the second pan/tilt assembly 2; a locking piece 4 for locking or unlocking the second pan/tilt assembly A pan-tilt assembly 1 and a second pan-tilt assembly 2; and an operating member 5, the operating member 5 can rotate around the connecting member 3, for driving the locking member 4 to lock or unlock the first pan-tilt assembly 1 and the second pan-tilt assembly 2 .
  • the operating member 5 is provided on the outer periphery of the connecting member 3, and the operating member 5 and the locking member 4 are matched. Specifically, the operating member 5 is driven by rotation around the connecting member 3.
  • the locking member 4 can directly lock and unlock the relative rotation between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 by directly operating the operating member 5 by the user, and change the first pan/tilt assembly 1 and the second pan/tilt assembly
  • the angle between the platform components 2 does not need to be disassembled as in the prior art. This reduces the possibility of parts loss on the one hand, and simplifies the user on the other hand.
  • the installation steps improve the efficiency of the pan-tilt and the accuracy of assembly between the first pan-tilt assembly 1 and the second pan-tilt assembly 2.
  • the second pan/tilt assembly 2 and the operating member 5 can form an integral structure through the connecting piece 3.
  • the connecting piece 3 connects the first pan/tilt assembly 1 and the second pan/tilt assembly 2 or separates the second pan/tilt assembly 2 from the first pan/tilt assembly 2.
  • the second pan/tilt assembly 2 and the operating member 5 can be installed on the first pan/tilt assembly 1, or the second pan/tilt assembly 2 and the operating member 5 can be integrated from the A pan/tilt assembly 1 is removed.
  • the operating member 5 when the operating member 5 is installed on the second pan/tilt assembly 2, it can be located in the central area of the circumferential installation surface of the second pan/tilt assembly 2, thereby leaving aside Sufficient space is convenient for the user to complete the locking and unlocking of the pan/tilt components by turning the operating member 5.
  • the operating member 5 is in a natural state without unmanned operation, that is, when the locking member 4 is in a locked state to fix the angle between the pan/tilt components, the pan/tilt is usually in working state and the pan/tilt components are The relative rotation of the pan/tilt is locked; when it is necessary to adjust the pan/tilt posture, adjust the angle of the accessory, or remove the accessory, the user can operate the operating member 5 to drive the locking member 4 to unlock, so that the angle between the pan/tilt components can be adjusted accordingly to make the pan/tilt components Rotate relative to each other to complete the posture or angle adjustment, or to remove the accessories for easy carrying and storage.
  • a suitable structure and size of the operating element 5 can be designed according to actual requirements, and this embodiment does not specifically limit it.
  • the number of the operating elements 5 can be one or more, and the specific structure of the operating elements 5 can be designed according to the specific number and stacking conditions of the pan/tilt components, so that multiple operating elements 5 can be evenly arranged between multiple pan/tilt components in the axial direction.
  • the operating element 5 may include multiple, for example, the number of the operating element 5 is two, three or four.
  • the pan-tilt assembly may include multiple pan-tilt assemblies to adjust the angle between two adjacent pan-tilt assemblies through the operating element 5.
  • two operating members 5 are provided on the same side of the pan/tilt assembly, and the two operating members 5 rotate in the same direction when unlocked, so as to facilitate the user's operation; when unlocked, the two operating members 5 can also rotate in opposite directions to Prevent the user from accidentally triggering the unlocking of the other operating piece when operating one of them.
  • the three operating elements 5 can be evenly distributed in the circumferential direction, that is, the included angle between adjacent blades 12 is 120° to facilitate user identification and independent operation; and for the case of including four operating elements 5, four
  • the operating elements 5 can be arranged symmetrically, and the angle between two adjacent operating elements 5 is 90°; for the case of including five operating elements 5, six operating elements 5, etc., and so on, it is not repeated here.
  • the locking mechanism Compared with the prior art disassembling the pan/tilt assembly to adjust the pan/tilt posture, adjust the angle of the accessory, or disassemble the accessory, the locking mechanism provided in this embodiment realizes the overall disassembly and assembly of the pan/tilt assembly relative to another pan/tilt assembly on the one hand, and reduces On the other hand, the quick connection structure simplifies the user's installation steps, and can be installed and adjusted by a single person, without the need for multiple people to operate, which improves the efficiency of the pan-tilt and Assembly accuracy between different pan/tilt components.
  • the locking mechanism provided in this embodiment realizes the rapid rotation adjustment of the pan/tilt, that is, by rotating the operating member It can realize the unlocking and locking of the locking parts, thereby realizing the angle adjustment and locking between different pan-tilt components, which improves the comfort of the user's operation, makes the expansion of the pan-tilt easier, and makes the operation of the pan-tilt easier for the user.
  • the connecting member 3 may include a first connecting portion and a second connecting portion.
  • the first connecting portion is used to connect with the first pan/tilt head assembly 1, and the second connecting portion is used to realize the operating member 5.
  • the connecting piece 3 Around the rotation of the connecting piece 3.
  • the second pan/tilt assembly 2 and the operating member 5 and the first pan/tilt assembly can be realized by arranging the first connecting portion on the connecting member 3. A fixed connection of PTZ component 1.
  • the connecting member 3 may penetrate the second pan/tilt assembly 2 and the operating member 5, and the connecting member 3 may be connected to the first pan/tilt assembly 1 through the first connecting portion, so that the first connecting portion of the connecting member 3 can connect
  • the second pan/tilt assembly 2 and the operating member 5 are fixed on the first pan/tilt assembly 1 to realize the fixed connection between the second pan/tilt assembly 2 and the operating member 5 and the first pan/tilt assembly 1; on the contrary, also
  • the connecting member 3 can be removed from the first pan-tilt assembly 1 through the first connecting portion, so as to realize the detachment of the second pan-tilt assembly 2 and the operating member 5 from the first pan-tilt assembly 1 as a whole.
  • the overall disassembly and assembly of the second pan/tilt assembly 2 and the operating member 5 on the first pan/tilt assembly 1 can be realized through the first connecting portion on the connecting piece 3, so that the second pan/tilt assembly 2 is in the first pan/tilt assembly 1
  • the installation and disassembly of the device is more convenient and efficient.
  • the connecting member 3 not only serves to connect the second pan/tilt assembly 2 to the first pan/tilt assembly 1, but after the second pan/tilt assembly 2 is installed, the operating member 5 can also be connected through the second The part rotates around its corresponding connecting part 3, the rotation axis of the operating part 5 is coaxial with the rotational movement between the first pan-tilt assembly 1 and the second pan-tilt assembly 2, and the operating part 5 rotates around the second connecting part to a different Angle, the locking member 4 enters the locked or unlocked state correspondingly, and the angular relationship between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 can be fixed or adjusted accordingly, for example, the operating member 5 is in a natural state without unmanned operation When the locking member 4 is in the locked state, the angle between the first pan-tilt assembly 1 and the second pan-tilt assembly 2 cannot be adjusted, and when the operating member 5 is rotated to rotate relative to the second connecting portion of the connecting member 3, The unlocked state of the
  • the first connecting part is used to connect with the first pan-tilt assembly 1.
  • the connecting part 3 may be connected with the locking part 4 through the first connecting part, and the locking part 4 is connected with the first pan-tilt assembly 1 to realize the connection.
  • the connection between the member 3 and the first pan/tilt assembly 1; or the first connecting portion is directly connected to the first pan/tilt assembly 1 without the locking member 4, that is, the connecting member 3 is directly connected to the first pan/tilt assembly through the first connecting portion 1Connect.
  • the second connecting portion is used to realize the rotation of the operating member 5 around the connecting member 3.
  • the connecting member 3 may be connected to the operating member 5 through the second connecting portion, or the connecting member 3 is not directly connected to the operating member 5, as long as It can be any way that the operating member can rotate around the connecting member.
  • connection here is similar to other “connections” appearing in the present invention, and should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection.
  • Connected, or indirectly connected through an intermediate medium it can be the internal communication between two elements or the interaction between the two elements, that is, the first connecting portion is used to connect the connecting piece with the first pan/tilt assembly, or the second connecting The part is used to realize the rotation of the operating member around the connecting member, which can be realized by an intermediary medium such as the locking member 4.
  • the connecting piece is processed by turning. At 3 o'clock, it is only necessary to perform turning at the corresponding positions of the first connecting part and the second connecting part.
  • the connecting member 3 may include a threaded connecting member with threads, and the first connecting portion and the second connecting portion may include threads.
  • the first connecting portion and the second connecting portion may include external threads.
  • the first pan/tilt assembly 1 corresponding to the first connecting portion includes internal threads
  • the operating member 5 corresponding to the second connecting portion includes internal threads, so that the first pan/tilt assembly 1 and the connecting member 3 pass through the The internal thread of a pan-tilt assembly 1 is matedly connected with the external thread of the first connecting part, and the operating member 5 and the connecting member 3 are matedly connected with the internal thread of the operating member 5 and the external thread of the second connecting part.
  • the locking member 4 is connected to the first pan-tilt assembly 1 to realize the connection between the connecting member 3 and the first pan-tilt assembly 1; or the connecting member 3
  • the internal thread that matches the external thread of the first connection part and/or the second connection part can be arranged correspondingly to the first connection part and/or the second connection part.
  • the two connecting parts are matched with the locking member 4 or other parts. It can be understood that the undefined circumferential side walls or ends of the connecting member 3 other than the first connecting part and the second connecting part may be provided with connecting parts such as threads, or may be smooth, etc. No specific restrictions.
  • the threaded connection method can effectively reduce the processing difficulty of the connecting piece 3, and the connection between the pan-tilt components realized by it is more reliable, and the versatility of the connecting piece 3 is more extensive.
  • the connecting member 3 includes a positioning portion, so that when the connecting member 3 connects the first pan-tilt assembly 1 and the second pan-tilt assembly 2, the positioning portion limits the connection.
  • the positioning portion is provided at the end of the first connecting portion, and when the connecting member 3 is connected to the first pan/tilt head assembly 1 through the first connecting portion, the positioning portion abuts against the first pan/tilt head assembly 1 or contacts the first pan/tilt head assembly 1
  • Other components connected to the assembly 1, such as the locking member 4 define the connection between the connecting member 3 and the first pan/tilt head assembly 1, and can prevent possible damage to the first connecting portion during the connection.
  • the connecting piece 3 and the first pan/tilt head assembly 1 can still be connected through the first connecting part without a positioning part.
  • the first connecting part of the connecting piece will not be separated from the first pan/tilt assembly 1 or other parts connected with the first pan/tilt assembly 1, for example, the external thread of the first connecting part can still complete the connection with the first pan/tilt assembly 1 or the connection of the internal thread segment corresponding to the locking member 4.
  • the positioning part may further include a step.
  • the step abuts against the first pan/tilt assembly 1 or is connected to the first pan/tilt assembly 1.
  • the end of the step faces the first pan-tilt assembly 1 or the locking member 4, so the end surface of the first pan-tilt assembly 1 or the locking member 4 will be restricted to the end of the first connecting part for convenience
  • the quick assembly and unloading of the pan/tilt head avoids possible misassembly when the user completes the assembly of the first pan/tilt head assembly 1 and the second pan/tilt assembly 2.
  • the locking member 4 includes a first locking portion 41 and a second locking portion 42, the first locking portion 41 is fixed on the first pan-tilt assembly 1, and the second locking portion 42 is fixed on the second cloud.
  • the first locking portion 41 and the second locking portion 42 cooperate to realize the locking or unlocking of the first pan/tilt assembly 1 and the second pan/tilt assembly 2.
  • the separate first locking portion 41 and second locking portion 42 are respectively fixed to the first pan/tilt assembly 1 and the second pan/tilt assembly 2 to realize the direct switching of the locking and unlocking states of the pan/tilt assembly by the locking member 4 ,
  • the structure is simple and the assembly yield is improved.
  • the first locking portion 41 includes a fixed end disk tooth 411
  • the second locking portion 42 includes a movable end disk tooth 421.
  • the fixed end gear 411 is used to be fixed on the first pan/tilt assembly 1
  • the movable end gear 421 is used to be fixed on the second pan/tilt assembly 2 so as to connect to the first pan/tilt assembly 1 and the second pan/tilt assembly 2.
  • the fixed end disc teeth 411 and the movable end disc teeth 421 both have teeth that can cooperate with each other, and the tooth shape may include square, circular, triangular, parabolic and many other shapes, which are not limited herein.
  • the fixed end disc teeth 411 and the movable end disc teeth 421 cooperate with each other through their respective teeth.
  • the fixed end disc teeth 411 and the movable end disc teeth 421 are mutually engaged.
  • the contact is clamped, and the rotation of the first pan/tilt assembly 1 and the second pan/tilt assembly 2 is completed.
  • it is called the locked state of the first pan/tilt assembly 1 and the second pan/tilt assembly 2.
  • the first pan/tilt assembly 1 The angle between the second pan/tilt assembly 2 and the second pan/tilt assembly 2 is fixed; in another case, such as an external force driving the pan/tilt assembly or a user operating state, the teeth of the fixed end gear 411 and the movable end gear 421 are separated from each other Without interference, the rotation between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 is allowed. This is called the unlocked state of the first pan/tilt assembly 1 and the second pan/tilt assembly 2.
  • the angle between 1 and the second pan/tilt assembly 2 can be adjusted accordingly. It can be understood that the respective teeth of the fixed-end disc tooth 411 and the movable-end disc tooth 421 still partially contact each other.
  • the triangular teeth of the fixed-end disc tooth 411 have only a part of the other triangular teeth of the movable-end disc tooth 421.
  • the first pan/tilt assembly 1 and the second pan/tilt assembly 2 may be in a stopped state, or may be in a state that can be driven to rotate, and the first pan/tilt assembly 1 and the second pan/tilt assembly 2 may be When locked, the relative rotation may be caused by external force to change the angle, which is similar to the mutual cooperation of ordinary fixed-end gears and movable-end gears.
  • the fixed end disc teeth 411 and the movable end disc teeth 421 matched with them have enlarged the joint area between the two and correspondingly enlarged the friction area.
  • their actual joint area can follow the operating element 5
  • the driving force changes, and the friction between the two will also change accordingly.
  • There is no angular displacement free travel which can prevent the peak value of the locking force between the pan/tilt components from zero to the maximum exponential change, and improve the lock 4 Tolerance rate;
  • the fixed end gear 411 and the movable end gear 421 matched with it can achieve accurate indexing, reducing the minimum range of locking force changes, and thereby making the rotation accuracy of the pan/tilt assembly higher.
  • the repetitive positioning accuracy of the disk teeth is high, and because of its fixed meshing center, it can realize automatic centering, that is, it can keep the pan/tilt assembly during multiple locks and unlocks.
  • the relative position remains unchanged, which improves the adjustment accuracy of the pan/tilt components.
  • any device capable of locking and unlocking between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 is included in the locking member 4, such as ratchets, friction pads, index plates or steel balls and other devices. Matching pits etc. Take the friction pad as an example.
  • the locking member 4 includes a friction pad, one or more friction pads can be fixedly connected to one end of the first pan/tilt head assembly 1, and one or more friction pads are also provided at the opposite end of the second pan/tilt head assembly 2.
  • the friction pad fixed at one end of the first pan/tilt assembly 1 and the friction pad fixed at the opposite end of the second pan/tilt assembly 2 are in contact with each other and there is a proper friction force.
  • the rotation between the first pan-tilt assembly 1 and the second pan-tilt assembly 2 can be prevented to keep the angle between the two fixed.
  • the friction pad fixed at one end of the first pan/tilt assembly 1 and the friction pad fixed at the opposite end of the second pan/tilt assembly 2 are separated from each other so that the friction force disappears, so that the second pan/tilt assembly cannot be prevented.
  • a rotation between the pan-tilt assembly 1 and the second pan-tilt assembly 2 can change the angle between the first pan-tilt assembly 1 and the second pan-tilt assembly 2 accordingly.
  • the friction pad fixed at one end of the first pan/tilt assembly 1 and the friction pad fixed at the opposite end of the second pan/tilt assembly 2 still partially or insufficiently contact each other.
  • the first pan/tilt assembly 1 and The second pan/tilt assembly 2 may be in a stopped state, or it may be in a state where it can be driven to rotate, and the first pan/tilt assembly 1 and the second pan/tilt assembly 2 may be locked, or they may be driven by external forces.
  • the rotation then produces a change in angle, which is similar to the interaction between ordinary friction pads.
  • the locking member 4 includes a steel ball and a matching recess
  • one or more steel balls can be fixedly connected to one end of the first pan/tilt assembly 1, and the opposite end of the second pan/tilt assembly 2 is also provided with a corresponding steel ball One or more pits.
  • the steel ball fixed at one end of the first pan/tilt assembly 1 is located in the pit fixed at the opposite end of the second pan/tilt assembly 2.
  • the steel ball is limited by the pit and can prevent the first
  • the rotation between the pan-tilt assembly 1 and the second pan-tilt assembly 2 keeps the angle between the two fixed.
  • the steel ball fixed at one end of the first pan/tilt assembly 1 can be separated from the pit fixed at the opposite end of the second pan/tilt assembly 2, so as not to prevent the first pan/tilt assembly 1 and With the rotation between the second pan/tilt assembly 2, the angle between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 can be changed accordingly.
  • the steel ball fixed at one end of the first pan/tilt assembly 1 may be partially separated or partially contained in the pit fixed at the opposite end of the second pan/tilt assembly 2.
  • the pan/tilt assembly 2 may be in a stopped state, or it may be in a state where it can be driven to rotate, and the first pan/tilt assembly 1 and the second pan/tilt assembly 2 may be locked, or they may rotate relative to each other due to driving by external forces.
  • the change in angle is similar to the interaction between ordinary steel balls and their matching pits.
  • the connecting member 3 further includes a limiting portion, and the limiting portion and the fixed end disk tooth 411 cooperate to limit the stroke of the movable end disk tooth 421.
  • the limit part may include the shoulder of the connecting member 3, or may include additional steps, bosses, etc., provided on the outer peripheral surface of the connecting member 3.
  • the connecting piece 3 can move substantially along the axial direction of the connecting piece 3. If the axial movement is not limited, there may be a problem that the second pan/tilt assembly 2 and its fixedly connected movable end gear 421 are too long relative to the first pan/tilt assembly 1, that is, the first pan/tilt assembly in the unlocked state The distance between 1 and the second pan/tilt assembly 2 is too far. At this time, the connector 3 may be exposed, foreign objects may easily enter or the center of gravity of the pan/tilt may shift beyond the threshold.
  • the stroke of the movable end disk teeth 421 can be limited within a predetermined range, and accordingly, the first pan/tilt head assembly 1 and the second cloud can be effectively restrained.
  • the component used to limit the stroke of the movable end disk tooth 421 of the locking member 4 is further specifically the limiting portion such as the step on the connecting member 3.
  • the above method may not be used.
  • a separate limiter is provided to limit the stroke of the locking member 4.
  • the limiting member is located on the outer periphery of the connecting member 3, when the locking member 4 unlocks the first pan-tilt assembly 1 and the second pan-tilt assembly 2, the limiting member can resist the locking member 4.
  • the limiting member can be attached to the outer circumference of the connecting piece 3, or it can be an independent component sleeved on the outer circumference of the connecting piece 3.
  • the socket connection there can be a fixed connection such as a threaded connection, a snap connection or
  • the magnetic connection can also provide the limiter with a certain degree of freedom, that is, it is axially fixed to the connector 3 and can rotate around the connector 3 in the circumferential direction.
  • the limiter is accommodated in a slot on the outer periphery of the connector 3.
  • the second pan/tilt assembly 2 is provided with an opening, and the operating member 5 protrudes from the opening for operation by the user. Because the operating member 5 is located on the side of the second pan/tilt assembly 2 and rotates around the connecting member 3, in order to rotate the operating member 5, the second pan/tilt assembly 2 needs to be provided with an opening for the operating member 5 to pass and extend, thereby further making The user touches to operate the operating member 5.
  • the operating member 5 at this time may include multiple components, for example, a rotating portion for rotating around the second connecting portion of the connecting member 3, a contacting portion for operation by the user, and a connecting portion that connects the two and penetrates the second connecting portion.
  • the second connecting portion includes an external thread
  • the above-mentioned rotating portion actually includes an internal thread structure corresponding to it.
  • the user can conveniently realize the conversion between the locked state and the unlocked state of the first pan-tilt assembly 1 and the second pan-tilt assembly 2 through the operating member 5, and further complete the fixing and adjustment of the angle between the pan-tilt assemblies.
  • the operating member 5 includes one or more of a lever, a paddle, or a roller.
  • the contact part is specifically a shift body
  • the middle part is specifically a rod body
  • the rotation part is specifically an inner thread provided in conjunction with the external thread of the second connecting part of the connector 3. Thread turning sleeve.
  • the toggle body receives the user's operation, and the driving force generated by the operation is further transmitted to the rotating sleeve through the rod body to convert the rotational movement of the user's operation into a linear movement along the axis of the pan/tilt assembly, which simplifies the user's operation mode.
  • the user can also realize the corresponding operation by operating the paddle or turning the wheel.
  • the opening penetrate through the outer circumference of the second pan/tilt assembly 2.
  • the operating member 5 can be operated within the limits of the opening.
  • the stroke of the operating member 5 passing through the opening is correspondingly defined, so that the limitation of the stroke of the locking member 4 can be realized, and finally the first pan/tilt assembly 1 and the second cloud A threshold is set for the distance between stage components 2.
  • the opening may be an arc or fan-shaped space with a certain axial distance opened along the outer periphery of the second pan/tilt assembly 2, or it may be along the A space helically arranged along the axial direction is opened on the outer periphery of the second pan/tilt assembly 2.
  • the shape of the opening is suitable for the displacement mode of the operating member 5, so as to avoid possible interference between the two.
  • the first pan/tilt assembly 1 and the second pan/tilt assembly 2 are in the locked state, that is, the operating member 5 is not operated by the user and is in a natural state.
  • the operating member may be located along the opening of the second pan/tilt assembly. 2 One end in the circumferential direction, one end of the opening abuts or does not abut the part (for example, the middle part) through the opening of the operating member; when the first pan/tilt assembly 1 and the second pan/tilt assembly 2 are in the unlocked state, the operation
  • the member 5 is operated by the user to be in a driven state, the operating member 5 can be moved by the user to the other end of the opening along the circumferential direction of the second pan/tilt assembly 2, the other end of the opening abuts or does not abut the operating member through the opening Part (for example, the middle part).
  • the stroke of the operating element reaches the threshold, that is, the end of the operating element 5 when it abuts
  • the stroke has a limiting effect; in this case, no other accessories are needed to limit the movement of the operating member 5.
  • the stroke of the operating element may be limited by another way, for example, the thread distance of the second connecting portion of the connecting element 3. At this time, the abrasion caused by the collision between the opening end and the operating element can be effectively reduced.
  • a corresponding pad can also be provided at the opening end to avoid such abrasion.
  • the locking mechanism 100 of the pan/tilt assembly may further include a conductive member 6.
  • One side of the conductive member 6 can abut the locking member 4, and the other side of the conductive member 6 can abut the operating member 5.
  • the locking element 4 locks or unlocks the first pan-tilt assembly 1 and the second pan-tilt assembly 2.
  • the conductive member is used to transmit the driving force of the operating member 5 to the locking member 4, and the locking member 4 is driven to lock or unlock to complete the fixation or adjustment of the angle between the pan-tilt components.
  • the operating member 5 presses the conductive member 6, and the conductive member 6 presses the locking member 4 so that the first pan/tilt assembly 1 and the second pan/tilt
  • the included angle between the components 2 is fixed.
  • one side of the conductive member 6 abuts against the locking member 4 and the other side of the conductive member 6 abuts against the operating member 5.
  • the operating member 5 is driven away from the conductive member 6, so that the conductive member 6 cannot maintain the pressing state of the locking member 4, and the locking member 4 can move at this time.
  • the angle between the first pan-tilt assembly 1 and the second pan-tilt assembly 2 can be adjusted. It can be understood that when the first pan/tilt assembly 1 and the second pan/tilt assembly 2 are unlocked, one side of the conductive member 6 does not abut the locking member 4, or the other side of the conductive member 6 does not abut the operating member 5. Or both sides of the conductive member 6 do not abut the locking member 4 or the operating member 5, and it is impossible that one side of the conductive member 6 abuts the locking member 4 and the other side of the conductive member 6 abuts the operating member The condition of 5, because the first pan/tilt assembly 1 and the second pan/tilt assembly 2 are in the locked state in this condition.
  • the conductive element 6 can further expand the setting range of the operating element 5, and the specific position of the operating element 5 on the pan/tilt assembly can be changed correspondingly according to the user's needs.
  • the conductive member 6 may further include a sliding sleeve, and the sliding sleeve is slidably fixed between the connecting member 3 and the second pan/tilt head assembly 2. That is, the sliding sleeve is limited in the space formed by the outer peripheral wall of the connecting member 3, the inner peripheral wall of the second pan/tilt assembly 2, the right side of the locking member 4, and the left side of the operating member 5 (in the direction of arrow M in FIG. 4) ).
  • the sliding sleeve can slide along the axis of the pan/tilt assembly in the space, and then only abut the right end surface of the movable end gear 421 of the locking member 4, or only abut the left end surface of the rotating sleeve of the operating member 5, or simultaneously Connect the right end surface of the movable end disk tooth 421 of the locking member 4 and the left end surface of the rotating sleeve of the operating member 5, or neither abut the right end surface of the movable end disk tooth 421 of the locking member 4 nor the left end of the rotating sleeve of the operating member 5 surface.
  • the pan/tilt assembly When the sliding sleeve abuts the right end surface of the movable end disk tooth 421 of the locking member 4 and the left end surface of the rotating sleeve of the operating member 5 at the same time, the pan/tilt assembly is in a locked state. In addition, the pan/tilt assembly is in an unlocked state, but in any case, the sliding sleeve is located Between the outer peripheral wall of the connecting piece 3 and the inner peripheral wall of the second pan/tilt assembly 2.
  • the conductive member 6 can be easily assembled on the connecting member 3.
  • the conductive member 6 is driven by the operating member 5, its movement is also more linear, which reduces the time when the pan/tilt assembly is locked or unlocked. The rate of misoperation.
  • the operating member 5 can directly abut or not abut the locking member 4 to drive the locking member 4 to switch between the locked state and the unlocked state.
  • the operating member 5 is at least partially located between the connecting member 3 and the second pan/tilt assembly 2.
  • the rotating sleeve of the operating member 5 can be partially located on the outer peripheral wall of the connecting member 3 and the second pan/tilt assembly 2. Between the inner peripheral walls and when the operating member 5 is operated, one side of the rotating sleeve can abut the locking member 4 to make the locking member 4 in a locked state. At this time, the difficulty of assembling the locking mechanism is relatively low, and the user can easily fix the operating member 5 on the connecting member 3. This simple structure reduces the failure rate of the operating member 5 when driving the locking member 4.
  • the locking mechanism 100 of the pan/tilt assembly may further include a connecting auxiliary member 7 which is located on the outer periphery of the connecting member 3 and is rotatably connected with the operating member 5.
  • This arrangement reduces the processing difficulty and processing time of the components by decomposing the single connecting piece 3 into the connecting piece 3 and its peripheral connecting auxiliary piece 7, and at the same time, further improves the connecting piece 3.
  • the connecting auxiliary member 7 when a connecting auxiliary member 7 is provided on the outer periphery of the connecting member 3, the connecting auxiliary member 7 can be made to include a docking portion, and the docking portion is matched with the operating member 5 so that the operating member 5 can rotate around the connecting member 3.
  • a docking portion is provided on the outer periphery of the connecting auxiliary member 7 corresponding to the position where the operating member 5 is installed, and the operating member 5 is connected to the docking portion to realize rotation around the connecting auxiliary member 7 and the connecting member 3.
  • the connecting auxiliary part 7 when the connecting auxiliary part 7 is processed by turning processing, only It needs to be turned at the corresponding position of the butt joint.
  • the second connecting part may or may not be provided on the connecting member 3; when the second connecting part is provided, the second connecting part can be used to connect the connecting member 3 and the connecting auxiliary member 7, or it can be used To realize the connection between the connector 3 and other components.
  • the butting part of the connecting auxiliary element 7 can be correspondingly configured to include an externally threaded part, so that the operating element 5 can rotate around the connecting element 3.
  • the connection aid 7 includes an external threaded sliding sleeve
  • the butt joint includes a threaded structure.
  • the circumferential sidewalls or ends of the connection auxiliary member 7 that are not defined except for the butting portion may be provided with a threaded connection portion, or may be a smooth surface, etc., which is not specifically limited here.
  • the threaded connection method can effectively reduce the processing difficulty of the connection auxiliary member 7, and the connection between the pan-tilt components realized by it is more reliable, and the versatility of the connection auxiliary member 7 is more extensive.
  • one of the inner surface of the connecting auxiliary member 7 and the outer surface of the connecting member 3 may have a protruding part, and the other may have a concave part matching the protruding part, so as to realize the connecting auxiliary member 7 and the connection Piece 3 is relatively fixed.
  • the above-mentioned arrangement of the connecting auxiliary member 7 and the connecting member 3 can maintain the relative rotation between the operating member 5 and the connecting auxiliary member 7, thereby realizing the driving of the operating member 5 to the locking member 4 Realize the locking and adjustment of the angle between the pan/tilt components.
  • the protruding direction of the protruding part is different from the length direction of the connecting member 3.
  • the recessing direction of the recessed part can also be different from the length direction of the connecting member 3, which can effectively prevent the connecting auxiliary member 7 from connecting
  • the relative movement between the parts 3 reduces the possibility of accidental detachment of the connection auxiliary part 7 and is also more conducive to the assembly between the auxiliary part 7 and the connection part 3.
  • the length of the connecting auxiliary member 7 may be shorter than the entire length of the connecting member 3 after removing the length of the first connecting part, so as to ensure that the first connecting part of the connecting member can be removed from the end of the connecting auxiliary member 7 Extend to complete the connection with the first pan-tilt assembly 1 or the locking member 4.
  • one end of the connecting auxiliary member 7 can be pressed against the locking member 4 or the first pan-tilt assembly 1, so that after the connecting member 3 is connected to the first pan-tilt assembly 1 to a certain extent, the connecting auxiliary member 7 will be connected to
  • the positioning member of the member 3 simultaneously or successively resists the first pan/tilt assembly 1 or the locking member 4 connected to the first pan/tilt assembly 1, and has a stopping effect on the first pan/tilt assembly 1 or the locking member 4.
  • the end surface of a pan/tilt assembly 1 or the locking member 4 is restricted to the end of the connecting auxiliary member 7. Or as shown in Figs.
  • the connecting auxiliary member 7 When the connecting member 3 is connected to the first pan-tilt assembly 1 through the first connecting portion, the end of the connecting auxiliary member 7 abuts the first pan-tilt assembly 1 or other components connected to the first pan-tilt assembly 1, such as a locking member
  • the fixed end gear 41 of 4 defines the connection between the connecting member 3 and the first pan-tilt assembly 1 and can prevent possible damage to the first connecting portion during the connection.
  • the other end of the connecting auxiliary member 7 can also be flush with the other end of the connecting member 3.
  • the connecting auxiliary member 7 further includes an auxiliary limiting portion, and the auxiliary limiting portion and the fixed end disk tooth 411 cooperate to limit the stroke of the movable end disk tooth 421.
  • the limit part may include the shoulder of the connecting auxiliary member 7, and may also include steps, bosses, etc. additionally provided on the outer peripheral surface of the connecting auxiliary member 7.
  • the movable end disk tooth 421 surrounds the connecting member 3 and the connecting auxiliary member 7 has a certain degree of freedom, and can move roughly along the axial direction of the connecting piece 3 and the connecting auxiliary piece 7. If the axial movement is not limited, there may be a problem that the second pan/tilt assembly 2 and its fixedly connected movable end gear 421 are too long relative to the first pan/tilt assembly 1, that is, the first pan/tilt assembly in the unlocked state The distance between 1 and the second pan/tilt assembly 2 is too far. At this time, the connecting member 3 and the connecting auxiliary member 7 may be exposed, foreign objects may easily enter or the center of gravity of the pan/tilt may shift beyond the threshold.
  • the stroke of the movable end disk tooth 421 can be limited within a predetermined range, which can effectively restrain the first pan/tilt head assembly 1 and the second The above-mentioned technical problems caused by the excessive distance between the pan/tilt components 2.
  • the component used to limit the stroke of the movable end disk tooth 421 of the locking member 4 is further specifically the auxiliary limiting portion such as the shoulder on the connecting auxiliary member 7, but in fact, it may not Using the above method, a separate auxiliary limiting member is provided to limit the stroke of the locking member 4. This method is similar to the above-mentioned limiting member located on the outer periphery of the connecting member 3, and will not be repeated here.
  • the locking mechanism 100 of the pan/tilt assembly may further include an elastic member for resetting the operating member 5 and thus the locking member 4 in a locked state.
  • the reset here is to return to the natural state without external force driving or user operation, the locking member 4 is in the locked state (for example, the teeth of the fixed end disk tooth 411 and the movable end disk tooth 421 are in contact with each other and clamped), and the first pan-tilt assembly 1
  • the included angle with the second pan/tilt assembly 2 is fixed.
  • the operating member 5 is generated to move along the axial direction of the connecting member 3.
  • the locking member 4 is unlocked to allow the angle between the pan/tilt components to change, and the elastic member is controlled by the axis of the operating member 5.
  • the elastic member pushes the operating member 5 along the axial direction of the connecting member 3 to return to its natural state under the action of the restoring force.
  • the operating member 5 drives the locking member 4 into a locked state, thereby locking the angle between the first pan-tilt assembly 1 and the second pan-tilt assembly 2.
  • the elastic member includes a spring or an elastic pad, and is arranged around the connecting member 3, so as to better limit the elastic member within a certain range of the outer circumference of the connecting member 3, simplify the installation process of the elastic member and avoid installation or use Unexpected displacement of the elastic member may occur.
  • the locking mechanism 100 of the pan/tilt assembly further includes a mounting and dismounting part, which is connected with the connecting member 3 for realizing the first pan/tilt assembly 1 and the Installation or disassembly between two pan-tilt components 2.
  • a mounting and dismounting part which is connected with the connecting member 3 for realizing the first pan/tilt assembly 1 and the Installation or disassembly between two pan-tilt components 2.
  • the second pan/tilt assembly 2 may include a hollow structure, which is located on one side of the connector 3 , The loading and unloading part is located in the hollow structure.
  • the loading and unloading portion is connected to the end of the connecting piece 3 close to the second pan/tilt head assembly 2 by one or more of fixing, rotating or snapping, so as to easily complete the loading and unloading portion and the connecting piece.
  • the fixation of 3 makes it easy for users to quickly disassemble the pan/tilt components.
  • the connecting member 3 is provided with a connecting auxiliary member 7 on the outer periphery, as shown in FIGS.
  • the end of the connecting member 7 close to the second pan-tilt assembly 2 and the connecting member close to the second pan-tilt assembly 2 If one end is flush, the mounting and dismounting part is connected to the connecting piece 3 and the relative fixing of the mounting and dismounting part and the connecting auxiliary piece 7 is completed, and the connecting piece 3 and the connecting auxiliary piece 7 near the end of the second pan/tilt head assembly 2 can be shared Abutting the mounting and dismounting part, or only one end of the connecting member 3 close to the second pan/tilt assembly 2 abutting the mounting and dismounting part.
  • the loading and unloading part includes one or more of a knob, a back cover, or a screw head.
  • the loading and unloading part includes a knob.
  • the knob can drive the external thread of the first connecting portion of the connector 3 and the internal thread portion of the fixed end gear 41 to spiral to realize the second pan/tilt head assembly 2 and the separation between the first pan/tilt assembly 1.
  • one side of the elastic member can abut the second pan/tilt assembly 2 while the other side drives the operating member 5.
  • the locking mechanism 100 of the pan/tilt assembly is further provided with a mounting and dismounting part, since the mounting and dismounting part is connected to the connecting member 3, the elastic member can abut the mounting and dismounting part on one side and the operating member on the other side. 5.
  • the length of the elastic member can meet the demand of the pan/tilt assembly for its restoring force, namely its The elastic force can restore the operating member 5 to the pressing state of the locking member 4 when the external force acting on the pan/tilt assembly is removed or the driving of the operating member 5 is removed, thereby locking the angle between the pan/tilt assembly.
  • This embodiment provides a pan/tilt head, which includes: a first pan/tilt assembly; a second pan/tilt assembly connected to the first pan/tilt assembly; and a pan/tilt locking assembly.
  • the pan-tilt locking assembly includes: a connecting piece for movably connecting the first pan-tilt assembly and the second pan-tilt assembly; a locking piece for locking or unlocking the first pan-tilt assembly and the second pan-tilt assembly; and operation
  • the operating member can rotate around the connecting member and is used to drive the locking member to lock or unlock the first pan/tilt assembly and the second pan/tilt assembly.
  • the pan/tilt head provided by the embodiment of the second aspect of the present invention includes a first pan/tilt assembly 1 and a second pan/tilt assembly 2 connected to the first pan/tilt assembly, and further includes a locking assembly 100 of the pan/tilt assembly.
  • An operating member 5 is provided on the outer periphery of the connecting member 3, and the operating member 5 and the locking member 4 are matched.
  • the operating member 5 drives the locking member 4 by rotating around the connecting member 3, so that the user can directly operate the operating member 5
  • the angle between the first pan/tilt assembly 1 and the second pan/tilt assembly 2 is changed, without the need as in the prior art
  • the first PTZ component 1 and the second PTZ component 2 are disassembled. On the one hand, it reduces the possibility of parts loss. On the other hand, it simplifies the user's installation steps and improves the use efficiency of the PTZ. , And improve the assembly accuracy between the first pan-tilt assembly 1 and the second pan-tilt assembly 2.
  • pan/tilt locking assembly 100 The specific structure, function and working principle of the pan/tilt locking assembly 100 have been described in detail in the first embodiment, and will not be repeated here.
  • the pan/tilt may be a handheld pan/tilt, and its pan/tilt assembly may be any two components that can rotate with each other, for example, the support, pivot arm, base, or pan/tilt handle of the pan/tilt body, One or more of such structures as pan-tilt grip and tripod.
  • the pan/tilt can also be an airborne pan/tilt mounted on a drone, unmanned vehicle or various vehicles, and the pan/tilt component at this time can also include the pivot arm and bracket of the pan/tilt body.
  • the pan/tilt can also be an airborne pan/tilt mounted on a drone, unmanned vehicle or various vehicles, and the pan/tilt component at this time can also include the pivot arm and bracket of the pan/tilt body.
  • the first pan-tilt component may be a pan-tilt body bracket and the second pan-tilt component may be a pan-tilt grip, or there may be multiple pan-tilt grips.
  • the angle between the pan-tilt body bracket and the pan-tilt grip can be in a natural state without interference
  • the gimbal locking assembly 100 can be unlocked by turning the lever or the like, thereby allowing the gimbal body bracket
  • the adjustment of the angle between the grip and the pan/tilt handle changes the pan/tilt posture and the user’s holding posture to allow users to personalize their settings as needed.
  • the handle of the pan/tilt head can be quickly disassembled during transportation, carrying, or when the user does not need to hold the handle or other similar accessories, or in use Quickly install the pan/tilt grip or other similar accessories at times to reduce the occupied volume of the pan/tilt, facilitate carrying and expand related accessories.
  • the axis of the pan/tilt grip can be perpendicular to the connection with the support of the pan/tilt body, or can maintain a certain angle with the connection, which is not limited here.
  • the first pan/tilt component may also be the base of the pan/tilt body and the second pan/tilt component may be a pan/tilt handle.
  • the angle between the base of the pan-tilt body and the pan-tilt handle can be kept relatively fixed in a natural state without interference;
  • the pan/tilt lock assembly 100 can be unlocked by turning the lever or turning the adjustment ring around the pan/tilt lock assembly 100, thereby allowing the pan/tilt body
  • the angle between the base and the handle of the pan/tilt is adjusted so that the pan/tilt and its camera can be rotated 360 degrees to face the user or away from the user,
  • the pan/tilt handle can be quickly removed when a tripod is needed for transportation, carrying or stable placement, or the pan/tilt handle can be quickly removed when in use.
  • other similar accessories can be quickly installed to reduce the transportation volume of the PTZ, easy to carry and to use the same interface structure to expand related accessories.
  • the axis of the pan/tilt grip can overlap or be parallel to the axis of the base of the pan/tilt body, or it may maintain a certain angle with the axis of the base of the pan/tilt body, which is not limited here.
  • the storage space of the pan/tilt head is smaller and it is more convenient to carry.
  • the angle adjustment function between the various gimbal components the use range of the gimbal has been greatly expanded, with more types of accessories and more tolerable use scenarios.
  • the unmanned aerial vehicle includes a body and the pan-tilt described in the second embodiment, and the pan-tilt is arranged on the body.
  • the unmanned aerial vehicle can be controlled to take off by remote control or launched into the air through a booster, or it can be carried into the air by the parent aircraft for flight.
  • the gimbal can be carried by the unmanned aerial vehicle.
  • Accessories, such as a camera, enable it to perform aerial photography and other operations.
  • the drone is mainly composed of a body and a pan/tilt.
  • the pan/tilt includes: a first pan/tilt assembly; a second pan/tilt assembly connected to the first pan/tilt assembly; and a pan/tilt locking assembly, which includes: connection A member for movably connecting the first pan/tilt assembly and the second pan/tilt assembly; a locking member for locking or unlocking the first pan/tilt assembly and the second pan/tilt assembly; and an operating member, which can surround the connecting member
  • the rotation is used to drive the locking member to lock or unlock the first pan/tilt assembly and the second pan/tilt assembly.
  • the drone can also be equipped with other loads for various operations.
  • the load can be another camera, PTZ and other different devices.
  • the drone can be an unmanned vehicle or various vehicles, and the PTZ mounted on it may be an airborne PTZ, a vehicle PTZ, etc., and further include the corresponding locking mechanism or The locking mechanism of the on-board PTZ.

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  • Accessories Of Cameras (AREA)

Abstract

一种云台的锁定机构、云台及无人机，其中云台包括第一云台组件（1）、第二云台组件（2）和锁定机构，锁定机构包括：连接件（3），用于活动连接第一云台组件（1）和第二云台组件（2）；锁定件（4），用于锁定或解锁第一云台组件（1）和第二云台组件（2）；以及操作件（5），操作件（5）可围绕连接件（3）转动，用于驱动锁定件锁定或解锁第一云台组件（1）和第二云台组件（2）。通过设置连接件以连接两个云台组件，通过设置可围绕连接件转动的操作件从而驱动锁定件锁定或解锁两个云台组件的相对转动，实现了云台组件的快速装卸和角度的快速调节。

Description

一种云台的锁定机构、云台及无人机 技术领域
本发明涉及云台领域，更具体而言，涉及一种云台的锁定机构、云台及无人机。
背景技术
现有的云台组件之间相互连接时，其夹角一般是固定的，或是需要通过整体的拆卸来完成角度的调整，使用者难以根据实际需求进行方便的角度调节，导致相应的用户体验较差。
公开内容
本发明旨在至少解决现有技术中存在的技术问题之一。
为实现上述目的，本发明的一个方面的技术方案提供了一种云台的锁定机构，所述云台包括第一云台组件和第二云台组件，所述锁定机构包括：连接件，用于活动连接所述第一云台组件和所述第二云台组件；锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以及操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
本发明第二个方面的技术方案提供一种云台，所述云台包括：第一云台组件；第二云台组件，与所述第一云台组件连接；及云台锁定组件，其包括：连接件，用于活动连接所述第一云台组件和所述第二云台组件；锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以及操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
本发明第三个方面的技术方案提供一种无人机，所述无人机包括：机体和云台；所述云台包括：第一云台组件；第二云台组件，与所述第一云台组件连接；及云台锁定组件，其包括：连接件，用于活动连接所述第一云台组件和所述第二云台组件；锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以及操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
与现有技术相比，本发明具有以下有益的技术效果：本发明通过设置连接件以连接两个云台组件，通过设置可围绕连接件转动的操作件从而驱动锁定件锁定或解锁两个云台组件的相对转动，实现了云台组件的快速装卸和角度的快速调节，该机构结构简单，操作便利，提高了用户的使用体验。
本发明的附加方面和优点将在下面的描述部分中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明实施例一提供的云台锁定机构的结构示意图；
图2是本发明实施例一提供的云台锁定机构锁定时的剖面图；
图3是本发明实施例一提供的云台锁定机构解锁时的剖面图；
图4是本发明实施例一提供的云台锁定机构的分解结构示意图。
其中，图1至4中附图标记与部件名称之间的对应关系为：
100锁定组件，1第一云台组件，2第二云台组件，3连接件，4锁定件，41第一锁定部，411固定端盘齿，42第二锁定部，421活动端盘齿，5操作件，6传导件，7连接辅助件，8弹性件，9装卸部。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接， 也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
实施例一
下面参照附图1至4描述根据本发明一些实施例的云台的锁定机构。
如图1至图4所示，根据本发明一些实施例提供的一种云台的锁定组件100，云台包括：沿锁定组件100的轴向(如图4中箭头M的方向)依次设置的第一云台组件1和第二云台组件2，锁定组件包括：连接件3，用于活动连接第一云台组件1和第二云台组件2；锁定件4，用于锁定或解锁第一云台组件1和第二云台组件2；以及操作件5，操作件5可围绕连接件3转动，用于驱动锁定件4锁定或解锁第一云台组件1和第二云台组件2。
本发明第一个方面的实施例提供的锁定组件100，通过在连接件3的外周设置操作件5，操作件5和锁定件4进行配合，具体地操作件5通过围绕连接件3的转动驱动锁定件4，从而能够直接通过用户对操作件5的操作以实现第一云台组件1和第二云台组件2之间相对转动的锁定和解锁，改变第一云台组件1和第二云台组件2之间的夹角，无需像现有技术中一样对第一云台组件1和第二云台组件2进行拆卸，一方面降低了部件丢失 的可能性，另一方面，简化了用户的安装步骤，提高了云台的使用效率，且提高了第一云台组件1和第二云台组件2之间的装配精度。
其中，第二云台组件2和操作件5可以通过连接件3形成整体结构，通过连接件3连接第一云台组件1和第二云台组件2或将第二云台组件2从第一云台组件1上拆卸下来时，可通过将第二云台组件2和操作件5组成的整体安装在第一云台组件1上，或将第二云台组件2和操作件5整体从第一云台组件1上拆卸下来。具体的，为了满足云台组件角度调整的人机交互需求，操作件5安装至第二云台组件2上时，可以位于第二云台组件2的周向安装面的中心区域，从而留出足够的空间便于用户通过转动操作件5来完成云台组件之间的锁定和解锁。
需要说明的是，操作件5处于自然状态无人操作，即锁定件4处于锁定状态以固定云台组件之间的夹角时，此时通常是云台处在工作状态，云台组件之间的相对转动被锁定；而需要调整云台姿态、调整配件角度或拆卸配件时，用户可操作操作件5驱动锁定件4解锁，这样可相应调整云台组件之间的夹角，使云台组件之间相对转动以完成姿态或角度的调整，或是拆卸配件以便于携带和收纳。至于云台组件之间的夹角及夹角的可调整范围，这可根据实际需求来设计合适的操作件5结构及尺寸，本实施例不作具体限制。
另外，根据云台组件的应用场景及使用需求，操作件5的数量可以是一个或多个，并且可以根据云台组件的具体数量和堆叠情况设计操作件5的具体结构，使多个操作件5可以在轴向方向上均匀的排列在多个云台组件间。通常情况下，操作件5可以包括多个，示例性的，操作件5的数量为两个、三个或四个。与操作件5的数量及位置相对应的，云台组件可以包括多个，以通过操作件5调整相邻两个云台组件之间的夹角。
在一种具体的实施方式中，操作件5可以为至少两个，且两个操作件5相对于多个云台组件同侧设置。示例性的，在云台组件的同侧设置两个操作件5，两个操作件5解锁时向同一方向旋转，以便于用户操作；两个操作件5解锁时也可向相反方向旋转，以防止用户操作其中之一时误触发另一操作件的解锁。或是三个操作件5可以周向均匀分布，即相邻桨叶12之间的夹角为120°，以方便用户的辨识和独立操作；而对于包括四个操 作件5的情况，四个操作件5可以对称设置，相邻两个操作件5之间的夹角为90°；对于包括五个操作件5、六个操作件5等的情况，以此类推，在此不再赘述。
与现有的对云台组件进行拆卸以调整云台姿态、调整配件角度或拆卸配件，本实施例提供的锁定机构一方面实现了云台组件相对于另一云台组件的整体拆装，降低了拆卸时部件丢失的可能性，另一方面，该快速连接结构简化了用户的安装步骤，单人即可实现安装和调节，无需多人配合操作，提高了云台的使用效率，且提高了不同云台组件之间的装配精度。同时，较之现有技术中不同云台组件之间角度固定或是需要拆卸才可调整夹角的情况，本实施例提供的锁定机构实现了云台的快速转动调节，即通过转动操作件即可实现锁定件的解锁和锁定，进而实现不同云台组件之间的角度调整和锁定，提升了用户操作的舒适度，使云台的扩展更为简便，用户对云台的操纵更易上手。
在一种可能的实施方式中，连接件3可以包括第一连接部和第二连接部，第一连接部用于与第一云台组件1的连接，第二连接部用于实现操作件5围绕连接件3的转动。对于第二云台组件2和操作件5组成的整体结构与第一云台组件1的连接，可以通过在连接件3上设置第一连接部实现第二云台组件2和操作件5与第一云台组件1的固定连接。具体的，连接件3可以贯穿第二云台组件2和操作件5，并且连接件3可通过第一连接部与第一云台组件1连接，这样可通过连接件3的第一连接部将第二云台组件2和操作件5固定在第一云台组件1上，即可实现第二云台组件2和操作件5与第一云台组件1的固定连接；与之相反的，亦可通过第一连接部将连接件3从第一云台组件1上取下，以此实现将第二云台组件2和操作件5整体从第一云台组件1上拆卸下来。这样可通过连接件3上的第一连接部实现第二云台组件2和操作件5在第一云台组件1上的整体拆装，使第二云台组件2在第一云台组件1上的安装和拆卸更便捷高效。
本实施例中，连接件3不仅可起到将第二云台组件2连接在第一云台组件1上的作用，第二云台组件2安装好后，操作件5还可通过第二连接部绕其对应的连接件3旋转，操作件5的旋转轴与第一云台组件1和第二云台组件2之间的旋转运动同轴，操作件5绕第二连接部旋转至不同的角 度，锁定件4便相应地进入锁定或解锁状态，第一云台组件1和第二云台组件2之间的角度关系便可相应固定或调整，例如，操作件5处于自然状态无人操作时，锁定件4处于锁定状态，第一云台组件1和第二云台组件2之间的夹角不可调整，而转动操作件5使其相对于连接件3的第二连接部旋转时，可形成锁定件4的解锁状态，此时可以调节第一云台组件1和第二云台组件2之间的夹角。如此通过操作件5围绕连接件3的第二连接部旋转，形成云台组件之间相对转动的锁定状态和解锁状态，实现了云台组件之间夹角可固定并可调整的功能。
同样地，第一连接部用于与第一云台组件1的连接，可以是连接件3通过第一连接部与锁定件4连接，锁定件4与第一云台组件1连接，以实现连接件3与第一云台组件1的连接；或是第一连接部不通过锁定件4而直接与第一云台组件1连接，即连接件3通过第一连接部直接与第一云台组件1连接。又例如，第二连接部用于实现操作件5围绕连接件3的转动，可以是连接件3通过第二连接部与操作件5连接，或是连接件3不与操作件5直接连接，只要是任何可以实现操作件围绕连接件转动的方式均可。需要注意的是，该处的“连接”与本发明中出现的其他“连接”相似，应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，即第一连接部用于连接件与第一云台组件的连接，或是第二连接部用于实现操作件围绕连接件的转动，均可以通过锁定件4等中介媒介实现。通过在连接件3上设置分离的第一连接部和第二连接部，在实现云台组件间连接的同时可以有效减少连接件3的加工时间，降低加工难度，例如采用车削加工方式加工连接件3时，只需要在第一连接部和第二连接部相应的位置进行车削即可。
在一种可能的实施方式中，连接件3可以包括具有螺纹的螺纹连接件，第一连接部和所述第二连接部包括螺纹，例如，第一连接部和第二连接部可包括外螺纹，与第一连接部对应设置的第一云台组件1相应包含内螺纹，与第二连接部对应设置的操作件5相应包含内螺纹，以使第一云台组件1与连接件3通过第一云台组件1的内螺纹和第一连接部的外螺纹配合相连接，操作件5与连接件3通过操作件5的内螺纹和第二连接部的外螺纹配 合相连接。如上所述，当连接件3通过第一连接部与锁定件4连接，锁定件4与第一云台组件1连接，以实现连接件3与第一云台组件1的连接；或是连接件3不与操作件5直接连接而通过其他中间媒介相连接时，与第一连接部和/或第二连接部的外螺纹相配合的内螺纹可以相应设置在与第一连接部和/或第二连接部相配合的锁定件4或是其他部件上。可以理解的是，连接件3上除第一连接部和第二连接部外未进行限定的周向侧壁或端部，可能相应具备有螺纹等连接部，也可能为光面等，此处不做具体限定。采用螺纹连接方式可以有效降低连接件3的加工难度，而其实现的云台组件间的连接也更为可靠，连接件3的通用性也更为广泛。
如图2所示，本实施例中，连接件3包括定位部，以在连接件3连接第一云台组件1和第二云台组件2时，通过定位部限定其连接。具体的，定位部设置于所述第一连接部末端，将连接件3通过第一连接部连接到第一云台组件1时，定位部抵接第一云台组件1或与第一云台组件1连接的其他部件，例如锁定件4，以限定连接件3与第一云台组件1间的连接，并可以防止连接时第一连接部可能产生的损坏。
为了使连接件3与第一云台组件1之间可以根据需求进行安装或拆卸，在不设置定位部的情况下，连接件3与第一云台组件1仍然可以通过第一连接部进行连接，连接件的第一连接部不会从第一云台组件1或与第一云台组件1连接的其他部件中脱离，譬如，第一连接部的外螺纹仍然可以完成与第一云台组件1或与锁定件4相应的内螺纹段的连接。而本实施例中，可进一步的令定位部包括台阶。这样在连接件3与第一云台组件1的连接进行到一定程度之后，由于第一连接部末端设置有台阶，台阶抵持于第一云台组件1或与第一云台组件1连接的锁定件4上，台阶的端面对第一云台组件1或锁定件4有止挡作用，因而第一云台组件1或锁定件4的端面会被限制在第一连接部末端，以方便云台的快速装卸，避免用户在完成第一云台组件1和第二云台组件2的组装时可能产生的误装配。
在一种可能的实施方式中，锁定件4包括第一锁定部41和第二锁定部42，第一锁定部41固定在第一云台组件1上，第二锁定部42固定在第二云台组件2上，第一锁定部41和第二锁定部42配合实现第一云台组件1和第二云台组件2的锁定或解锁。通过设置分离的锁定部，可以进一步 加大云台组件间夹角的调整范围，同时扩大了锁定和解锁状态间切换的容错概率，使得锁定件4更易于驱动。而将分离的第一锁定部41和第二锁定部42分别固定于第一云台组件1和第二云台组件2的方式，实现了锁定件4对云台组件锁定和解锁状态的直接切换，结构简单而提高了装配良率。
如图2所示，本实施例中，第一锁定部41包括固定端盘齿411，第二锁定部42包括活动端盘齿421。该固定端盘齿411用于固定在第一云台组件1上，活动端盘齿421用于固定在第二云台组件2上，以在第一云台组件1和第二云台组件2连接时完成两者间的锁定或解锁。具体的，固定端盘齿411和活动端盘齿421均具有能够相互配合的齿，该齿形可以包括方形、圆形、三角形、抛物线形及多种其他形状，在此不做限定。固定端盘齿411和活动端盘齿421通过各自的齿相互配合，在一种情况下，例如没有外力驱动或用户操作的自然状态下，固定端盘齿411和活动端盘齿421的齿彼此接触卡紧，完成第一云台组件1和第二云台组件2的止转，此时被称为第一云台组件1和第二云台组件2的锁定状态，第一云台组件1和第二云台组件2之间的夹角被固定；在另一种情况下，例如外力驱动云台组件或用户操作的状态下，固定端盘齿411和活动端盘齿421的齿彼此分离而不干涉，允许第一云台组件1和第二云台组件2之间的转动，此时被称为第一云台组件1和第二云台组件2的解锁状态，第一云台组件1和第二云台组件2之间的夹角可以相应进行调节。可以理解的是，固定端盘齿411和活动端盘齿421各自的齿还存在彼此部分接触的情况，例如，固定端盘齿411三角形齿的一面只有部分与活动端盘齿421三角形齿的另一面接触，此时第一云台组件1和第二云台组件2可能处于止转状态，也可能处于能够被驱动而转动的状态，进而第一云台组件1和第二云台组件2可能被锁定，也可能由于外力的驱动而产生相对转动进而产生角度的改变，这与普通的固定端盘齿及活动端盘齿的相互配合是类似的。固定端盘齿411及与其配合的活动端盘齿421较之于其他类型的锁定件4，扩大了两者间的接合面积从而相应扩大了摩擦面积，同时其实际接合面积可跟随操作件5的驱动力而变化，进而两者间摩擦力的大小也会相应变化，无角位移空程，可以防止云台组件间的锁定力从零到最大指数变化时产生的峰值， 提高了锁定件4的容错率；同时，固定端盘齿411及与其配合的活动端盘齿421可以实现准确的分度，降低了锁定力变化的最小范围，进而使云台组件的旋转精度较高。此外，在从解锁状态回复到锁定状态时，盘齿的重复定位精度高，且因其有固定的啮合中心而能实现自动定心，即可以在多次的锁定和解锁中保持云台组件的相对位置不变，提高云台组件的调节精度。
在实际应用中，任何能够实现第一云台组件1和第二云台组件2之间锁定和解锁的装置，均为锁定件4所囊括，例如棘轮、摩擦垫、分度盘或钢珠及与其配合的凹坑等。以摩擦垫为例。当锁定件4包括摩擦垫时，可以在第一云台组件1的一端固定连接一块或多块摩擦垫，而在第二云台组件2相向的一端同样设置一块或多块摩擦垫。当没有外力驱动或用户操作的自然状态下，第一云台组件1的一端固定的摩擦垫与第二云台组件2相向的一端固定的摩擦垫彼此接触且存在适当的摩擦力，该摩擦力能够阻止第一云台组件1和第二云台组件2之间的转动以保持两者间的夹角固定。当外力驱动云台组件或用户操作的状态下，第一云台组件1的一端固定的摩擦垫与第二云台组件2相向的一端固定的摩擦垫彼此分离令摩擦力消失，从而不能阻止第一云台组件1和第二云台组件2之间的转动，第一云台组件1和第二云台组件2之间的夹角可以相应改变。同样地，第一云台组件1的一端固定的摩擦垫与第二云台组件2相向的一端固定的摩擦垫还存在彼此部分接触或不充分接触的情况，此时第一云台组件1和第二云台组件2可能处于止转状态，也可能处于能够被驱动而转动的状态，进而第一云台组件1和第二云台组件2可能被锁定，也可能由于外力的驱动而产生相对转动进而产生角度的改变，这与普通的摩擦垫间的相互配合是类似的。
以钢珠及与其配合的凹坑为例。当锁定件4包括钢珠及与其配合的凹坑时，可以在第一云台组件1的一端固定连接一个或多个钢珠，而在第二云台组件2相向的一端同样设置与钢珠相对应的一个或多个凹坑。当没有外力驱动或用户操作的自然状态下，第一云台组件1的一端固定的钢珠位于第二云台组件2相向的一端固定的凹坑中，钢珠被凹坑所限定进而能够阻止第一云台组件1和第二云台组件2之间的转动以保持两者间的夹角固定。当外力驱动云台组件或用户操作的状态下，第一云台组件1的一端固 定的钢珠可以脱离第二云台组件2相向的一端固定的凹坑，从而不能阻止第一云台组件1和第二云台组件2之间的转动，第一云台组件1和第二云台组件2之间的夹角可以相应改变。同样地，第一云台组件1的一端固定的钢珠还存在部分脱离或部分被包容于第二云台组件2相向的一端固定的凹坑的情况，此时第一云台组件1和第二云台组件2可能处于止转状态，也可能处于能够被驱动而转动的状态，进而第一云台组件1和第二云台组件2可能被锁定，也可能由于外力的驱动而产生相对转动进而产生角度的改变，这与普通的钢珠及与其配合的凹坑间的相互配合是类似的。
在一种可能的实施方式中，连接件3还进一步包括限位部，限位部和固定端盘齿411配合用于限制活动端盘齿421的行程。该限位部可以包括连接件3的轴肩，也可以包括在连接件3的外周面额外设置的台阶、凸台等，当外力驱动云台组件或用户操作的状态下，即第一云台组件1和第二云台组件2处于解锁状态时，固定端盘齿411和活动端盘齿421的齿彼此分离而不干涉，此时活动端盘齿421围绕连接件3具有一定的自由度，可大致沿连接件3的轴向运动。若不对该轴向运动进行限定，可能出现第二云台组件2及其固定连接的活动端盘齿421相对于第一云台组件1行程过长的问题，即解锁状态下第一云台组件1和第二云台组件2间的距离过远，此时可能导致连接件3暴露在外，异物容易进入或是云台重心偏移超出阈值。而本实施方式通过连接件3上的限位部配合固定端盘齿411，可以将活动端盘齿421的行程限定在预定的范围内，相应可以有效抑制第一云台组件1和第二云台组件2间距离过远产生的上述技术问题。
需要说明的是，本实施例中，将用于限定锁定件4的活动端盘齿421行程的部件，进一步具体为连接件3上的台阶等限位部，但实际上还可以不采用上述方法，而设置单独的限位件对锁定件4的行程进行限制。例如令限位件位于连接件3的外周，当锁定件4解锁第一云台组件1和第二云台组件2时，限位件能够抵持锁定件4。可以理解的是，限位件可以附属于连接件3的外周，也可以是独立的一个部件套接于连接件3的外周，该处的套接可以是固定连接例如螺纹连接、卡扣连接或磁吸连接，也可以令限位件拥有一定的自由度即轴向固定于连接件3而周向可绕连接件3转动，例如限位件被容纳于连接件3外周的卡槽中。通过设置单独的限位件，可 以降低连接件的加工精度，减低云台组件的加工成本，其对于锁定件4行程的限制也更具备可靠性。
如图2到图3所示，本实施例中，第二云台组件2上开设有开口，操作件5自开口中伸出，用以被用户操作。因为操作件5位于第二云台组件2一侧且围绕连接件3转动，则为了转动操作件5，第二云台组件2上需要设置有开口供操作件5通过并伸出，从而进一步令用户接触以操作操作件5。此时的操作件5可能包括多个组成部分，例如，用于围绕连接件3的第二连接部转动的转动部，用于供用户接触以操作的接触部，以及连接两者并贯通第二云台组件2上开口的中间部。可以理解的是，当第二连接部包括外螺纹时，上述转动部实际也包括与其对应设置的内螺纹结构。通过该设置，用户可以方便地通过操作件5实现第一云台组件1和第二云台组件2在锁定状态和解锁状态之间的转换，进一步完成云台组件间夹角的固定和调整。示例性的，操作件5包括拨杆、拨片或滚轮中的一种或多种。如图2所示，挡操作件5为拨杆时，其接触部具体为拨动体，中间部具体为杆体，而转动部具体为与连接件3第二连接部的外螺纹配套设置的内螺纹转动套。拨动体接收用户的操作，而该操作产生的驱动力通过杆体进一步传导至转动套以将用户操作的旋转运动转化为沿云台组件轴向的线性运动，简化了用户的操作方式。同样地，用户也可通过操作拨片或转动滚轮实现相应的操作。
同样地，为了抑制第一云台组件1和第二云台组件2间距离过远产生的上述技术问题，进一步地可以令开口贯穿第二云台组件2的外周，当转动操作件5时，操作件5能够在开口限制的范围内被操作。本实施方式中通过第二云台组件2外周的开口，相应限定贯穿该开口的操作件5的行程，从而可以实现对于锁定件4行程的限定，最终为第一云台组件1和第二云台组件2间的距离设置阈值。对于大致具有周向外表面的第二云台组件2来说，这意味着开口可能是沿着第二云台组件2外周开设的具有一定轴向距离的弧形或扇形空间，也可能是沿着第二云台组件2外周开设的沿轴向螺旋形设置的空间。开口的形状与操作件5的位移方式是相适宜的，从而避免两者间可能出现的干涉。示例性的，当第一云台组件1和第二云台组件2处于锁定状态时，即操作件5未被用户所操作而处于自然状态，此时 操作件可以位于开口沿第二云台组件2周向的一端，该开口的一端抵接或不抵接操作件贯通开口的部分(例如，中间部)；当第一云台组件1和第二云台组件2处于解锁状态时，即操作件5被用户所操作而处于被驱动状态，操作件5可以被用户拨动至开口沿第二云台组件2周向的另一端，该开口的另一端抵接或不抵接操作件贯通开口的部分(例如，中间部)。当开口沿第二云台组件2周向的端部抵接操作件贯通开口的部分时，受到该端部的限定，操作件的行程到达阈值，即抵接时该端部对于操作件5的行程具有限定作用；该种情况下无需其他附件即可限制操作件5的运动。当开口沿第二云台组件2周向的端部不抵接操作件贯通开口的部分时，操作件的行程可能由另外的方式进行限定，例如，连接件3第二连接部的螺纹距离。此时可以有效降低开口端部和操作件之间碰撞而产生的磨损，当然，也可在开口端部处设置对应的垫件以避免该磨损。
如图2至图3所示，云台组件的锁定机构100还可以包括传导件6，传导件6的一侧能够抵接锁定件4，传导件6的另一侧能够抵接操作件5，以被操作件5驱动进而使锁定件4锁定或解锁第一云台组件1和第二云台组件2。传导件用于将操作件5的驱动力传导至锁定件4，驱动锁定件4锁定或解锁以完成云台组件间夹角的固定或调整。当第一云台组件1和第二云台组件2处于锁定状态时，操作件5压紧传导件6，进而传导件6压紧锁定件4令其第一云台组件1和第二云台组件2之间的夹角固定，此时传导件6的一侧抵接锁定件4，传导件6的另一侧抵接操作件5。为了使第一云台组件1和第二云台组件2解锁，操作件5被驱动远离传导件6，进而传导件6不能保持对锁定件4的压紧状态，锁定件4此时可以活动进而令其第一云台组件1和第二云台组件2之间的夹角可调整。可以理解的是，第一云台组件1和第二云台组件2的解锁状态下，传导件6的一侧不抵接锁定件4，或是传导件6的另一侧不抵接操作件5，或是传导件6的两侧均不与锁定件4或操作件5抵接，而不可能出现传导件6的一侧抵接锁定件4且传导件6的另一侧抵接操作件5的状况，因为该状况下第一云台组件1和第二云台组件2处于锁定状态。通过该设置，可以进一步降低锁定机构的加工难度，降低部件的制作成本，以及加大了操作件5对于锁定件4的驱动时的容错概率。同时，传导件6还可进一步扩大操作件5的 设置范围，可以根据用户的使用需求相应改变操作件5在云台组件上的具体位置。
本实施例中传导件6还可以包括滑套，滑套被滑动固定在连接件3和第二云台组件2间。即，滑套被限定在连接件3的外周壁、第二云台组件2的内周壁、锁定件4的右侧和操作件5的左侧构成的空间中(如图4中箭头M的方向)。滑套可以在该空间中沿云台组件的轴向滑动，进而仅抵接锁定件4活动端盘齿421的右端面，或是仅抵接操作件5转动套的左端面，或是同时抵接锁定件4活动端盘齿421的右端面和操作件5转动套的左端面，或是既不抵接锁定件4活动端盘齿421的右端面也不抵接操作件5转动套的左端面。当滑套同时抵接锁定件4活动端盘齿421的右端面和操作件5转动套的左端面时云台组件处于锁定状态，此外云台组件处于解锁状态，但无论如何，滑套均位于连接件3的外周壁和第二云台组件2的内周壁之间。通过采用滑套作为传导件6，可以实现传导件6在连接件3上的简便装配，同时传导件6被操作件5驱动时，其运动也更为线性，降低了锁定或解锁云台组件时的误操作率。
当然，锁定机构100不包括传导件6时，操作件5可以直接通过抵接或不抵接锁定件4以驱动锁定件4在锁定状态和解锁状态下切换。同理，操作件5至少有部分位于连接件3和第二云台组件2间，具体的，可令操作件5的转动套部分地位于连接件3的外周壁和第二云台组件2的内周壁之间，且在操作件5被操作时，转动套一侧可以抵接锁定件4以令锁定件4处于锁定状态。此时锁定机构的装配难度较低，用户可以较为简易的实现操作件5在连接件3上的固定，该简单的结构降低了操作件5对于锁定件4的驱动时的故障率。
如图2至图4所示，云台组件的锁定机构100还可以包括连接辅助件7，连接辅助件7位于连接件3外周且与操作件5转动连接。该设置通过将单一的连接件3分解为连接件3及其外周的连接辅助件7的形式，相对于单一的连接件3降低了部件的加工难度和加工时间，同时，进一步提高了连接件3的普适性，也更便于连接件3与操作件5的连接以实现云台组件间夹角的调整。
相应地，当连接件3外周设置有连接辅助件7时，可以令连接辅助件 7包括对接部，而通过对接部与操作件5配合，以使操作件5能够围绕连接件3转动。参见图2至图3可见，在连接辅助件7的外周对应操作件5安装的位置设置有对接部，操作件5通过与对接部连接实现围绕连接辅助件7及连接件3的转动。通过在连接辅助件7上设置独立的对接部，在实现云台组件间连接的同时可以有效减少连接辅助件7的加工时间，降低加工难度，例如采用车削加工方式加工连接辅助件7时，只需要在对接部相应的位置进行车削即可。此时，连接件3上可以设置第二连接部，也可以不设置第二连接部；设置第二连接部时，第二连接部可用于实现连接件3和连接辅助件7的连接，也可用于实现连接件3与其他部件间的连接。
在本实施方式中，当操作件5的转动部具体为内螺纹转动套时，连接辅助件7的对接部可相应设置为包括外螺纹部分，进而实现操作件5围绕连接件3的转动。此时的连接辅助件7包括外螺纹滑套，对接部包括螺纹结构。可以理解的是，连接辅助件7上除对接部外未进行限定的周向侧壁或端部，可能相应具备有螺纹等连接部，也可能为光面等，此处不做具体限定。采用螺纹连接方式可以有效降低连接辅助件7的加工难度，而其实现的云台组件间的连接也更为可靠，连接辅助件7的通用性也更为广泛。
另外，可以令连接辅助件7的内表面以及连接件3的外表面中的一者上具有凸出部，另一者具有和凸出部相匹配的凹陷部，以实现连接辅助件7和连接件3的相对固定。在操作件5围绕连接件3转动时，连接辅助件7和连接件3的上述设置能够保持操作件5和连接辅助件7之间的相对转动，进而实现操作件5对于锁定件4的驱动以实现云台组件间夹角的锁定和调整。进一步地，令凸出部的凸出方向和连接件3的长度方向不同，同样的，凹陷部的凹陷方向也可以与连接件3的长度方向不同，这样可以有效的阻止连接辅助件7和连接件3之间的相对运动，降低连接辅助件7意外脱离的可能性，也更利于辅助件7和连接件3之间的装配。而需要说明的是，连接辅助件7的长度可以短于连接件3的整体长度去除掉第一连接部长度后的部分，以保证连接件的第一连接部能够从连接辅助件7的端部伸出以完成与第一云台组件1或是锁定件4的连接。
另外，可以令连接辅助件7一端抵持于锁定件4或第一云台组件1，这样在连接件3与第一云台组件1的连接进行到一定程度之后，连接辅助 件7会与连接件3的定位件同时或先后抵持于第一云台组件1或与第一云台组件1连接的锁定件4上，对第一云台组件1或锁定件4有止挡作用，因而第一云台组件1或锁定件4的端面会被限制在连接辅助件7末端。或是如同图2-3所示，连接件3与第一云台组件1的连接进行到一定程度之后，仅由连接辅助件7的端面抵持于与第一云台组件1连接的锁定件4的固定端盘齿41上，以方便云台的快速装卸，避免用户在完成第一云台组件1和第二云台组件2的组装时可能产生的误装配。而将连接件3通过第一连接部连接到第一云台组件1时，连接辅助件7的末端抵接第一云台组件1或与第一云台组件1连接的其他部件，例如锁定件4的固定端盘齿41，以限定连接件3与第一云台组件1间的连接，并可以防止连接时第一连接部可能产生的损坏。与此同时，连接辅助件7的另一端还可与连接件3的另一端平齐。
在一种可能的实施方式中，连接辅助件7还进一步包括辅助限位部，辅助限位部和固定端盘齿411配合用于限制活动端盘齿421的行程。该限位部可以包括连接辅助件7的轴肩，也可以包括在连接辅助件7的外周面额外设置的台阶、凸台等，当外力驱动云台组件或用户操作的状态下，即第一云台组件1和第二云台组件2处于解锁状态时，固定端盘齿411和活动端盘齿421的齿彼此分离而不干涉，此时活动端盘齿421围绕连接件3及连接辅助件7具有一定的自由度，可大致沿连接件3及连接辅助件7的轴向运动。若不对该轴向运动进行限定，可能出现第二云台组件2及其固定连接的活动端盘齿421相对于第一云台组件1行程过长的问题，即解锁状态下第一云台组件1和第二云台组件2间的距离过远，此时可能导致连接件3及连接辅助件7暴露在外，异物容易进入或是云台重心偏移超出阈值。而本实施方式通过连接辅助件7外周的限位部配合固定端盘齿411，可以将活动端盘齿421的行程限定在预定的范围内，相应可以有效抑制第一云台组件1和第二云台组件2间距离过远产生的上述技术问题。
需要说明的是，本实施例中，将用于限定锁定件4的活动端盘齿421行程的部件，进一步具体为连接辅助件7上的轴肩等辅助限位部，但实际上还可以不采用上述方法，而设置单独的辅助限位件对锁定件4的行程进行限制。该方法与上述位于所述连接件3外周的限位件类似，在此不再累 述。
在一种具体的实施方式中，如图2至图4所示，云台组件的锁定机构100还可以包括弹性件，用于使操作件5复位进而使锁定件4处于锁定状态。该处的复位即回复到没有外力驱动或用户操作的自然状态，锁定件4处于锁定状态(例如固定端盘齿411和活动端盘齿421的齿彼此接触卡紧)，第一云台组件1和第二云台组件2之间的夹角被固定。具体地，在外力驱动或用户操作时，产生操作件5沿连接件3的轴向移动，此时锁定件4被解锁而允许云台组件间的夹角变化，弹性件被操作件5的轴向移动所压缩，从而产生回复力；在外力被去除或用户放弃对操作件的驱动后，弹性件在该回复力的作用下推动操作件5沿连接件3的轴向回复到自然状态下的位置，此时操作件5驱动锁定件4进入锁定状态，从而锁定第一云台组件1和第二云台组件2之间的夹角。通过该设置，用户完成对云台组件的夹角调整后只需放开操作件5即可令云台组件间的夹角固定，无需通过额外动作使操作件5手动回位。示例性地，弹性件包括弹簧或弹性垫，并围绕连接件3设置，从而能够更好地将弹性件限制在连接件3外周的一定范围内，简化弹性件的安装流程并避免安装中或使用时弹性件可能产生的意外位移的情况。
在一种具体的实施方式中，如图2至图4所示，云台组件的锁定机构100进一步还包括装卸部，装卸部与连接件3连接，用于实现第一云台组件1和第二云台组件2之间的安装或拆卸。通过该设置，多个云台组件间可以简单而方便地实现快速安装和拆卸，无需额外的工具对连接件3进行操作以实现其与第一云台组件1间的连接和分离。为了进一步实现装卸部和第二云台组件的整体化，满足防尘防水要求的同时使云台外形更为美观，第二云台组件2可以包括中空结构，中空结构位于连接件3的一侧，装卸部位于中空结构中。
进一步地，装卸部通过安装件固定、旋转固定或卡合固定中的一种或多种连接在连接件3靠近所述第二云台组件2的一端上，以简便地完成装卸部和连接件3的固定，便于用户实现云台组件的快拆。此时，若连接件3外周设置有连接辅助件7，如图2至图3所示，连接辅助件7靠近第二云台组件2的一端与连接件靠近所述第二云台组件2的一端平齐，则装卸 部与连接件3连接的同时也完成了装卸部和连接辅助件7的相对固定，且连接件3和连接辅助件7靠近所述第二云台组件2的一端可以共同抵接装卸部，或是仅由连接件3靠近所述第二云台组件2的一端抵接装卸部。
示例性地，装卸部包括旋钮、后盖或螺头中的一种或多种。如图2至图4所示，装卸部包括旋钮，用户在想要将云台进行收纳时，通过工具或用手直接旋动旋钮即可带动连接件3旋转，从而令连接件3与连接在第一云台组件1的锁定部4之间发生相对旋转，具体地，旋钮可以带动连接件3第一连接部的外螺纹和固定端盘齿41的内螺纹部分螺旋进而实现第二云台组件2和第一云台组件1之间的分离。
在一种具体的实施方式中，即为云台组件的锁定机构100设置弹性件时，弹性件的一侧可以抵接所述第二云台组件2而另一侧驱动操作件5。另一种具体的实施方式中，当云台组件的锁定机构100还设置有装卸部时，由于装卸部和连接件3连接，则弹性件可以一侧抵接装卸部而另一侧驱动操作件5。无论如何，当弹性件的一侧抵接第二云台组件2或是装卸部而另一侧驱动操作件5时，弹性件的长度都可以满足云台组件对其回复力的需求，即其弹力可以在去除作用于云台组件的外力或去除对操作件5的驱动时，可以使操作件5恢复到对锁定件4的压紧状态从而锁定云台组件间的夹角。
实施例二
本实施例提供一种云台，该云台包括：第一云台组件；第二云台组件，与第一云台组件连接；及云台锁定组件。
具体的，云台锁定组件包括：连接件，用于活动连接第一云台组件和第二云台组件；锁定件，用于锁定或解锁第一云台组件和第二云台组件；以及操作件，操作件可围绕连接件转动，用于驱动锁定件锁定或解锁第一云台组件和第二云台组件。
本发明第二个方面的实施例提供的云台，包括第一云台组件1和与第一云台组件连接的第二云台组件2，还进一步的包括云台组件的锁定组件100，通过在连接件3的外周设置操作件5，操作件5和锁定件4进行配合，具体地，操作件5通过围绕连接件3的转动驱动锁定件4，从而能够直接通过用户对操作件5的操作以实现第一云台组件1和第二云台组件2之间 相对转动的锁定和解锁，改变第一云台组件1和第二云台组件2之间的夹角，无需像现有技术中使用云台时一样对第一云台组件1和第二云台组件2进行拆卸，一方面降低了部件丢失的可能性，另一方面，简化了用户的安装步骤，提高了云台的使用效率，且提高了第一云台组件1和第二云台组件2之间的装配精度。
云台锁定组件100的具体结构、功能以及工作原理均已在前述实施例一中进行了详细说明，此处不再赘述。
在一种可能的实施方式中，云台可以为手持云台，其云台组件可以是任何能够相互转动的两部件，例如，云台本体的支架、轴臂、底座，或是云台手柄、云台握把、三脚架等结构中的一种或多种。同时，云台还可以为搭载在无人机、无人车或各种交通工具上的机载云台、车载云台，而此时的云台组件也可以包括云台本体的轴臂、支架等结构中的一种或多种。
例如，云台具体为手持云台时，第一云台组件可以是云台本体支架而第二云台组件可以是云台握把，云台握把也可以为多个。通过在云台本体支架和多个云台握把其中的一些或全部连接处设置上述云台锁定组件100，可以使云台本体支架和云台握把之间的夹角在无干涉的自然状态下保持相对固定；而在需要改变云台本体支架和云台握把之间夹角的时候，通过拨动拨杆之类的操作件即可解锁云台锁定组件100，进而允许云台本体支架和云台握把之间夹角的调整，从而改变云台姿态和用户的握持姿态，以允许用户根据需要自行进行个性化设置。
而通过在第二云台组件的末端安设上述装卸件，例如旋钮，可以在运输、携带或不需要用户握持握把或其他类似配件时对云台握把进行快速拆卸，或是在使用时对云台握把或其他类似配件进行快速安装，以缩小云台的占用体积，便于携带并便于进行相关配件的拓展。此外，云台握把的轴线可以垂直于与云台本体支架的连接处，也可以与该连接处保持一定夹角，在此不做限定。
又例如，云台具体为手持云台时，第一云台组件还可以是云台本体底座而第二云台组件可以是云台手柄。通过在云台本体底座和云台手柄连接处设置上述云台锁定组件100，可以使云台本体底座和云台手柄之间的夹角在无干涉的自然状态下保持相对固定；而在需要改变云台本体底座和云 台手柄之间夹角的时候，通过拨动拨杆或转动围绕云台锁定组件100的调整环之类的操作件即可解锁云台锁定组件100，进而允许云台本体底座和云台手柄之间夹角的调整，从而令云台及其上搭载的拍摄设备可以360度旋转以朝向用户或背离用户，以允许用户根据需要调整拍摄方向，实现自拍或者偏离运动方向的拍摄。
而通过在第二云台组件的末端安设上述装卸件，例如旋钮，可以在运输、携带或为了稳定放置而需要安装三脚架时对云台手柄进行快速拆卸，或是在使用时对云台手柄或其他类似配件进行快速安装，以缩小云台的运输体积，便于携带并便于利用同一接口结构进行相关配件的拓展。此外，云台握把的轴线可以与云台本体底座轴线重叠或平行，也可以与云台本体底座轴线保持一定夹角，在此不做限定。本实施例提供的云台在各云台组件间加入快拆功能后，云台的收纳空间更小，携带也更为方便。而各云台组件间加入夹角调整的功能后，云台的使用范围被大大拓展了，搭载的配件种类更多，可包容的使用场景也更多。
实施例三
本实施例提供一种无人机，该无人机包括机体和实施例二所述的云台，云台设置于机体。可利用无线电遥控设备和自备的程序控制装置操纵无人飞行器，无人飞行器可遥控操纵起飞或者通过助推器发射升空，也可由母机带到空中投放飞行，云台可以为无人飞行器搭载配件，例如拍摄装置，使其执行航拍等操作。
本实施例中，无人机主要由机体和云台组成，云台包括：第一云台组件；第二云台组件，与第一云台组件连接；及云台锁定组件，其包括：连接件，用于活动连接第一云台组件和第二云台组件；锁定件，用于锁定或解锁第一云台组件和第二云台组件；以及操作件，所述操作件可围绕连接件转动，用于驱动锁定件锁定或解锁第一云台组件和第二云台组件。其中，云台锁定组件及云台的具体结构、功能以及工作原理均已在前述实施例一和实施例二中进行了详细说明，此处不再赘述。
此外，可选的，无人机还可以搭设有其他负载，以便进行各种作业。其中，负载可以为另一摄像机、云台等不同装置。
可以理解的是，无人机可以为无人车或各种交通工具等，其上搭载云 台可以为机载云台、车载云台等，进而包括相应的机载云台的锁定机构或是车载云台的锁定机构。
本说明书的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或单元必须具有特定的方向、以特定的方位构造和操作，因此，不能理解为对本发明的限制。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (97)

  1. 一种云台的锁定机构，所述云台包括第一云台组件和第二云台组件，其特征在于，所述锁定机构包括：
    连接件，用于活动连接所述第一云台组件和所述第二云台组件；
    锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以及
    操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
  2. 根据权利要求1所述的锁定机构，其特征在于：所述连接件包括第一连接部和第二连接部，所述第一连接部用于与第一云台组件的连接，所述第二连接部用于实现所述操作件围绕所述连接件的转动。
  3. 根据权利要求2所述的锁定机构，其特征在于：所述连接件包括螺纹连接件，所述第一连接部和所述第二连接部包括螺纹。
  4. 根据权利要求2所述的锁定机构，其特征在于：所述第一连接部连接于所述锁定件，所述锁定件的一端连接于所述第一云台组件。
  5. 根据权利要求2所述的锁定机构，其特征在于：所述连接件包括定位部，所述定位部设置于所述第一连接部末端。
  6. 根据权利要求5所述的锁定机构，其特征在于：所述定位部包括台阶，所述台阶抵持于锁定件或第一云台组件上。
  7. 根据权利要求1所述的锁定机构，其特征在于：所述锁定件包括第一锁定部和第二锁定部，所述第一锁定部固定在所述第一云台组件上，所述第二锁定部固定在所述第二云台组件上，第一锁定部和第二锁定部配合实现所述第一云台组件和所述第二云台组件的锁定或解锁。
  8. 根据权利要求7所述的锁定机构，其特征在于：所述第一锁定部包括固定端盘齿，所述第二锁定部包括活动端盘齿。
  9. 根据权利要求8所述的锁定机构，其特征在于：所述连接件包括限位部，所述限位部和所述固定端盘齿配合用于限制所述活动端盘齿的行程。
  10. 根据权利要求1所述的锁定机构，其特征在于：所述锁定件包括棘轮、摩擦垫、分度盘或钢珠及与其配合的凹坑中的一种或多种。
  11. 根据权利要求1所述的锁定机构，其特征在于：还包括限位件，所述限位件用以限制所述锁定件的行程。
  12. 根据权利要求11所述的锁定机构，其特征在于：所述限位件位于所述连接件的外周，当所述锁定件解锁所述第一云台组件和所述第二云台组件时，所述限位件能够抵持所述锁定件。
  13. 根据权利要求1所述的锁定机构，其特征在于：所述第二云台组件上开设有开口，所述操作件自所述开口中伸出，用以被用户操作。
  14. 根据权利要求13所述的锁定机构，其特征在于：所述开口贯穿所述第二云台组件的外周，当转动所述操作件时，所述操作件能够在所述开口限制的范围内被操作。
  15. 根据权利要求1所述的锁定机构，其特征在于：所述操作件包括拨杆、拨片或滚轮中的一种或多种。
  16. 根据权利要求1所述的锁定机构，其特征在于：还包括传导件，所述传导件的一侧能够抵接所述锁定件，所述传导件的另一侧能够抵接所述操作件，以被所述操作件驱动进而使所述锁定件锁定或解锁所述第一云台组件和所述第二云台组件。
  17. 根据权利要求16所述的锁定机构，其特征在于：所述传导件包括滑套，所述滑套被滑动固定在所述连接件和所述第二云台组件间。
  18. 根据权利要求1所述的锁定机构，其特征在于：还包括连接辅助件，所述连接辅助件位于所述连接件外周且与所述操作件转动连接。
  19. 根据权利要求18所述的锁定机构，其特征在于：所述连接辅助件包括对接部，所述对接部与所述操作件配合，以使所述操作件能够围绕所述连接件转动。
  20. 根据权利要求19所述的锁定机构，其特征在于：所述连接辅助件包括外螺纹滑套，所述对接部包括螺纹结构。
  21. 根据权利要求18所述的锁定机构，其特征在于：所述连接辅助件的内表面以及所述连接件的外表面中的一者上具有凸出部，另一者具有和所述凸出部相匹配的凹陷部，所述凸出部的凸出方向和所述连接件的长度方向不同。
  22. 根据权利要求18所述的锁定机构，其特征在于：所述连接辅助 件一端抵持于所述锁定件或所述第一云台组件，另一端与所述连接件的另一端平齐。
  23. 根据权利要求18所述的锁定机构，其特征在于：所述连接辅助件包括辅助限位部，所述辅助限位部用于限制所述锁定件的行程。
  24. 根据权利要求23所述的锁定机构，其特征在于：所述辅助限位部包括轴肩、台阶、凸台中的一种或多种。
  25. 根据权利要求1所述的锁定机构，其特征在于：还包括弹性件，用于使所述操作件复位进而使所述锁定件处于锁定状态。
  26. 根据权利要求25所述的锁定机构，其特征在于：所述弹性件的一侧抵接所述第二云台组件，所述弹性件的另一侧驱动所述操作件。
  27. 根据权利要求25所述的锁定机构，其特征在于：所述弹性件包括弹簧或弹性垫，并围绕所述连接件设置。
  28. 根据权利要求1-24中任一项所述的锁定机构，其特征在于：还包括装卸部，所述装卸部与所述连接件连接，用于实现第一云台组件和第二云台组件之间的安装或拆卸。
  29. 根据权利要求28所述的锁定机构，其特征在于：所述第二云台组件包括中空结构，所述中空结构位于所述连接件的一侧，所述装卸部位于所述中空结构中。
  30. 根据权利要求28中任一项所述的锁定机构，其特征在于：所述装卸部通过安装件固定、旋转固定或卡合固定中的一种或多种连接在所述连接件靠近所述第二云台组件的一端上。
  31. 根据权利要求28所述的锁定机构，其特征在于：所述装卸部包括旋钮、后盖或螺头中的一种或多种。
  32. 根据权利要求28所述的锁定机构，其特征在于：还包括弹性件，所述弹性件的一侧抵接所述装卸部，所述弹性件的另一侧驱动所述操作件。
  33. 一种云台，其特征在于，所述云台包括：
    第一云台组件；
    第二云台组件，与所述第一云台组件连接；及
    云台锁定组件，其包括：
    连接件，用于活动连接所述第一云台组件和所述第二云台组件；
    锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以及
    操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
  34. 根据权利要求33所述的云台，其特征在于：所述连接件包括第一连接部和第二连接部，所述第一连接部用于与第一云台组件的连接，所述第二连接部用于实现所述操作件围绕所述连接件的转动。
  35. 根据权利要求34所述的云台，其特征在于：所述连接件包括螺纹连接件，所述第一连接部和所述第二连接部包括螺纹。
  36. 根据权利要求34所述的云台，其特征在于：所述第一连接部连接于所述锁定件，所述锁定件的一端连接于所述第一云台组件。
  37. 根据权利要求34所述的云台，其特征在于：所述连接件包括定位部，所述定位部设置于所述第一连接部末端。
  38. 根据权利要求37所述的云台，其特征在于：所述定位部包括台阶，所述台阶抵持于锁定件或第一云台组件上。
  39. 根据权利要求33所述的云台，其特征在于：所述锁定件包括第一锁定部和第二锁定部，所述第一锁定部固定在所述第一云台组件上，所述第二锁定部固定在所述第二云台组件上，第一锁定部和第二锁定部配合实现所述第一云台组件和所述第二云台组件的锁定或解锁。
  40. 根据权利要求39所述的云台，其特征在于：所述第一锁定部包括固定端盘齿，所述第二锁定部包括活动端盘齿。
  41. 根据权利要求40所述的云台，其特征在于：所述连接件包括限位部，所述限位部和所述固定端盘齿配合用于限制所述活动端盘齿的行程。
  42. 根据权利要求33所述的云台，其特征在于：所述锁定件包括棘轮、摩擦垫、分度盘或钢珠及与其配合的凹坑中的一种或多种。
  43. 根据权利要求33所述的云台，其特征在于：还包括限位件，所述限位件用以限制所述锁定件的行程。
  44. 根据权利要求43所述的云台，其特征在于：所述限位件位于所述连接件的外周，当所述锁定件解锁所述第一云台组件和所述第二云台组件时，所述限位件能够抵持所述锁定件。
  45. 根据权利要求33所述的云台，其特征在于：所述第二云台组件上开设有开口，所述操作件自所述开口中伸出，用以被用户操作。
  46. 根据权利要求45所述的云台，其特征在于：所述开口贯穿所述第二云台组件的外周，当转动所述操作件时，所述操作件能够在所述开口限制的范围内被操作。
  47. 根据权利要求33所述的云台，其特征在于：所述操作件包括拨杆、拨片或滚轮中的一种或多种。
  48. 根据权利要求33所述的云台，其特征在于：还包括传导件，所述传导件的一侧抵接所述锁定件，所述传导件的另一侧抵接所述操作件，以被所述操作件驱动进而使所述锁定件锁定或解锁所述第一云台组件和所述第二云台组件。
  49. 根据权利要求48所述的云台，其特征在于：所述传导件包括滑套，所述滑套被滑动固定在所述连接件和所述第二云台组件间。
  50. 根据权利要求33所述的云台，其特征在于：还包括连接辅助件，所述连接辅助件位于所述连接件外周且与所述操作件转动连接。
  51. 根据权利要求50所述的云台，其特征在于：所述连接辅助件包括对接部，所述对接部与所述操作件配合，以使所述操作件能够围绕所述连接件转动。
  52. 根据权利要求51所述的云台，其特征在于：所述连接辅助件包括外螺纹滑套，所述对接部包括螺纹结构。
  53. 根据权利要求50所述的云台，其特征在于：所述连接辅助件的内表面以及所述连接件的外表面中的一者上具有凸出部，另一者具有和所述凸出部相匹配的凹陷部，所述凸出部的凸出方向和所述连接件的长度方向不同。
  54. 根据权利要求50所述的云台，其特征在于：所述连接辅助件一端抵持于所述锁定件或所述第一云台组件，另一端与所述连接件的另一端平齐。
  55. 根据权利要求50所述的云台，其特征在于：所述连接辅助件包括辅助限位部，所述辅助限位部用于限制所述锁定件的行程。
  56. 根据权利要求55所述的云台，其特征在于：所述辅助限位部包 括轴肩、台阶、凸台中的一种或多种。
  57. 根据权利要求33所述的云台，其特征在于：还包括弹性件，用于使所述操作件复位进而使所述锁定件处于锁定状态。
  58. 根据权利要求57所述的云台，其特征在于：所述弹性件的一侧抵接所述第二云台组件，所述弹性件的另一侧驱动所述操作件。
  59. 根据权利要求57所述的云台，其特征在于：所述弹性件包括弹簧或弹性垫，并围绕所述连接件设置。
  60. 根据权利要求33-56中任一项所述的云台，其特征在于：还包括装卸部，所述装卸部与所述连接件连接，用于实现第一云台组件和第二云台组件之间的安装或拆卸。
  61. 根据权利要求60所述的云台，其特征在于：所述第二云台组件包括中空结构，所述中空结构位于所述连接件的一侧，所述装卸部位于所述中空结构中。
  62. 根据权利要求60中任一项所述的云台，其特征在于：所述装卸部通过安装件固定、旋转固定或卡合固定中的一种或多种连接在所述连接件靠近所述第二云台组件的一端上。
  63. 根据权利要求60所述的云台，其特征在于：所述装卸部包括旋钮、后盖或螺头中的一种或多种。
  64. 根据权利要求60所述的云台，其特征在于：还包括弹性件，所述弹性件的一侧抵接所述装卸部，所述弹性件的另一侧驱动所述操作件。
  65. 根据权利要求1-64任一项所述的云台，其特征在于：所述第一云台组件和/或所述第二云台组件包括云台本体的支架、底座、轴臂、云台手柄、云台握把、三脚架中的一种或多种。
  66. 一种无人机，其特征在于，所述无人机包括：
    机体和云台；所述云台包括：
    第一云台组件；
    第二云台组件，与所述第一云台组件连接；及
    云台锁定组件，其包括：
    连接件，用于活动连接所述第一云台组件和所述第二云台组件；
    锁定件，用于锁定或解锁所述第一云台组件和所述第二云台组件；以 及
    操作件，所述操作件可围绕所述连接件转动，用于驱动所述锁定件锁定或解锁第一云台组件和第二云台组件。
  67. 根据权利要求66所述的无人机，其特征在于：所述连接件包括第一连接部和第二连接部，所述第一连接部用于与第一云台组件的连接，所述第二连接部用于实现所述操作件围绕所述连接件的转动。
  68. 根据权利要求67所述的无人机，其特征在于：所述连接件包括螺纹连接件，所述第一连接部和所述第二连接部包括螺纹。
  69. 根据权利要求67所述的无人机，其特征在于：所述第一连接部连接于所述锁定件，所述锁定件的一端连接于所述第一云台组件。
  70. 根据权利要求67所述的无人机，其特征在于：所述连接件包括定位部，所述定位部设置于所述第一连接部末端。
  71. 根据权利要求70所述的无人机，其特征在于：所述定位部包括台阶，所述台阶抵持于锁定件或第一云台组件上。
  72. 根据权利要求66所述的无人机，其特征在于：所述锁定件包括第一锁定部和第二锁定部，所述第一锁定部固定在所述第一云台组件上，所述第二锁定部固定在所述第二云台组件上，第一锁定部和第二锁定部配合实现所述第一云台组件和所述第二云台组件的锁定或解锁。
  73. 根据权利要求72所述的无人机，其特征在于：所述第一锁定部包括固定端盘齿，所述第二锁定部包括活动端盘齿。
  74. 根据权利要求73所述的无人机，其特征在于：所述连接件包括限位部，所述限位部和所述固定端盘齿配合用于限制所述活动端盘齿的行程。
  75. 根据权利要求66所述的无人机，其特征在于：所述锁定件包括棘轮、摩擦垫、分度盘或钢珠及与其配合的凹坑中的一种或多种。
  76. 根据权利要求66所述的无人机，其特征在于：还包括限位件，所述限位件用以限制所述锁定件的行程。
  77. 根据权利要求76所述的无人机，其特征在于：所述限位件位于所述连接件的外周，当所述锁定件解锁所述第一云台组件和所述第二云台组件时，所述限位件能够抵持所述锁定件。
  78. 根据权利要求66所述的无人机，其特征在于：所述第二云台组件上开设有开口，所述操作件自所述开口中伸出，用以被用户操作。
  79. 根据权利要求78所述的无人机，其特征在于：所述开口贯穿所述第二云台组件的外周，当转动所述操作件时，所述操作件能够在所述开口限制的范围内被操作。
  80. 根据权利要求66所述的无人机，其特征在于：所述操作件包括拨杆、拨片或滚轮中的一种或多种。
  81. 根据权利要求66所述的无人机，其特征在于：还包括传导件，所述传导件的一侧抵接所述锁定件，所述传导件的另一侧抵接所述操作件，以被所述操作件驱动进而使所述锁定件锁定或解锁所述第一云台组件和所述第二云台组件。
  82. 根据权利要求81所述的无人机，其特征在于：所述传导件包括滑套，所述滑套被滑动固定在所述连接件和所述第二云台组件间。
  83. 根据权利要求66所述的无人机，其特征在于：还包括连接辅助件，所述连接辅助件位于所述连接件外周且与所述操作件转动连接。
  84. 根据权利要求83所述的无人机，其特征在于：所述连接辅助件包括对接部，所述对接部与所述操作件配合，以使所述操作件能够围绕所述连接件转动。
  85. 根据权利要求84所述的无人机，其特征在于：所述连接辅助件包括外螺纹滑套，所述对接部包括螺纹结构。
  86. 根据权利要求83所述的无人机，其特征在于：所述连接辅助件的内表面以及所述连接件的外表面中的一者上具有凸出部，另一者具有和所述凸出部相匹配的凹陷部，所述凸出部的凸出方向和所述连接件的长度方向不同。
  87. 根据权利要求83所述的无人机，其特征在于：所述连接辅助件一端抵持于所述锁定件或所述第一云台组件，另一端与所述连接件的另一端平齐。
  88. 根据权利要求83所述的无人机，其特征在于：所述连接辅助件包括辅助限位部，所述辅助限位部用于限制所述锁定件的行程。
  89. 根据权利要求88所述的无人机，其特征在于：所述辅助限位部 包括轴肩、台阶、凸台中的一种或多种。
  90. 根据权利要求66所述的无人机，其特征在于：还包括弹性件，用于使所述操作件复位进而使所述锁定件处于锁定状态。
  91. 根据权利要求90所述的无人机，其特征在于：所述弹性件的一侧抵接所述第二云台组件，所述弹性件的另一侧驱动所述操作件。
  92. 根据权利要求90所述的无人机，其特征在于：所述弹性件包括弹簧或弹性垫，并围绕所述连接件设置。
  93. 根据权利要求66-89中任一项所述的无人机，其特征在于：还包括装卸部，所述装卸部与所述连接件连接，用于实现第一云台组件和第二云台组件之间的安装或拆卸。
  94. 根据权利要求93所述的无人机，其特征在于：所述第二云台组件包括中空结构，所述中空结构位于所述连接件的一侧，所述装卸部位于所述中空结构中。
  95. 根据权利要求93中任一项所述的无人机，其特征在于：所述装卸部通过安装件固定、旋转固定或卡合固定中的一种或多种连接在所述连接件靠近所述第二云台组件的一端上。
  96. 根据权利要求93所述的无人机，其特征在于：所述装卸部包括旋钮、后盖或螺头中的一种或多种。
  97. 根据权利要求93所述的无人机，其特征在于：还包括弹性件，所述弹性件的一侧抵接所述装卸部，所述弹性件的另一侧驱动所述操作件。
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