WO2021081833A1 - 壳组件、壳体、拍摄设备、云台结构及移动平台 - Google Patents

壳组件、壳体、拍摄设备、云台结构及移动平台 Download PDF

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Publication number
WO2021081833A1
WO2021081833A1 PCT/CN2019/114467 CN2019114467W WO2021081833A1 WO 2021081833 A1 WO2021081833 A1 WO 2021081833A1 CN 2019114467 W CN2019114467 W CN 2019114467W WO 2021081833 A1 WO2021081833 A1 WO 2021081833A1
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WO
WIPO (PCT)
Prior art keywords
positioning
imaging module
housing
hole
installation space
Prior art date
Application number
PCT/CN2019/114467
Other languages
English (en)
French (fr)
Inventor
王东东
刘浩
王鹏
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 CN201980029544.1A priority Critical patent/CN112136079B/zh
Priority to PCT/CN2019/114467 priority patent/WO2021081833A1/zh
Publication of WO2021081833A1 publication Critical patent/WO2021081833A1/zh

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • This application relates to the technical field of stabilization mechanisms, in particular to a shell assembly, a shell, a photographing device, a pan-tilt structure and a mobile platform.
  • the pan/tilt can be equipped with imaging equipment for shooting.
  • the imaging equipment usually includes a housing and installation. In order to ensure the camera's stability during shooting, the camera in the housing usually needs to be centered with additional fasteners. However, the additional locking member causes an increase in the size and weight of the imaging device.
  • the embodiments of the present application provide a housing assembly, a housing, a photographing device, a pan-tilt structure, and a mobile platform.
  • the shell assembly of the embodiment of the present application is used for a pan/tilt, the shell assembly includes a shell and an outer shell, the shell includes a main body and a first positioning member; the main body is provided with an installation space, and the installation space is used for installing imaging The module; the first positioning member is connected to the body and protruding to the installation space, wherein the first positioning member is used to resist the imaging module to limit the imaging module
  • the housing includes a main body and a connecting portion; the main body is provided with a receiving cavity, and the housing is installed in the receiving cavity; the connecting portion is connected to the main body, and the connecting portion is used to connect with The PTZ connection.
  • the housing of the embodiment of the present application is used to install the imaging module carried by the pan/tilt, the housing includes a main body and a first positioning member; the main body is provided with an installation space, and the installation space is used to install the imaging module
  • the first positioning member is connected to the body and protrudes to the installation space; wherein, the first positioning member is used to resist the imaging module to limit the central axis of the imaging module position.
  • the photographing device of the embodiment of the present application is used for a pan/tilt.
  • the photographing device includes a housing assembly and an imaging module.
  • the housing assembly includes a housing and a housing.
  • the housing includes a body and a first positioning member. There is an installation space, and the imaging module is partially installed in the installation space; the first positioning member is connected to the body and protrudes toward the installation space, wherein the first positioning member is used to resist Holding the imaging module to limit the position of the central axis of the imaging module;
  • the housing includes a main body and a connecting portion, the main body is provided with a receiving cavity, and the housing is installed in the receiving cavity;
  • the connecting part is connected with the main body, and the connecting part is used for connecting with the pan-tilt.
  • the pan-tilt structure of the embodiment of the present application includes a pan-tilt and a shell assembly, the shell assembly is used for the pan-tilt, the shell assembly includes a shell and a shell, the shell includes a body and a first positioning member; the body is opened There is an installation space, the installation space is used to install the imaging module; the first positioning member is connected to the body and protrudes toward the installation space, wherein the first positioning member is used to resist the
  • the imaging module is used to limit the position of the central axis of the imaging module; the housing includes a main body and a connecting portion; the main body is provided with a receiving cavity, and the housing is installed in the receiving cavity; the connecting portion and The main body is connected, and the connecting portion is used for connecting with the pan/tilt.
  • the pan-tilt structure of the embodiment of the present application includes a pan-tilt and a photographing device, the photographing device is used for the pan-tilt, the photographing device is installed on the pan-tilt, the photographing device includes a shell assembly and an imaging module, the shell assembly It includes a casing and a casing.
  • the casing includes a main body and a first positioning member.
  • the main body is provided with an installation space, and the imaging module is partially installed in the installation space; the first positioning member is connected to the The main body protrudes toward the installation space, wherein the first positioning member is used to resist the imaging module to limit the position of the central axis of the imaging module; the housing includes a main body and a connecting portion, The main body is provided with an accommodating cavity, and the housing is installed in the accommodating cavity; the connecting portion is connected with the main body, and the connecting portion is used for connecting with a pan/tilt.
  • the mobile platform of the embodiment of the present application includes a body and the pan-tilt structure of the embodiment of the present application, and the pan-tilt structure is installed on the body.
  • the installation space is used to install the imaging module
  • the first positioning member is connected to the main body and protrudes toward the installation space
  • the first positioning member It can hold the imaging module installed in the installation space to limit the position of the central axis of the imaging module.
  • the position of the central axis of the imaging module can be restricted by the first positioning member on the housing, and no additional lock is required.
  • the tightening piece restricts the position of the central axis, ensures the imaging stability of the imaging module, and reduces the total volume and weight of the housing and the imaging module.
  • Fig. 1 is a three-dimensional assembly schematic diagram of a pan-tilt structure according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of a three-dimensional assembly of a photographing device according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a plan assembly of a photographing device according to an embodiment of the present application.
  • FIG. 4 is a schematic cross-sectional view of the photographing device shown in FIG. 3 along the line IV-IV;
  • FIG. 5 is a three-dimensional exploded schematic diagram of the photographing device according to the embodiment of the present application.
  • FIGS. 6 and 7 are schematic diagrams of the three-dimensional structure of the imaging module according to the embodiment of the present application.
  • FIG. 8 is a schematic diagram of a three-dimensional structure of a housing according to an embodiment of the present application.
  • FIG. 9 is a schematic plan view of the housing of the embodiment of the present application.
  • Fig. 10 is a schematic cross-sectional view of the housing shown in Fig. 9 along line X-X;
  • FIG. 11 is a schematic diagram of a three-dimensional structure of a housing according to an embodiment of the present application.
  • FIG. 12 is a three-dimensional exploded schematic view of the housing assembly of the embodiment of the present application.
  • Fig. 13 is a schematic plan view of a housing assembly according to an embodiment of the present application.
  • Fig. 14 is a schematic cross-sectional view of the shell assembly shown in Fig. 13 along the line XIV-XIV.
  • the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may be that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the pan-tilt structure 3000 of the embodiment of the present application includes a pan-tilt 2000 and a photographing device 1000.
  • the pan/tilt 2000 can be an on-board pan/tilt or a handheld pan/tilt.
  • the pan/tilt 2000 may include multiple shaft arms.
  • the pan/tilt 2000 includes a yaw shaft arm, a roll shaft arm, and a pitch shaft arm.
  • the shooting device 1000 can be installed on the PTZ 2000.
  • the photographing device 1000 can be installed on any pivot arm of the pan-tilt 2000.
  • the PTZ 2000 can also be used to install laser ranging equipment, bullet launching equipment, etc., which is not limited here.
  • FIG. 2 to 5 are schematic diagrams of the structure of the photographing device 1000 according to the embodiment of the application, in which FIG. 2 is a schematic diagram of a three-dimensional assembly of the photographing device 1000, FIG. 3 is a schematic diagram of a plan assembly of the photographing device 1000, and FIG. 4 is a schematic diagram of a photographing device 1000.
  • FIG. 5 is an exploded schematic view of the photographing device 1000.
  • the photographing device 1000 of the embodiment of the present application includes a housing 10, a housing 20 and an imaging module 200.
  • the housing 10 includes a main body 11 and a first positioning member 12.
  • the main body 11 is provided with an installation space 111, and the imaging module 200 is partially installed in the installation space 111.
  • the first positioning member 12 is connected to the body 11 and protrudes toward the installation space 111.
  • the first positioning member 12 is used to hold the imaging module 200 to limit the position of the central axis (Z axis) of the imaging module 200.
  • the housing 20 includes a main body 21 and a connecting portion 22.
  • the main body 21 is provided with a receiving cavity 211, and the housing 10 is installed in the receiving cavity 211.
  • the connecting part 22 is connected to the main body 21, and the connecting part 22 is used to connect to the pan/tilt 2000.
  • the installation space 111 is used to install the imaging module 200
  • the first positioning member 12 is connected to the main body 11 and protrudes toward the installation space 111
  • the first positioning member 12 can be installed against
  • the imaging module 200 in the installation space 111 is used to limit the position of the central axis of the imaging module 200.
  • the position of the central axis Z of the imaging module 200 can be restricted by the first positioning member 12 on the housing 10 without additional
  • a locking member is provided to limit the position of the central axis, while ensuring the shooting stability of the imaging module 200, it also reduces the total volume and weight of the housing 10 and the imaging module 200.
  • no additional locking member is required.
  • there is no need to provide a structure that cooperates with the locking member on the imaging module 200 which simplifies the structure of the imaging module 200 and facilitates the miniaturization of the photographing device 1000.
  • the photographing device 1000 includes an imaging module 200, a housing 10 and a housing 20.
  • the photographing device 1000 can be installed on the pan-tilt 2000 as shown in FIG. 1, and the photographing device 1000 can be used to take photos or videos.
  • the imaging module 200 may specifically be a visible light imaging module or an infrared imaging module.
  • the imaging module 200 may be installed on the housing 10, and the housing 10 in which the imaging module 200 is installed may be installed on the housing 20.
  • the central axis Z of the imaging module 200 may coincide with the optical axis of the imaging module 200.
  • the imaging module 200 in order to ensure the imaging quality of the imaging module 200, it is necessary to ensure that the imaging module 200 does not shake.
  • the central axis Z of the imaging module 200 cannot move and the imaging module 200 cannot rotate. Rotation of the central axis Z.
  • the imaging module 200 includes an outer wall 201 and a circuit board 203.
  • the outer wall 201 may be combined with the circuit board 203.
  • the outer wall 201 can be used as the lens barrel of the imaging module 200, a lens group can be arranged in the outer wall 201, and the outer wall 201 encloses the light entrance hole 204.
  • the circuit board 203 can be used to install an image sensor, a signal readout circuit, and the like. The light enters the imaging module 200 after passing through the light entrance hole 204, and the light changes its propagation direction by the lens group, and finally falls on the image sensor to form an image.
  • the housing 10 includes a main body 11 and a first positioning member 12.
  • the main body 11 is provided with an installation space 111, and the installation space 111 can be used to install the imaging module 200.
  • the body 11 is in the shape of a hollow cylinder as a whole, the hollow part of the body 11 can form an installation space 111, and the imaging module 200 can extend into the installation space 111 from one end.
  • the circuit board 203 can be located outside the installation space 111.
  • the first positioning member 12 is connected to the body 11, and the first positioning member 12 protrudes toward the installation space 111. That is, the first positioning member 12 may be partly located in the installation space 111 and partly outside the installation space 111. The components 12 can also be all located in the installation space 111, which is not limited here.
  • the first positioning member 12 is used to resist the imaging module 200 to limit the position of the central axis Z of the imaging module 200. Specifically, referring to FIGS. 8 to 10, the first positioning member 12 may be connected to the inner side wall 112 of the installation space 111.
  • the first positioning member 12 can be integrally manufactured with the body 11.
  • the number of the first positioning members 12 may be at least three, such as three, four, five, etc., and the at least three first positioning members 12 may be distributed on the inner side wall 112 at intervals, so that at least three first positioning members 12 can limit the position of the central axis Z of the imaging module 200.
  • the shapes of the at least three first positioning members 12 may be completely the same or not.
  • At least three first positioning members 12 are evenly distributed at an equal angle in the installation space 111, that is, when the number of first positioning members 12 is three, two adjacent first positioning members 12
  • the included angle of the first positioning member 12 is 120 degrees; when the number of the first positioning members 12 is four, the included angle of the two adjacent first positioning members 12 is 90 degrees, and the other numbers of the first positioning members 12 can be deduced by analogy .
  • At least three first positioning members 12 can jointly resist the outer wall 201, so that the imaging module 200 will not be perpendicular to the central axis Z direction in the installation space 111 under the positioning action of the first positioning member 12 The shaking, that is, the position of the central axis Z will not change.
  • the first positioning member 12 may be elongated, and the first positioning member 12 may extend from one end to the other end of the installation space 111, so that the first positioning member 12 has a longer contact area with the outer wall 201, and the first positioning The force exerted by the member 12 on the outer wall 201 is relatively dispersed.
  • the housing 20 includes a main body 21 and a connecting portion 22.
  • the housing 20 can be used to install the housing 10, and the housing 20 and the housing 10 can form at least a part of the housing assembly 100 (as shown in FIGS. 12 to 14).
  • the housing 20 may be used to connect with the pan/tilt 2000 (as shown in FIG. 1), and the housing 20 may also be connected with the pan/tilt 2000 after forming the housing assembly 100 with the housing 10 or the like.
  • the main body 21 is provided with a receiving cavity 211, and the housing 10 is installed in the receiving cavity 211.
  • the housing 10 can be separately installed in the accommodating cavity 211, and after the imaging module 200 is installed on the housing 10, the housing 10 with the imaging module 200 can be installed in the accommodating cavity 211.
  • the connecting part 22 is connected to the main body 21, and the connecting part 22 is used to connect to the pan/tilt 2000.
  • the connecting portion 22 may be used to connect with any shaft arm of the pan/tilt 2000, and the rotation of the shaft arm can drive the housing 20, the housing 10 and the imaging module 200 to rotate to adjust the lighting direction of the imaging module 200.
  • the installation space 111 is used to install the imaging module 200
  • the first positioning member 12 is connected to the main body 11 and protrudes toward the installation space 111
  • the first positioning member 12 can resist Holding the imaging module 200 installed in the installation space 111 to limit the position of the central axis Z of the imaging module 200
  • the position of the central axis Z of the imaging module 200 can be limited by the first positioning member 12 on the housing 10
  • the housing 10 further includes a second positioning member 13.
  • the second positioning member 13 is connected to the main body 11, and the second positioning member 13 is located outside the installation space 111.
  • the second positioning member 13 is used to cooperate with the positioning structure 202 of the imaging module 200 to limit the rotation angle of the imaging module 200 around the central axis Z.
  • the second positioning member 13 cooperates with the positioning structure 202 to limit the angle of rotation of the imaging module 200 around the central axis Z. It is necessary to provide an additional locking member to limit the angle of rotation, and further reduce the size of the photographing device 1000.
  • the imaging module 200 cannot rotate about the central axis Z, that is, the above-mentioned rotation angle is 0 degrees, so as to improve the stability of the imaging module 200 when shooting images.
  • the second positioning member 13 and the housing 10 may be manufactured through an integral molding process.
  • the second positioning member 13 includes a positioning post 131
  • the positioning structure 202 includes a positioning hole 2021.
  • the cross-sectional shape of the positioning pillar 131 is circular, and the cross-sectional shape of the positioning hole is also circular.
  • the diameter of the positioning pillar 131 and the positioning hole may be the same, so that the positioning pillar 131 fills the positioning hole.
  • the positioning hole 2021 is in the shape of a waist-shaped hole, and the extending direction of the center line O of the waist-shaped hole passes through the central axis Z.
  • the positioning post 131 is stuck in
  • the rotation of the imaging module 200 around the central axis Z can be restricted at any position on the center line O, and it does not need to be strictly restricted to be stuck at a certain point on the center line O, which reduces the position accuracy requirements of the positioning column 131.
  • the manufacturing yield of the housing 10 is improved.
  • the center line O is perpendicular to the depth direction of the positioning hole 2021, and the positioning hole 2021 is symmetrical with respect to the center line O.
  • the specific forms of the second positioning member 13 and the positioning structure 202 may also be other and are not limited to the above examples.
  • the second positioning member 13 may be a positioning hole
  • the positioning structure 202 may be provided in a circuit.
  • the positioning post on the board 203 extends into the positioning hole when the imaging module 200 is installed on the housing 10.
  • the housing 10 further includes a resisting member 14, and the resisting member 14 is connected to the body 11.
  • the end surface of the resisting member 14 resists the circuit board 203 to limit the amount of the imaging module 200 extending into the installation space 111 along the direction of the central axis Z.
  • the circuit board 203 can be spaced apart from the main body 11.
  • the abutment 14 can limit the amount of the imaging module 200 extending into the installation space 111 along the direction of the central axis Z.
  • the imaging module 200 is less likely to shake along the direction of the central axis Z, which improves the shooting quality.
  • the resist 14 may be connected to the body 11 and located outside the installation space 111.
  • the resist 14 can be integrally manufactured with the body 11.
  • the number of the resisting members 14 may be multiple, and the plurality of resisting members 14 may be arranged at intervals. In the embodiment of the present application, the number of the resisting member 14 is three, of course, the number of the resisting member 14 can also be any number such as one, two, four, five, and so on.
  • the end surfaces of the plurality of resisting members 14 may all be flat and located in the same plane, so as to stably resist the circuit board 203 (as shown in FIG. 7) and prevent the circuit board 203 from deflection.
  • the shapes of the plurality of resisting members 14 may be completely the same, for example, all of which are in the shape of a right prism. Of course, the shapes of the plurality of resisting members 14 may not be completely the same.
  • the housing 10 may also include a connecting piece 15.
  • the connecting member 15 is used to connect the resisting member 14 and the main body 11. Specifically, one end of the connecting member 15 may be connected to the outer side wall of the main body 11, the connecting member 15 may extend away from the main body 11, and the other end of the connecting member 15
  • the resisting member 14 can be connected so that the resisting member 14 can resist to a position close to the edge of the circuit board 203 and not to the outer wall 201 of the imaging module 200.
  • Different connecting pieces 15 may have different shapes. For example, the distance between the end of the connecting piece 15 away from the main body 11 and the main body 11 may be set differently.
  • a hollow structure 151 may be formed on the connecting member 15. The hollow structure 151 can reduce the overall mass of the housing 10, which is beneficial to realize light weight.
  • the second positioning member 13 is provided on the end surface of at least one resisting member 14. At this time, the second positioning member 13 is connected to the main body 11 through the resisting member 14 and the connecting member 15. There is no need to additionally provide a connecting structure connecting the second positioning member 13 and the main body 11, which simplifies the structure of the housing 10 and reduces The weight of the housing 10 is reduced.
  • the number of the second positioning members 13 is multiple, it is also possible that each second positioning member 13 is arranged on the corresponding resisting member 14, or some of the second positioning members 13 are connected and arranged on the main body 11. Some second positioning members 13 are provided on the resisting member 14, which is not limited here.
  • the photographing device 1000 further includes a sealing member 50.
  • the sealing member 50 is sleeved on the imaging module 200.
  • the imaging module 200 and the end surface 114 of the main body 11 abut against the sealing member 50, and the sealing member 50 seals the gap between the imaging module 200 and the end surface 114 of the main body 11.
  • the sealing member 50 seals the gap between the imaging module 200 and the end surface 114 of the main body 11 to prevent dust, water vapor, etc. from entering the imaging device 1000 from the gap between the cover 30 and the housing 20 (in conjunction with FIG. 2), and then from the imaging
  • the gap between the module 200 and the end surface 114 of the main body 11 enters the installation space 111 and affects the shooting quality.
  • the sealing member 50 is sleeved on the outer wall 201 of the imaging module 200.
  • the sealing member 50 can be made of rubber, silica gel and other materials with good elasticity.
  • the sealing member 50 can undergo certain elastic deformation when it is squeezed. If the installation accuracy between the imaging module 200 and the housing 10 along the central axis Z direction is not too high, the sealing member 50 can also make the imaging module 200 and the housing 10 better match.
  • the housing 10 further includes a third positioning member 16, and the third positioning member 16 is connected to the main body 11.
  • the main body 21 is provided with a fourth positioning member 23, and the third positioning member 16 cooperates with the fourth positioning member 23 to position the installation position of the housing 10 in the receiving cavity 211.
  • the third positioning member 16 and the fourth positioning member 23 it is possible to prevent the housing 10 from shaking after being installed on the housing 20, thereby preventing the imaging device from shaking.
  • the third positioning member 16 includes a positioning protrusion 161
  • the fourth positioning member 23 includes a positioning groove 231 formed on the main body 21.
  • the positioning protrusion 161 is matched with the positioning groove 231, and the positioning protrusion 161
  • the resistance between the 161 and the inner wall of the positioning groove 231 fixes the installation position of the housing 10 in the housing 20.
  • the third positioning member 16 may be connected to the outside of the main body 11, the number of the third positioning member 16 may be two, and the two third positioning members 16 may be arranged oppositely.
  • the main body 21 includes a first side wall 212 and a second side wall 213 opposite to each other.
  • the number of the fourth positioning member 23 may also be two, and the two fourth positioning members 23 may be formed on the first side wall 212 and the second side wall 213. On the two side walls 213, after the third positioning member 16 and the fourth positioning member 23 are matched, the relative position of the housing 10 and the housing 20 is more stable. In other embodiments, the number of the third positioning member 16 may also be one, and the fourth positioning member 23 may also be formed on one of the first side wall 212 or the second side wall 213.
  • the specific forms of the third positioning member 16 and the fourth positioning member 23 may also be other and are not limited to the above examples.
  • the third positioning member 16 may be a positioning groove
  • the fourth positioning member 23 It may be a positioning protrusion. When the housing 10 is mounted on the housing 20, the positioning protrusion is matched with the positioning groove.
  • the housing 10 further includes an embedding portion 17, and the embedding portion 17 is connected to one end of the main body 11.
  • the housing 20 is further provided with an embedding groove 24, and the embedding groove 24 is connected with the receiving cavity 211.
  • the insertion groove 24 extends from the main body 21 to a position corresponding to the connecting portion 22.
  • the embedding portion 17 extends into the embedding groove 24.
  • the insertion portion 17 is inserted into the insertion groove 24 to prevent the casing 10 from falling out of the housing 20.
  • the housing 10 When installing the housing 10 in the installation space 111, the housing 10 can be tilted first, so that the embedding portion 17 extends into the installation space 111 first, and then the embedding portion 17 is extended into the embedding groove 24, and then the housing 10 is rotated. , So that the housing 10 is completely installed in the housing 20.
  • the thickness of the connecting portion between the connecting portion 22 and the main body 21 will not be much larger than the thickness of the connecting portion 22 or the main body 21, which facilitates demolding during the manufacture of the housing 20, and improves the manufacturing performance of the housing 20. Yield.
  • the photographing device 1000 further includes a cover 30, which is connected to the connecting portion 22 and covers the receiving cavity 211, and the cover 30 and the housing 10 are respectively Hold the two sides of the imaging module 200.
  • the cover 30 can cover the receiving cavity 211, so that the receiving cavity 211 becomes a relatively closed cavity, and the imaging module 200 is not easily exposed to the external environment. The influence of factors.
  • the cover 30 and the housing 10 respectively bear against both sides of the imaging module 200.
  • the cover 30 can bear against one side of the circuit board 203 of the imaging module 200, and the holding member 14 of the housing 10 can bear against
  • the other side of the circuit board 203 is used to fix the position of the imaging module 200 in the direction along the central axis Z, and no additional locking member is required to fix the imaging module 200 in the direction along the central axis Z.
  • the imaging module 200 does not need to be provided with a structure that cooperates with the locking member. For example, there is no need to open additional threaded holes on the circuit board 203 of the imaging module 200 to occupy the use area of the circuit board 203, which is beneficial to the circuit board 203.
  • the effective utilization of the used area and the layout of the components are beneficial to the miniaturization of the photographing device 1000.
  • connection portion 22 includes a first sub-connection portion 221 and a second sub-connection portion 222.
  • the first sub-connection portion 221 and the second sub-connection portion 222 are respectively connected to opposite sides of the main body 21, and the cover 30 is installed between the first sub-connection portion 221 and the second sub-connection portion 222.
  • the first sub-connecting portion 221, the main body 21, and the second sub-connecting portion 222 may have a “U”-shaped structure as a whole, and the cover 30 closes the opening of the “U” structure.
  • the first sub-connecting part 221 and the second sub-connecting part 222 can be clamped and fixed by the pivot arm of the pan/tilt 2000. For example, referring to FIG.
  • the first sub-connecting part 221 may be connected to one side of the tilt pivot arm of the pan/tilt 2000. Specifically, the first sub-connecting part 221 is connected to the rotating part of the motor that drives the tilt axis arm to rotate, and the second sub-connecting part 222 is connected to the other side of the tilt axis arm. Specifically, it can be the second sub-connecting part.
  • the connecting portion 222 is connected with a counterweight structure for a counterweight, so that the center of gravity of the pan/tilt head 2000 can fall on, for example, the center of rotation of the roll axis.
  • the cover 30 and the first connecting portion 22, and the cover 30 and the second connecting portion 22 may be detachably connected. Specifically, referring to FIGS. 4, 5 and 11, the side of the first sub-connection portion 221 opposite to the second sub-connection portion 222 is provided with a fixing groove 2211. A fixing through hole 2221 is opened on the second sub-connection part 222.
  • the cover 30 includes a base 31 and a fixing protrusion 32. The base 31 is combined with the first sub-connection portion 221 and the second sub-connection portion 222.
  • the fixing protrusion 32 is connected to one side of the base body 31, and the fixing protrusion 32 extends into the fixing groove 2211.
  • the other side of the base 31 is provided with a fixing blind hole 311, the fixing blind hole 311 is aligned with the fixing through hole 2221, and the fastener 40 can penetrate the fixing through hole 2221 and the fixing blind hole 311 to fix the second sub-connecting portion 222 With the base 31.
  • the fixing manner shown in FIG. 4 only one fastener 40 is needed to fix the cover 30 and the first sub-connecting portion 221, and the cover 30 and the second sub-connecting portion 222, thereby reducing the size of the photographing device 1000. weight.
  • the cover 30 When installing the cover 30, first tilt the cover 30 so that the fixing protrusion 32 first extends into the fixing groove 2211, and then the cover 30 is rotated with the fixing protrusion 32 as the center, so that the fixed blind hole 311 and the fixed through hole 2221 After alignment, the fastener 40 is passed through the fixing through hole 2221 and into the fixing blind hole 311, so that the cover 30 and the housing 20 can be fixed.
  • the cover 30 can hold the circuit board 203 of the imaging module 200 at this time to prevent the imaging module 200 from shaking along the direction of the central axis Z.
  • the fastener 40 can be removed first, and then the cover 30 is rotated, and finally the fixing protrusion 32 is taken out of the fixing groove 2211.
  • the fixing groove 2211 may also be opened on the cover 30, the fixing protrusion 32 may be connected to the side of the first sub-connection part 221 opposite to the second sub-connection part 222, and the fixing protrusion 32 may extend into the fixing concave. Slot 2211 to make the two fit.
  • a mounting groove 214 is formed on the end surface of the main body 21.
  • the cover 30 includes a mounting protrusion 33, the mounting protrusion 33 is connected to the base 31, and the mounting protrusion 33 is matched with the mounting groove 214.
  • the number of the mounting grooves 214 may be multiple, and the number of the mounting protrusions 33 may also be multiple and correspond to the mounting grooves 214.
  • the photographing device 1000 further includes a counterweight 300, which is used to adjust the position of the center of gravity of the photographing device 1000 so that the center line of the connecting portion 22 passes through Center of gravity.
  • the center line of the connecting portion 22 is determined by the structure of the connecting portion 22 itself.
  • the counterweight 300 may be installed in the housing 20, may also be installed in the housing 10, or may be installed between the cover 30 and the imaging module 200. In the examples shown in FIGS. 4 and 5, the counterweight 300 is installed between the circuit board 203 of the imaging module 200 and the cover 30.
  • the counterweight 300 can be fixed on the cover 30, for example, glued to the cover 30 to prevent the counterweight 300 from falling off or shaking.
  • the counterweight 300 can also be clamped by the cover 30 and the circuit board 203 to be fixed. .
  • the two sides of the counterweight 300 may be against the cover 30 and the circuit board 203 respectively; in another example, the counterweight 300 may not be against the circuit board 203. At this time, the cover 30 and the housing 10 abut the two sides of the circuit board 203.
  • the main body 21 is provided with a light passing hole 215 communicating with the receiving cavity 211.
  • the main body 11 is provided with a light through hole 113 communicating with the installation space 111.
  • the light through hole 113 and the light incident hole 204 of the imaging module 200 may be arranged concentrically. Specifically, the central axis Z may pass through the center of the light-passing hole 113 and the center of the light-incident hole 204. The light passes through the light hole 215, the light hole 113, and the light hole 204 successively, and then enters the imaging module 200.
  • the range of the light-passing hole 215 may cover the light-passing hole 113, so as to prevent the main body 21 from blocking the light-passing hole 113 and reduce the amount of light entering the imaging device.
  • the range of the light-passing hole 113 may cover the light-entry hole 204 so as to prevent the body 11 from blocking the light-entry hole 204 and reduce the amount of light entering the imaging module 200.
  • the inner diameter of the opening of the light-passing hole 215 and/or the light-passing hole 113 may have a tendency to increase along the direction away from the light-incident hole 204.
  • the light-passing hole 215 and/or the light-passing hole 113 has multiple A plurality of holes with gradually increasing openings are presented in the form of one hole being sheathed with another hole.
  • the imaging module 200 since the imaging module 200 is housed in the installation space 111 of the housing 10, and the housing 10 is housed in the housing 20, it is equivalent to a light-shielding hood installed inside the photographing device 100, that is, the housing 10 is equivalent to a light-shielding hood.
  • the effect of is beneficial to protect the imaging module 200, and can achieve a better shooting effect of the imaging module 200 under special conditions.
  • the light-passing hole 215, the light-passing hole 113, and the light-entry hole 204 may also be arranged concentrically or not, that is, the centers of the three may not be on the same straight line, which is not limited here.
  • a light-transmitting member 60 may be further provided on the housing 20, and the light-transmitting member 60 covers the light-passing hole 215.
  • the light-transmitting member 60 may be made of a material with better light transmittance, such as glass, so that the light will not be too weakened when passing through the light-transmitting member 60.
  • the light-transmitting member 60 can be fixed on the housing 20 by bonding, and can seal the gap between the light-passing hole 125 and the housing 20 to prevent water vapor, dust, etc. from entering the receiving cavity 211 through the gap, and Affect the shooting quality of the imaging module 200.
  • the embodiment of the present application also discloses a housing assembly 100, and the housing assembly 100 includes the housing 20 and the housing 10 described in any of the above embodiments.
  • the housing assembly 100 can be used to install the aforementioned imaging module 200, and can also be used to install functional modules such as a laser ranging module and a bullet launching module.
  • a pan-tilt structure according to another embodiment of the present application includes a pan-tilt 2000 and a housing assembly 100, and the housing assembly 100 is connected to the pan-tilt 2000.
  • this application also discloses a mobile platform, which includes a body and the pan-tilt structure 3000 described in any of the above embodiments.
  • the pan-tilt structure 3000 is installed on the body.
  • the mobile platform may specifically be a drone, such as an unmanned aerial vehicle, an unmanned vehicle, or an unmanned ship, etc., and the mobile platform may also be a handheld PTZ.
  • the body When the mobile platform is an unmanned aerial vehicle, the body may be the body of the mobile platform, etc., and when the mobile platform is a handheld pan/tilt, the body may be the grip of the handheld pan/tilt.
  • the installation space 111 is used to install the imaging module 200
  • the first positioning member 12 is connected to the main body 11 and protrudes toward the installation space 111
  • the first positioning member 12 can be installed in the installation space against being supported.
  • the imaging module 200 in the 111 is used to limit the position of the central axis Z of the imaging module 200, and the position of the central axis Z of the imaging module 200 can be limited by the first positioning member 12 on the housing 10, and no additional settings are required.
  • the locking member restricts the position of the central axis Z to ensure the shooting stability of the imaging module 200 while reducing the total volume and weight of the housing 10 and the imaging module 200.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined with “first” and “second” may explicitly or implicitly include at least one of the features.
  • a plurality of means at least two, for example two, three, unless otherwise specifically defined.

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Abstract

一种壳组件(100)、壳体(10)、拍摄设备(1000)、云台结构(3000)及移动平台。壳组件(100)用于云台(2000)。壳组件(100)包括壳体(10)及外壳(20)，其中，壳体(10)包括本体(11)及第一定位件(12)；本体(11)开设有安装空间(111)，安装空间(111)用于安装成像模组(200)；第一定位件(12)连接在本体(11)上并向安装空间(111)凸出，其中，第一定位件(12)用于抵持成像模组(200)以限制成像模组(200)的中轴线(Z)的位置。

Description

壳组件、壳体、拍摄设备、云台结构及移动平台 技术领域
本申请涉及增稳机构技术领域，特别涉及一种壳组件、壳体、拍摄设备、云台结构及移动平台。
背景技术
云台可以搭载成像设备以进行拍摄，随着人们对云台的便携性需求，在保证成像设备的功能的同时，人们还希望可以通过减小成像设备的尺寸，而成像设备通常包括外壳及安装在外壳内的相机，为了保证相机在拍摄时的稳定性，通常需要通过额外设置紧固件对相机进行定心，但是额外设置的锁紧件又导致成像设备的尺寸及重量增加。
发明内容
本申请的实施方式提供了一种壳组件、壳体、拍摄设备、云台结构及移动平台。
本申请实施方式的壳组件用于云台，所述壳组件包括壳体及外壳，所述壳体包括本体及第一定位件；所述本体开设有安装空间，所述安装空间用于安装成像模组；所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；所述外壳包括主体及连接部；所述主体开设有收容腔，所述壳体安装在所述收容腔内；所述连接部与所述主体连接，所述连接部用于与所述云台连接。
本申请实施方式的壳体用于安装云台承载的成像模组，所述壳体包括本体及第一定位件；所述本体开设有安装空间，所述安装空间用于安装所述成像模组；所述第一定位件连接在所述本体上并向所述安装空间凸出；其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置。
本申请实施方式的拍摄设备用于云台，所述拍摄设备包括壳组件及成像模组，所述壳组件包括壳体及外壳，所述壳体包括本体及第一定位件，所述本体开设有安装空间，所述成像模组部分安装在所述安装空间内；所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；所述外壳包括主体及连接部，所述主体开设有收容腔，所述壳体安装在所述收容腔内；所述连接部与所述主体连接，所述连接部用于与云台连接。
本申请实施方式的云台结构包括云台及壳组件，所述壳组件用于云台，所述壳组件包括壳体及外壳，所述壳体包括本体及第一定位件；所述本体开设有安装空间，所述安装空 间用于安装成像模组；所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；所述外壳包括主体及连接部；所述主体开设有收容腔，所述壳体安装在所述收容腔内；所述连接部与所述主体连接，所述连接部用于与所述云台连接。
本申请实施方式的云台结构包括云台及拍摄设备，所述拍摄设备用于云台，所述拍摄设备安装在云台上，所述拍摄设备包括壳组件及成像模组，所述壳组件包括壳体及外壳，所述壳体包括本体及第一定位件，所述本体开设有安装空间，所述成像模组部分安装在所述安装空间内；所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；所述外壳包括主体及连接部，所述主体开设有收容腔，所述壳体安装在所述收容腔内；所述连接部与所述主体连接，所述连接部用于与云台连接。
本申请实施方式的移动平台包括机体及本申请实施方式的云台结构，所述云台结构安装在所述机体上。
本申请实施方式的壳组件、壳体、拍摄设备、云台结构及移动平台中，安装空间用于安装成像模组，第一定位件连接在本体上并向安装空间凸出，第一定位件能够抵持安装在安装空间内的成像模组，以限制成像模组的中轴线的位置，通过壳体上的第一定位件即可限制成像模组的中轴线的位置，不需要额外设置锁紧件来限制中轴线的位置，保证成像模组拍摄稳定性的同时，减小了壳体与成像模组的总的体积及重量。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的云台结构的立体装配示意图；
图2是本申请实施方式的拍摄设备的立体装配示意图；
图3是本申请实施方式的拍摄设备的平面装配示意图；
图4是图3所示的拍摄设备沿IV-IV线的截面示意图；
图5是本申请实施方式的拍摄设备的立体分解示意图；
图6及图7是本申请实施方式的成像模组的立体结构示意图；
图8是本申请实施方式的壳体的立体结构示意图；
图9是本申请实施方式的壳体的平面结构示意图；
图10是图9所示的壳体沿X-X线的截面示意图；
图11是本申请实施方式的外壳的立体结构示意图；
图12是本申请实施方式的壳组件的立体分解示意图；
图13是本申请实施方式的壳组件的平面装配示意图；
图14是图13所示的壳组件沿XIV-XIV线的截面示意图。
具体实施方式
以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本申请的实施方式是示例性的，仅用于解释本申请的实施方式，而不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1，本申请实施方式的云台结构3000包括云台2000及拍摄设备1000。云台2000具体可以是机载云台或者手持云台。云台2000可以包括多个轴臂，例如云台2000包括偏航轴臂、横滚轴臂及俯仰轴臂。拍摄设备1000可以安装云台2000上。具体地，拍摄设备1000可以安装在云台2000的任意一个轴臂上。当然，云台2000也可以用于安装激光测距设备、子弹发射设备等，在此不作限制。
图2至图5为本申请实施方式的拍摄设备1000的结构示意图，其中，图2所示为拍摄设备1000的立体装配示意图，图3所示为拍摄设备1000的平面装配示意图，图4为拍摄设备1000的截面示意图，图5为拍摄设备1000的分解示意图。
请参阅图5，本申请实施方式的拍摄设备1000包括壳体10、外壳20及成像模组200。壳体10包括本体11及第一定位件12。本体11开设有安装空间111，成像模组200部分安装在安装空间111内。第一定位件12连接在本体11上并向安装空间111凸出。其中，第一定位件12用于抵持成像模组200以限制成像模组200的中轴线(Z轴)的位置。外壳20包括主体21及连接部22。主体21开设有收容腔211，壳体10安装在收容腔211内。连接部22与主体21连接，连接部22用于与云台2000连接。
本申请实施方式的云台结构3000中，安装空间111用于安装成像模组200，第一定位件12连接在本体11上并向安装空间111凸出，第一定位件12能够抵持安装在安装空间111 内的成像模组200，以限制成像模组200的中轴线的位置，通过壳体10上的第一定位件12即可限制成像模组200的中轴线Z的位置，不需要额外设置锁紧件来限制中轴线的位置，保证成像模组200拍摄稳定性的同时，减小了壳体10与成像模组200的总的体积及重量，同时，由于不需要额外设置锁紧件，且不需要在成像模组200上设置与锁紧件配合的结构，简化了成像模组200的结构，利于实现拍摄设备1000的小型化。
具体地，请参阅图5，拍摄设备1000包括成像模组200、壳体10及外壳20。拍摄设备1000可以安装在如图1所示的云台2000上，拍摄设备1000可以用于拍摄照片或视频等。
成像模组200具体可以是可见光成像模组或红外成像模组，成像模组200可以安装在壳体10上，安装有成像模组200的壳体10可以安装在外壳20上。成像模组200的中轴线Z可以与成像模组200的光轴重合。在使用成像模组200时，为了确保成像模组200的成像质量，需要保证成像模组200不会发生抖动，例如成像模组200的中轴线Z不能发生移动且成像模组200也不能发生绕中轴线Z的转动。
在如图5至图7所示的实施例中，成像模组200包括外壁201及电路板203。外壁201可以与电路板203结合。外壁201可以作为成像模组200的镜筒，外壁201内可以设置有透镜组，外壁201围成入光孔204。电路板203上可以用于设置影像传感器及信号读出电路等。光线通过入光孔204后进入成像模组200，光线由透镜组改变传播方向，并最终落在影像传感器上以形成影像。
请参阅图4及图5，壳体10包括本体11及第一定位件12。本体11开设有安装空间111，安装空间111可用于安装成像模组200。具体地，在本申请附图所示的实施例中，本体11整体呈中空的圆筒状，本体11的中空部分可以形成安装空间111，成像模组200可以从一端伸入安装空间111内，以使安装空间111收容至少部分外壁201，同时，电路板203可以位于安装空间111外。
第一定位件12连接在本体11上，第一定位件12向安装空间111凸出，也即，第一定位件12可以部分位于安装空间111内，且部分位于安装空间111外，第一定位件12也可以全部位于安装空间111内，在此不作限制。第一定位件12用于抵持成像模组200以限制成像模组200的中轴线Z的位置。具体地，请结合图8至图10，第一定位件12可以连接在安装空间111的内侧壁112上。第一定位件12可以与本体11一体制造成型。第一定位件12的数量可以是至少三个，例如三个、四个、五个等，至少三个第一定位件12可以间隔分布在内侧壁112上，以使至少三个第一定位件12可以限制成像模组200的中轴线Z的位置。至少三个第一定位件12的形状可以完全相同，也可以不完全相同。在本申请实施例中，至少三个第一定位件12在安装空间111内等角度均匀分布，即，当第一定位件12的数量为三个时，相邻的两个第一定位件12的夹角为120度；当第一定位件12的数量为四 个时，相邻的两个第一定位件12的夹角为90度，其他数量的第一定位件12的情况依此类推。
至少三个第一定位件12可以共同抵持外壁201，以使得成像模组200在第一定位件12的定位作用下，成像模组200不会在安装空间111内发生垂直于中轴线Z方向的晃动，即，中轴线Z的位置不会发生改变。进一步地，第一定位件12可以呈长条状，第一定位件12可以从安装空间111一端延伸至另一端，以使得第一定位件12与外壁201有较长的接触面积，第一定位件12作用在外壁201上的力较分散。
请参阅图11、图12、图14，外壳20包括主体21及连接部22。外壳20可用于安装壳体10，外壳20可以与壳体10组成壳组件100(如图12至图14所示)的至少一部分。外壳20可以用于与云台2000连接(如图1所示)，外壳20也可以与壳体10等组成壳组件100后再与云台2000连接。
主体21开设有收容腔211，壳体10安装在收容腔211内。壳体10可以单独安装在收容腔211内，壳体10上也可以安装有成像模组200后，再将安装有成像模组200的壳体10安装在收容腔211内。连接部22与主体21连接，连接部22用于与云台2000连接。具体地，连接部22可以用于与云台2000的任意一个轴臂连接，通过轴臂转动可以带动外壳20、壳体10及成像模组200转动，以调整成像模组200的采光方向。
综上，本申请实施方式的云台结构3000中，安装空间111用于安装成像模组200，第一定位件12连接在本体11上并向安装空间111凸出，第一定位件12能够抵持安装在安装空间111内的成像模组200，以限制成像模组200的中轴线Z的位置，通过壳体10上的第一定位件12即可限制成像模组200的中轴线Z的位置，不需要额外设置锁紧件来限制中轴线Z的位置，保证成像模组200拍摄稳定性的同时，减小了壳体10与成像模组200的总的体积及重量。
请参阅图5至图8，在某些实施方式中，壳体10还包括第二定位件13。第二定位件13连接在本体11上，第二定位件13位于安装空间111外。第二定位件13用于与成像模组200的定位结构202配合，以限制成像模组200绕中轴线Z转动的角度。通过在壳体10上设置第二定位件13，及在成像模组200中设置定位结构202，第二定位件13与定位结构202配合以限制成像模组200绕中轴线Z转动的角度，不需要再设置额外的锁紧件去限制该转动的角度，进一步减小拍摄设备1000的尺寸。
具体地，当第二定位件13与定位结构202配合时，成像模组200不能绕中轴线Z转动，即，上述转动的角度为0度，以提高成像模组200拍摄画面时的稳定性。第二定位件13可以与壳体10通过一体成型工艺制造而成。在本申请具体的一个实施例中，第二定位件13包括定位柱131，定位结构202包括定位孔2021，成像模组200安装在壳体10上时，定位 柱131伸入定位孔2021内并与定位孔2021的内壁相抵，由于定位柱131与定位孔2021的配合作用，成像模组200不会相对于壳体10发生转动。
在一个例子中，定位柱131的截面形状为圆形，定位孔的截面形状也呈圆形，定位柱131与定位孔的直径可以相同，以使定位柱131填满定位孔。在另一个例子中，请参阅图6以及图7，定位孔2021呈腰形孔的形状，腰形孔的中心线O的延伸方向穿过中轴线Z，通过这一设置，定位柱131卡在该中心线O的任意位置上均可以限制成像模组200绕中轴线Z的转动，而不需要严格限制卡在该中心线O的某一个点上，降低了对定位柱131的位置精度要求，提高壳体10的制造良率。其中，中心线O垂直于定位孔2021的深度方向，且定位孔2021相对于中心线O对称。
当然，第二定位件13与定位结构202的具体形式还可以是其他，并不限于上述的举例，例如在其他例子中，第二定位件13可以是定位孔，定位结构202可以是设置在电路板203上的定位柱，当成像模组200安装在壳体10上时，定位柱伸入定位孔内。
请参阅图5，在某些实施方式中，壳体10还包括抵持件14，抵持件14连接在本体11上。抵持件14的端面抵持电路板203，以限制成像模组200沿中轴线Z的方向伸入安装空间111的量。在本申请实施例中，抵持件14抵持电路板203后，电路板203可以与本体11间隔开。通过抵持件14可以限制成像模组200沿中轴线Z的方向伸入安装空间111的量，在拍摄设备1000的使用过程中，成像模组200不易发生沿中轴线Z方向的抖动，提高拍摄质量。
具体地，请参阅图8至图10，抵持件14可以连接在本体11上且位于安装空间111外。抵持件14可以与本体11一体制造成型。抵持件14的数量可以是多个，多个抵持件14可以间隔设置。在本申请实施例中，抵持件14的数量为三个，当然抵持件14的数量还可以是一个、两个、四个、五个等任意数量。多个抵持件14的端面可以均是平面且位于同一个平面内，以稳定地抵持电路板203(如图7所示)，避免电路板203发生偏转。多个抵持件14的形状可以完全相同，例如均为直棱柱状，当然，多个抵持件14的形状也可以不完全相同。
壳体10还可以包括连接件15。连接件15用于连接抵持件14与本体11，具体地，连接件15的一端可以连接在本体11的外侧壁上，连接件15可以向远离本体11的方向延伸，连接件15的另一端可以连接抵持件14，以使抵持件14可以抵持到电路板203的靠近边缘的位置，不会抵持到成像模组200的外壁201。不同的连接件15的形状可以不同，例如连接件15远离的本体11的一端与本体11的距离可以设置得不同，例如可以依据电路板203进行适应性地设置，以使与连接件15连接的抵持件14可以避开电路板203上的元件。进一地，连接件15上还可以形成有中空结构151，采用中空结构151，可以减小壳体10的整 体质量，利于实现轻量化。
在如图5及图8所示的实施例中，第二定位件13设置在至少一个抵持件14的端面上。此时，第二定位件13通过抵持件14及连接件15连接到本体11上，不需要再额外设置连接第二定位件13与本体11的连接结构，简化了壳体10的结构，减轻了壳体10的重量。当第二定位件13的数量为多个时，也可以是每个第二定位件13都设置在对应的抵持件14上，或者其中一些第二定位件13连接设置在本体11上，另一些第二定位件13设置在抵持件14上，在此不作限制。
请参阅图4及图5，在某些实施方式中，拍摄设备1000还包括密封件50。密封件50套设在成像模组200上。成像模组200与本体11的端面114抵持密封件50，密封件50密封成像模组200与本体11的端面114之间的间隙。密封件50密封成像模组200与本体11的端面114之间的间隙，避免灰尘、水汽等从盖体30与外壳20之间的间隙进入拍摄设备1000后(结合参考图2)，再从成像模组200与本体11的端面114之间的间隙进入安装空间111内而影响拍摄质量。具体地，密封件50套设在成像模组200的外壁201上，密封件50可以由橡胶、硅胶等具有较好弹性的材料制成，密封件50被挤压时可以发生一定的弹性形变，使得成像模组200与壳体10之间沿中轴线Z方向的安装精度不是太高的情况下，密封件50也能够使得成像模组200与壳体10较好地配合。
请参阅图11及图12，在某些实施方式中，壳体10还包括第三定位件16，第三定位件16连接在本体11上。主体21上设置有第四定位件23，第三定位件16与第四定位件23配合以定位壳体10在收容腔211内的安装位置。通过第三定位件16与第四定位件23的配合，可以避免壳体10安装到外壳20后发生晃动，进而避免成像装置发生晃动。
在本申请实施例中，第三定位件16包括定位凸出161，第四定位件23包括形成在主体21上的定位凹槽231，定位凸出161与定位凹槽231配合，通过定位凸出161与定位凹槽231的内壁的抵持作用，壳体10在外壳20内的安装位置得以固定。其中，第三定位件16可以连接在本体11的外侧，第三定位件16的数量可以是两个，两个第三定位件16可以相对设置。对应地，主体21包括相对的第一侧壁212及第二侧壁213，第四定位件23的数量也可以是两个，两个第四定位件23可以形成在第一侧壁212及第二侧壁213上，以使第三定位件16与第四定位件23配合后，壳体10与外壳20的相对位置更稳定。在其他实施例中，第三定位件16的数量也可以是一个，第四定位件23也可以形成在第一侧壁212或第二侧壁213中的一个上。
当然，第三定位件16与第四定位件23的具体形式还可以是其他，并不限于上述的举例，例如在其他例子中，第三定位件16可以是定位凹槽，第四定位件23可以是定位凸出，当壳体10安装在外壳20上时，定位凸出与定位凹槽配合。
请参阅图12至图14，在某些实施方式中，壳体10还包括嵌入部17，嵌入部17连接在本体11的一端。外壳20还开设有嵌入槽24，嵌入槽24与收容腔211连通。嵌入槽24自主体21延伸至与连接部22对应的位置。嵌入部17伸入嵌入槽24内。通过嵌入部17嵌入到嵌入槽24内，防止壳体10从外壳20中的掉出。在将壳体10安装在安装空间111内时，可以先倾斜壳体10，使得嵌入部17先伸入安装空间111内，进而再将嵌入部17伸入嵌入槽24内，再转动壳体10，以使壳体10完全安装在外壳20内。另外，通过设置嵌入槽24，使得连接部22与主体21之间连接部位的厚度不会远大于连接部22或者主体21的厚度，易于在制造外壳20时进行脱模，提高外壳20制造时的良率。
请结合参阅图3、图4及图5，在某些实施方式中，拍摄设备1000还包括盖体30，盖体30与连接部22连接并遮盖收容腔211，盖体30与壳体10分别抵持成像模组200的两侧。当成像模组200及壳体10安装在外壳20的收容腔211内后，盖体30可以将收容腔211遮盖，以使收容腔211成为相对封闭的腔体，成像模组200不易受到外界环境因素的影响。盖体30与壳体10分别抵持成像模组200的两侧，具体地，盖体30可以抵持成像模组200的电路板203的一侧，壳体10的抵持件14可以抵持电路板203的另一侧，以固定成像模组200在沿中轴线Z的方向上的位置，而不需要再设置额外的锁紧件去固定成像模组200在沿中轴线Z的方向上的位置，也不需要在成像模组200上设置与锁紧件配合的结构，例如，无需在成像模组200的电路板203上额外开设螺纹孔而占用电路板203的使用面积，利于电路板203上的使用面积的有效利用以及元器件的布局，从而利于实现拍摄设备1000的小型化。
在本申请实施例中，连接部22包括第一子连接部221及第二子连接部222。第一子连接部221及第二子连接部222分别连接在主体21的相对两侧，盖体30安装在第一子连接部221及第二子连接部222之间。第一子连接部221、主体21及第二子连接部222整体可以呈“U”形结构，盖体30封闭该“U”结构的开口处。第一子连接部221与第二子连接部222可以被云台2000的轴臂夹持固定，例如，请结合图1，第一子连接部221可以与云台2000的俯仰轴臂的一侧上的电机连接，具体可以是第一子连接部221与驱动该俯仰轴臂转动的电机的转动部分连接，第二子连接部222与俯仰轴臂的另一侧连接，具体可以是第二子连接部222与用于配重的配重结构连接，以使得云台2000的重心可以落在诸如横滚轴的转动中心上。
盖体30与第一连接部22、盖体30与第二连接部22可以是可拆卸地连接。具体地，请结合图4、图5及图11，第一子连接部221的与第二子连接部222相对的一侧开设有固定凹槽2211。第二子连接部222上开设有固定通孔2221。盖体30包括基体31及固定凸出32。基体31与第一子连接部221及第二子连接部222结合。固定凸出32连接在基体31的 一侧上，固定凸出32伸入固定凹槽2211内。基体31的另一侧开设有固定盲孔311，固定盲孔311与固定通孔2221对准，紧固件40能够穿入固定通孔2221与固定盲孔311，以固定第二子连接部222与基体31。以如图4所示的固定方式，只需要采用一个紧固件40，就可以固定盖体30与第一子连接部221、盖体30与第二子连接部222，减小拍摄设备1000的重量。
在安装盖体30时，先倾斜盖体30，使固定凸出32先伸入固定凹槽2211内，再以固定凸出32为中心转动盖体30，使得固定盲孔311与固定通孔2221对准，再将紧固件40穿过固定通孔2221并穿入固定盲孔311，如此可以固定盖体30与外壳20。且盖体30此时可以抵持成像模组200的电路板203，以防止成像模组200沿中轴线Z的方向抖动。在需要将盖体30拆下时，可以先拆出紧固件40，再转动盖体30，最后将固定凸出32从固定凹槽2211中取出即可。当然，固定凹槽2211也可以开设在盖体30上，固定凸出32可以连接在第一子连接部221的与第二子连接部222相对的一侧上，固定凸出32伸入固定凹槽2211内以使二者配合。
请参阅图5，在某些实施方式中，主体21的端面上开设有安装凹槽214。盖体30包括安装凸出33，安装凸出33连接在基体31上，安装凸出33与安装凹槽214配合。通过安装凸出33与安装凹槽214的配合，进一步固定盖体30与外壳20之间的位置关系，防止盖体30与外壳20之间发生相对运动。安装凹槽214的数量可以是多个，安装凸出33的数量也可以是多个且与安装凹槽214对应。
请参阅图4及图5，在某些实施方式中，拍摄设备1000还包括配重块300，配重块300用于调节拍摄设备1000的重心的位置，以使连接部22的中心线穿过重心。连接部22的中心线由连接部22自身的结构决定，当连接部22与云台2000(如图1所示)连接时，云台2000的一个轴臂的转轴(如俯仰轴)与连接部22的中心线重合。通过设置配重块300，使得拍摄设备1000的重心由连接部22的中心线穿过，使得当拍摄设备1000安装在云台2000上时，拍摄设备1000转动时较稳定。具体地，配重块300可以安装在外壳20内、也可以安装在壳体10内、也可以安装在盖体30与成像模组200之间。在如图4及图5所示的例子中，配重块300安装在成像模组200的电路板203与盖体30之间。配重块300可以固定在盖体30上，例如粘接在盖体30上，以防配重块300脱落或晃动，配重块300也可以由盖体30及电路板203夹持以被固定。在一个例子中，配重块300的两侧可以分别抵持在盖体30及电路板203上；在另一个例子中，配重块300也可以未抵持电路板203，此时，盖体30与壳体10抵持电路板203的两侧。
请参阅图4、图13及图14，在某些实施方式中，主体21开设有与收容腔211连通的过光孔215。本体11开设有与安装空间111连通的通光孔113。通光孔113及成像模组200 的入光孔204可以同心设置。具体地，中轴线Z可以穿过通光孔113的中心及入光孔204的中心。光线先后穿过过光孔215、通光孔113及入光孔204后进入成像模组200。过光孔215的范围可以覆盖通光孔113，以免主体21遮挡通光孔113而削减进入成像装置的光量。通光孔113的范围可以覆盖入光孔204，以免本体11遮挡入光孔204而削减进入成像模组200的光量。其中，过光孔215和/或通光孔113的开口的内径大小沿远离入光孔204的方向可以有增大的趋势，具体可以为过光孔215和/或通光孔113包括具有多个开口逐渐增大的多个孔，以一个孔套设另一个孔的形式呈现。其中，由于成像模组200收容在壳体10的安装空间111内，且壳体10收容在外壳20中，则相当于拍摄设备100内部安装了遮光罩，即壳体10相当于实现了遮光罩的作用，有利于保护成像模组200，并能在特殊条件下实现成像模组200的较好拍摄效果。
当然，在其他例子中，过光孔215、通光孔113及入光孔204也可以同心设置，也可以不是同心设置，即三者的中心也可以不在同一直线上，在此不作限制。请参阅图2、图4及图14，外壳20上还可以设置有透光件60，透光件60覆盖过光孔215。透光件60可以由透光率较好的材料制成，例如玻璃等，以使得光线穿过透光件60时不会被过多地削弱。其中，透光件60可以通过粘接的方式固定在外壳20上，且可以达到密封过光孔125与外壳20之间的间隙，以避免水汽、灰尘等通过该间隙进入收容腔211内，而影响成像模组200的拍摄质量。
请参阅图12至图14，本申请实施方式还公开一种壳组件100，壳组件100包括上述任一实施方式所述的外壳20及壳体10。壳组件100内可以用于安装上述的成像模组200，也可以用于安装激光测距模组及子弹发射模组等功能模组。本申请另一实施方式的云台结构包括云台2000及壳组件100，壳组件100连接在云台2000上。
另外，本申请还公开一种移动平台，移动平台包括机体及上述任一实施方式所述的云台结构3000。云台结构3000安装在机体上。移动平台具体可以是无人机，例如无人飞行器、无人车或无人船等，移动平台还可以是手持云台。当移动平台是无人机时，机体可以是移动平台的机身等部位，当移动平台是手持云台时，机体可以是手持云台的握持部。
本申请实施方式的移动平台中，安装空间111用于安装成像模组200，第一定位件12连接在本体11上并向安装空间111凸出，第一定位件12能够抵持安装在安装空间111内的成像模组200，以限制成像模组200的中轴线Z的位置，通过壳体10上的第一定位件12即可限制成像模组200的中轴线Z的位置，不需要额外设置锁紧件来限制中轴线Z的位置，保证成像模组200拍摄稳定性的同时，减小了壳体10与成像模组200的总的体积及重量。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、 结构、材料或者特点包含于本申请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必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，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至少一个所述特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (65)

  1. 一种壳组件，其特征在于，用于云台，所述壳组件包括壳体及外壳，所述壳体包括：
    本体，所述本体开设有安装空间，所述安装空间用于安装成像模组；及
    第一定位件，所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；
    所述外壳包括：
    主体，所述主体开设有收容腔，所述壳体安装在所述收容腔内；及
    连接部，所述连接部与所述主体连接，所述连接部用于与所述云台连接。
  2. 根据权利要求1所述的壳组件，其特征在于，所述第一定位件包括至少三个，至少三个所述第一定位件间隔分布在所述安装空间的内侧壁上；
    所述成像模组包括外壁，所述安装空间收容至少部分所述外壁，至少三个所述第一定位件共同抵持所述外壁。
  3. 根据权利要求2所述的壳组件，其特征在于，至少三个所述第一定位件在所述安装空间内等角度均匀分布。
  4. 根据权利要求1所述的壳组件，其特征在于，所述第一定位件呈长条状，所述第一定位件从所述安装空间内的一端延伸至另一端。
  5. 根据权利要求1所述的壳组件，其特征在于，所述壳体还包括第二定位件，所述第二定位件连接在所述本体上并位于所述安装空间外；
    所述第二定位件用于与所述成像模组的定位结构配合，以限制所述成像模组绕所述中轴线转动的角度。
  6. 根据权利要求5所述的壳组件，其特征在于，所述成像模组包括电路板，所述定位结构开设在所述电路板上；
    所述第二定位件包括定位柱和定位孔中的一个，所述定位结构包括所述定位柱和所述定位孔中的另一个，所述定位柱用于伸入所述定位孔并与所述定位孔的内壁相抵。
  7. 根据权利要求6所述的壳组件，其特征在于，所述定位孔为腰形孔，所述腰形孔的 中心线的延伸方向穿过所述中轴线。
  8. 根据权利要求5所述的壳组件，其特征在于，所述壳体还包括抵持件，所述抵持件连接在所述本体上，所述成像模组包括电路板，所述抵持件的端面抵持所述电路板，以限制所述成像模组沿所述中轴线的方向伸入所述安装空间的量。
  9. 根据权利要求8所述的壳组件，其特征在于，所述抵持件的数量为多个，多个所述抵持件设置在所述安装空间外，多个所述抵持件间隔设置。
  10. 根据权利要求9所述的壳组件，其特征在于，所述壳体还包括连接件，所述连接件用于连接所述抵持件与所述本体。
  11. 根据权利要求10所述的壳组件，其特征在于，所述连接件上形成有中空结构。
  12. 根据权利要求9所述的壳组件，其特征在于，所述第二定位件设置在至少一个所述抵持件的端面上。
  13. 根据权利要求1至12任意一项所述的壳组件，其特征在于，所述壳体还包括第三定位件，所述第三定位件连接在所述本体上，所述主体上设置有第四定位件，所述第三定位件与所述第四定位件配合以定位所述壳体在所述收容腔内的安装位置。
  14. 根据权利要求13所述的壳组件，其特征在于，所述第三定位件包括定位凸出和定位凹槽中的一个，第四定位件包括所述定位凸出和所述定位凹槽中的另一个，所述定位凸出与所述定位凹槽配合。
  15. 根据权利要求14所述的壳组件，其特征在于，所述主体包括相对的第一侧壁及第二侧壁，所述第四定位件形成在所述第一侧壁及/或所述第二侧壁上。
  16. 根据权利要求1至12任意一项所述的壳组件，其特征在于，所述壳体还包括嵌入部，所述嵌入部连接在所述本体的一端，所述外壳还开设有嵌入槽，所述嵌入槽与所述收容腔连通，所述嵌入槽自所述主体延伸至与所述连接部对应的位置，所述嵌入部伸入所述嵌入槽内。
  17. 根据权利要求1至12任意一项所述的壳组件，其特征在于，所述壳组件还包括盖体，所述盖体与所述连接部连接并遮盖所述收容腔，所述盖体与所述壳体分别抵持所述成像模组的两侧。
  18. 根据权利要求17所述的壳组件，其特征在于，所述连接部包括第一子连接部及第二子连接部，所述第一子连接部及所述第二子连接部分别连接在所述主体的相对两侧，所述盖体安装在所述第一子连接部及所述第二子连接部之间。
  19. 根据权利要求18所述的壳组件，其特征在于，所述第一子连接部的与所述第二子连接部相对的一侧开设有固定凹槽，所述第二子连接部上开设有固定通孔，所述盖体包括：
    基体，所述基体与所述第一子连接部及所述第二子连接部结合；及
    连接在所述基体的一侧上的固定凸出，所述固定凸出伸入所述固定凹槽内；
    所述基体的另一侧开设有固定盲孔，所述固定盲孔与所述固定通孔对准，紧固件能够穿入所述固定通孔与所述固定盲孔，以固定所述第二子连接部与所述基体。
  20. 根据权利要求19所述的壳组件，其特征在于，所述主体的端面上开设有安装凹槽，所述盖体包括连接在所述基体上的安装凸出，所述安装凸出与所述安装凹槽配合。
  21. 根据权利要求1至12任意一项所述的壳组件，其特征在于，所述壳组件还包括密封件，所述密封件套设在所述成像模组上，所述成像模组与所述本体的端面抵持所述密封件，所述密封件密封所述成像模组与所述端面之间的间隙。
  22. 根据权利要求1至12任意一项所述的壳组件，其特征在于，所述本体开设有与所述安装空间连通的通光孔，所述通光孔及所述成像模组的入光孔同心设置。
  23. 根据权利要求22所述的壳组件，其特征在于，所述主体开设有与所述收容腔连通的过光孔，所述过光孔的范围覆盖所述通光孔，所述通光孔的范围覆盖所述入光孔。
  24. 一种壳体，用于安装云台承载的成像模组，其特征在于，所述壳体包括：
    本体，所述本体开设有安装空间，所述安装空间用于安装所述成像模组；
    第一定位件，所述第一定位件连接在所述本体上并向所述安装空间凸出；
    其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置。
  25. 根据权利要求24所述的壳体，其特征在于，所述第一定位件包括至少三个，至少三个所述第一定位件间隔分布在所述安装空间的内侧壁上；
    所述成像模组包括外壁，所述安装空间收容至少部分所述外壁，至少三个所述第一定位件共同抵持所述外壁。
  26. 根据权利要求25所述的壳体，其特征在于，至少三个所述第一定位件在所述安装空间内等角度均匀分布。
  27. 根据权利要求24所述的壳体，其特征在于，所述第一定位件呈长条状，所述第一定位件从所述安装空间内的一端延伸至另一端。
  28. 根据权利要求24所述的壳体，其特征在于，所述壳体还包括第二定位件，所述第二定位件连接在所述本体上并位于所述安装空间外；
    所述第二定位件用于与所述成像模组的定位结构配合，以限制所述成像模组绕所述中轴线转动的角度。
  29. 根据权利要求28所述的壳体，其特征在于，所述成像模组包括电路板，所述定位结构开设在所述电路板上；
    所述第二定位件包括定位柱和定位孔中的一个，所述定位结构包括所述定位柱和所述定位孔中的另一个，所述定位柱用于伸入所述定位孔并与所述定位孔的内壁相抵。
  30. 根据权利要求29所述的壳体，其特征在于，所述定位孔为腰形孔，所述腰形孔的中心线的延伸方向穿过所述中轴线。
  31. 根据权利要求28所述的壳体，其特征在于，所述壳体还包括抵持件，所述抵持件连接在所述本体上，所述成像模组包括电路板，所述抵持件的端面抵持所述电路板，以限制所述成像模组沿所述中轴线的方向伸入所述安装空间的量。
  32. 根据权利要求31所述的壳体，其特征在于，所述抵持件的数量为多个，多个所述抵持件设置在所述安装空间外，多个所述抵持件间隔设置。
  33. 根据权利要求32所述的壳体，其特征在于，所述壳体还包括连接件，所述连接件用于连接所述抵持件与所述本体。
  34. 根据权利要求33所述的壳体，其特征在于，所述连接件上形成有中空结构。
  35. 根据权利要求33所述的壳体，其特征在于，所述第二定位件设置在至少一个所述抵持件的端面上。
  36. 根据权利要求24所述的壳体，其特征在于，所述本体开设有与所述安装空间连通的通光孔，所述通光孔与所述成像模组的入光孔同心设置。
  37. 一种拍摄设备，用于云台，其特征在于，所述拍摄设备包括壳组件及成像模组，所述壳组件包括壳体及外壳，所述壳体包括：
    本体，所述本体开设有安装空间，所述成像模组部分安装在所述安装空间内；及
    第一定位件，所述第一定位件连接在所述本体上并向所述安装空间凸出，其中，所述第一定位件用于抵持所述成像模组以限制所述成像模组的中轴线的位置；
    所述外壳包括：
    主体，所述主体开设有收容腔，所述壳体安装在所述收容腔内；及
    连接部，所述连接部与所述主体连接，所述连接部用于与云台连接。
  38. 根据权利要求37所述的拍摄设备，其特征在于，所述第一定位件包括至少三个，至少三个所述第一定位件间隔分布在所述安装空间的内侧壁上；
    所述成像模组包括外壁，所述安装空间收容至少部分所述外壁，至少三个所述第一定位件共同抵持所述外壁。
  39. 根据权利要求38所述的拍摄设备，其特征在于，至少三个所述第一定位件在所述安装空间内等角度均匀分布。
  40. 根据权利要求37所述的拍摄设备，其特征在于，所述第一定位件呈长条状，所述第一定位件从所述安装空间内的一端延伸至另一端。
  41. 根据权利要求37所述的拍摄设备，其特征在于，所述壳体还包括第二定位件，所述第二定位件连接在所述本体上并位于所述安装空间外；
    所述第二定位件用于与所述成像模组的定位结构配合，以限制所述成像模组绕所述中轴线转动的角度。
  42. 根据权利要求41所述的拍摄设备，其特征在于，所述成像模组包括电路板，所述定位结构开设在所述电路板上；
    所述第二定位件包括定位柱和定位孔中的一个，所述定位结构包括所述定位柱和所述定位孔中的另一个，所述定位柱用于伸入所述定位孔并与所述定位孔的内壁相抵。
  43. 根据权利要求42所述的拍摄设备，其特征在于，所述定位孔为开设在所述电路板上的腰形孔，所述腰形孔的中心线的延伸方向穿过所述中轴线。
  44. 根据权利要求41所述的拍摄设备，其特征在于，所述壳体还包括抵持件，所述抵持件连接在所述本体上，所述成像模组包括电路板，所述抵持件的端面抵持所述电路板，以限制所述成像模组沿所述中轴线的方向伸入所述安装空间的量。
  45. 根据权利要求44所述的拍摄设备，其特征在于，所述抵持件的数量为多个，多个所述抵持件设置在所述安装空间外，多个所述抵持件间隔设置。
  46. 根据权利要求45所述的拍摄设备，其特征在于，所述壳体还包括连接件，所述连接件用于连接所述抵持件与所述本体。
  47. 根据权利要求46所述的拍摄设备，其特征在于，所述连接件上形成有中空结构。
  48. 根据权利要求45所述的拍摄设备，其特征在于，所述第二定位件设置在至少一个所述抵持件的端面上。
  49. 根据权利要求37至48任意一项所述的拍摄设备，其特征在于，所述壳体还包括第三定位件，所述第三定位件连接在所述本体上，所述主体上设置有第四定位件，所述第三定位件与所述第四定位件配合以定位所述壳体在所述收容腔内的安装位置。
  50. 根据权利要求49所述的拍摄设备，其特征在于，所述第三定位件包括定位凸出和定位凹槽中的一个，第四定位件包括所述定位凸出和所述定位凹槽中的另一个，所述定位凸出与所述定位凹槽配合。
  51. 根据权利要求50所述的拍摄设备，其特征在于，所述主体包括相对的第一侧壁及第二侧壁，所述第四定位件形成在所述第一侧壁及/或所述第二侧壁上。
  52. 根据权利要求37至48任意一项所述的拍摄设备，其特征在于，所述壳体还包括嵌入部，所述嵌入部连接在所述本体的一端，所述外壳还开设有嵌入槽，所述嵌入槽与所述收容腔连通，所述嵌入槽自所述主体延伸至与所述连接部对应的位置，所述嵌入部伸入所述嵌入槽内。
  53. 根据权利要求37至48任意一项所述的拍摄设备，其特征在于，所述壳组件还包括盖体，所述盖体与所述连接部连接并遮盖所述收容腔，所述盖体与所述壳体分别抵持所述成像模组的两侧。
  54. 根据权利要求53所述的拍摄设备，其特征在于，所述连接部包括第一子连接部及第二子连接部，所述第一子连接部及所述第二子连接部分别连接在所述主体的相对两侧，所述盖体安装在所述第一子连接部及所述第二子连接部之间。
  55. 根据权利要求54所述的拍摄设备，其特征在于，所述第一子连接部的与所述第二子连接部相对的一侧开设有固定凹槽，所述第二子连接部上开设有固定通孔，所述盖体包括：
    基体，所述基体与所述第一子连接部及所述第二子连接部结合；及
    连接在所述基体的一侧上的固定凸出，所述固定凸出伸入所述固定凹槽内；
    所述基体的另一侧开设有固定盲孔，所述固定盲孔与所述固定通孔对准，紧固件能够穿入所述固定通孔与所述固定盲孔，以固定所述第二子连接部与所述基体。
  56. 根据权利要求55所述的拍摄设备，其特征在于，所述主体的端面上开设有安装凹槽，所述盖体包括连接在所述基体上的安装凸出，所述安装凸出与所述安装凹槽配合。
  57. 根据权利要求53所述的拍摄设备，其特征在于，所述拍摄设备还包括配重块，所 述配重块安装在所述壳组件内，所述配重块用于调节所述拍摄设备的重心的位置，以使所述连接部的中心线穿过所述重心。
  58. 根据权利要求57所述的拍摄设备，其特征在于，所述配重块安装在所述成像模组的电路板与所述盖体之间。
  59. 根据权利要求37至48任意一项所述的拍摄设备，其特征在于，所述壳组件还包括密封件，所述密封件套设在所述成像模组上，所述成像模组与所述本体的端面抵持所述密封件，所述密封件密封所述成像模组与所述端面之间的间隙。
  60. 根据权利要求37至48任意一项所述的拍摄设备，其特征在于，所述本体开设有与所述安装空间连通的通光孔，所述通光孔及所述成像模组的入光孔同心设置。
  61. 根据权利要求60所述的拍摄设备，其特征在于，所述主体开设有与所述收容腔连通的过光孔，所述过光孔的范围覆盖所述通光孔，所述通光孔的范围覆盖所述入光孔。
  62. 一种云台结构，其特征在于，所述云台结构包括：
    云台；及
    权利要求1至23任意一项所述的壳组件，所述连接部连接在所述云台上。
  63. 一种云台结构，其特征在于，所述云台结构包括：
    云台；及
    权利要求37至61任意一项所述的拍摄设备，所述拍摄设备安装在所述云台上。
  64. 一种移动平台，其特征在于，包括：
    机体；及
    权利要求62或63所述的云台结构，所述云台结构安装在所述机体上。
  65. 根据权利要求64所述的移动平台，其特征在于，所述机体包括手持云台的握持部或无人机的机身中的一个。
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