WO2021253287A1 - 云台、摄像载体及可移动平台 - Google Patents

云台、摄像载体及可移动平台 Download PDF

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Publication number
WO2021253287A1
WO2021253287A1 PCT/CN2020/096597 CN2020096597W WO2021253287A1 WO 2021253287 A1 WO2021253287 A1 WO 2021253287A1 CN 2020096597 W CN2020096597 W CN 2020096597W WO 2021253287 A1 WO2021253287 A1 WO 2021253287A1
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WO
WIPO (PCT)
Prior art keywords
pan
elastic
shaft arm
mounting
head according
Prior art date
Application number
PCT/CN2020/096597
Other languages
English (en)
French (fr)
Inventor
黎三洋
蒋李
桑晓庆
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 CN202080005473.4A priority Critical patent/CN112789218A/zh
Priority to PCT/CN2020/096597 priority patent/WO2021253287A1/zh
Publication of WO2021253287A1 publication Critical patent/WO2021253287A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Definitions

  • This application relates to the field of unmanned aerial vehicles, in particular to a pan-tilt, camera carrier and movable platform.
  • drones in aerial photography, agriculture, plant protection, micro selfies, express transportation, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reports, power inspection, disaster relief, film and television shooting, etc. has been greatly expanded.
  • the purpose of the drone itself “traversing aircraft”/"unmanned racing drones” are small drones with high racing speed and short endurance time. Unlike common aerial drones, the maximum speed of the crossing aircraft can reach 120km/h per hour. -230km/h, due to the extremely fast speed, drone racing is also called “F1 in the air", and the existence of the FPV (First Person View) system allows pilots and spectators to watch the flight racing in real time through the drone lens Process, experience the feeling of sitting in the cockpit. It is precisely because of the high maneuverability of the traversing machine that the pilot can use the traversing machine to carry a camera to record video images that are different from aerial photography drones to meet the needs of different users for aerial photography.
  • FPV First Person View
  • the top speed of the traversing machine is relatively high, and the vibration of the traversing machine during flight is relatively intense.
  • the load is generally fixedly connected to the body of the traversing machine. When the body vibrates, it is easy to cause the load to vibrate together. Severe, affecting the normal work of the load.
  • the embodiment of the present application provides a pan-tilt, a camera carrier, and a movable platform.
  • the pan-tilt is used for a movable platform.
  • the pan-tilt includes a bracket, a shaft arm, and an elastic vibration damping member.
  • the bracket includes a base body and a plurality of mounting parts connected to the base body; the shaft arm For carrying a load, the shaft arm and the bracket are spaced apart; the elastic damping member is connected to the mounting portion, and the axis of the elastic damping member is inclined with respect to the plane where the base is located; wherein, The shaft arm is connected to the plurality of mounting parts through the elastic vibration damping member.
  • the camera carrier of the embodiment of the present application includes a pan/tilt and a photographing device.
  • the pan/tilt includes a bracket, a shaft arm, and an elastic vibration damping member.
  • the bracket includes a base and a plurality of mounting parts connected to the base;
  • the arm is used to carry the load, the shaft arm is spaced apart from the bracket;
  • the elastic damping member is connected to the mounting portion, and the axis of the elastic damping member is inclined with respect to the plane where the base is located; wherein
  • the shaft arm is connected to the plurality of mounting parts through the elastic vibration damping member, and the imaging device is mounted on the shaft arm.
  • the movable platform of the embodiment of the present application includes a fuselage and a pan/tilt, the pan/tilt includes a bracket, a shaft arm and an elastic vibration damping member, the bracket includes a base and a plurality of mounting parts connected to the base;
  • the shaft arm is used to carry a load, and the shaft arm is spaced apart from the bracket;
  • the elastic damping member is connected to the mounting portion, and the axis of the elastic damping member is inclined with respect to the plane where the base body is located;
  • the shaft arm is connected to a plurality of the mounting parts through the elastic vibration damping member, and the base body is mounted on the fuselage.
  • the shaft arm is connected to the support by using an elastic damping member, and at the same time, the axis of the elastic damping member is inclined with respect to the plane where the base is located, so that the movable platform is When moving, the bracket is effectively decoupled from the load mounted on the axle arm, which reduces the impact of the vibration of the movable platform on the load.
  • the vibration damping effect of the gimbal is better, and compared with the elastic vibration damping
  • the coupling between the load and the movable platform is greatly reduced, and the coupling between the movable platform and the load is greatly reduced.
  • the decoupling rate is higher and the load is more stable.
  • Fig. 1 is a schematic diagram of a three-dimensional assembly of a movable platform according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of a three-dimensional assembly of a movable platform according to an embodiment of the present application
  • FIG. 3 is a three-dimensional exploded schematic diagram of a camera carrier according to an embodiment of the present application.
  • FIG. 4 is a perspective view of a three-dimensional assembly diagram of a camera carrier according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a three-dimensional assembly of the camera carrier according to the embodiment of the present application from another perspective;
  • Fig. 6 is a schematic plan view of a camera carrier according to an embodiment of the present application.
  • Figure 7 is the response in the pitch direction of a pan/tilt with vertically arranged elastic damping members after a step force is applied on the x-axis;
  • Figure 8 is the response in the Roll direction of the pan/tilt with vertically arranged elastic damping members after applying a step force on the y-axis;
  • FIG. 9 is the response of the gimbal in the embodiment of the present application in the pitch direction after a step force is applied on the x-axis;
  • FIG. 10 is the response of the gimbal in the embodiment of the present application in the Roll direction after applying a step force on the y-axis;
  • FIG. 11 is a schematic diagram of a plane structure of a pan-tilt according to an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a plane structure of a pan-tilt according to an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a three-dimensional structure of an elastic vibration damper according to an embodiment of the present application.
  • 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. get in touch with.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or it simply means that the level of the first feature is higher than that of the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean 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 movable platform 1000 includes a fuselage 200 and a pan-tilt 100.
  • the movable platform 1000 specifically refers to any device that can move or rotate.
  • the movable platform 1000 may include, but is not limited to, land mobile equipment, underwater mobile equipment, aerial mobile equipment, and other types of motor vehicles.
  • the movable platform 1000 may include passenger vehicles, unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc., and the operation of the movable platform 1000 may include flying, parade, crawling, and the like.
  • the embodiment of the present application takes the movable platform 1000 as an unmanned aerial vehicle as an example for illustrative description.
  • the unmanned aerial vehicle is a traversing machine. It is understood that the movable platform 1000 is not limited to an unmanned aerial vehicle, and may be others.
  • the unmanned aerial vehicle may be a multi-rotor unmanned aerial vehicle, such as a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, and a twelve-rotor unmanned aerial vehicle.
  • Unmanned aerial vehicles can be used to carry loads to complete predetermined tasks, such as imaging devices for shooting, pesticides, nutrient solutions, and spraying devices for plant protection tasks, and so on.
  • Unmanned aerial vehicles can also be used for miniature selfies, express transportation, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting and other fields.
  • the fuselage 200 can be used as an installation carrier for the functional components of the movable platform 1000.
  • a pan/tilt 100, a load, etc. can be installed outside the fuselage 200, and a power supply module, flight control system, image transmission device, etc. can be installed in the fuselage 200.
  • the body 200 can provide protection against water, dust, etc., for functional components installed in the body 200.
  • the fuselage 200 includes a top wall 210, a bottom wall 220, and a plurality of side walls 230 connecting the top wall 210 and the bottom wall 220.
  • the pan/tilt head 100 includes a base 11, and the base 11 is fixedly installed on any side wall 230. It can be understood that the pan/tilt head 100 is fixedly installed on any side wall 230 through the base 11.
  • the base 11 can be installed on the front side wall, the rear side wall, the left side wall, or the like. It can be installed on the right side wall, there is no restriction here.
  • the movable platform 1000 is an example of an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a frame 410 and a plurality of rotor devices 420.
  • the frame 410 includes a central body 411 and a plurality of units connected to the central body 411.
  • the central body 411 can serve as the above-mentioned fuselage 200, and the plurality of arms 412 can be arranged radially with the central body 411 as the center.
  • the arm 412 can be folded and housed on the central body 411 for easy carrying.
  • the arm 412 can also be connected to the central body 411 through a quick release structure, which is convenient for users to disassemble or replace the machine. ⁇ 412.
  • a plurality of rotor devices 420 are installed on the plurality of arms 412. Specifically, each rotor device 420 is installed on the end of the corresponding arm 412 away from the central body 411.
  • Each rotor device 420 includes a motor (not shown in the figure) and a propeller (not shown in the figure) installed on the motor.
  • the motor can drive the propeller to rotate and provide lift or pull for the unmanned aerial vehicle to drive the drone. Human aircraft flying or hovering.
  • each rotor device 420 can be individually controlled, for example, the opening and closing of each rotor device 420, the rotation direction of each rotor device 420, the output power of each rotor device 420, etc. can be independently controlled.
  • the camera carrier 2000 in the embodiment of the present application includes a pan-tilt 100 and a camera 300.
  • the camera carrier 2000 can be any device with a camera function, and the camera carrier 2000 can include, but is not limited to, a pan-tilt camera, a pan-tilt mobile phone, and a sports camera.
  • the embodiment of the present application takes the camera carrier 2000 as a pan-tilt camera as an example for illustrative description. It can be understood that the camera carrier 2000 is not limited to a pan-tilt camera, and may be others.
  • the photographing device 300 may be used for operations such as photographing and video shooting, and the photographing device 300 may be a camera, a mobile phone, a camera, or the like.
  • the pan/tilt head 100 includes a shaft arm 20.
  • the photographing device 300 is mounted on the shaft arm 20.
  • the photographing device 300 can be fixedly connected with a motor on the shaft arm 20. When the motor rotates, the photographing device 300 rotates to adjust the posture of the photographing device 300 to achieve The purpose of adjusting the camera angle.
  • the camera carrier 2000 can be installed on the body 200 of the movable platform 1000 through the base 11 to follow the movement of the movable platform 1000 and shoot videos or photos in real time.
  • the pan/tilt head 100 includes a bracket 10, a shaft arm 20 and an elastic vibration damping member 30.
  • the bracket 10 includes a base 11 and a plurality of mounting parts 12 connected to the base 11.
  • the shaft arm 20 is used to carry a load (as the photographing device 300 in FIG. 3 ), and the shaft arm 20 and the bracket 10 are spaced apart.
  • the elastic damping member 30 is connected to the mounting portion 12, and the axis of the elastic damping member 30 is inclined with respect to the plane where the base 11 is located.
  • the shaft arm 20 is connected to the plurality of mounting parts 12 through the elastic vibration damping member 30.
  • the shaft arm 20 is connected to the support 10 by using the elastic damping member 30, and the axis of the elastic damping member 30 is inclined with respect to the plane where the base 11 is located, so that the movable platform 1000 is moving
  • the time bracket 10 can be effectively decoupled from the load carried on the shaft arm 20, reducing the impact of the vibration of the movable platform 1000 on the load, and the vibration damping effect of the pan/tilt is better than that of the inelastic damping member 30;
  • the platform with the elastic vibration damping member 30 arranged vertically when the platform 100 of the embodiment of the present application moves in translation and rotation of the movable platform 1000, the coupling between the load and the movable platform is greatly reduced, which can be The decoupling rate between the mobile platform 1000 and the load is higher, and the load is more stable.
  • the pan/tilt head 100 includes a bracket 10, a shaft arm 20 and an elastic vibration damping member 30.
  • the bracket 10 includes a base 11 and a plurality of mounting parts 12 connected to the base 11.
  • the base 11 can be mounted on the fuselage 200 by means of fasteners or the like, so that the pan/tilt 100 can be fixedly mounted on the fuselage 200.
  • the base 11 may be installed on the body 200 by means of screw connection.
  • the shaft arm 20 is spaced apart from the support 10, and the shaft arm 20 is not directly connected to the support 10.
  • the axle arm 20 can carry a load, and the load can be fixedly connected with a motor on the axle arm 20. When the motor rotates, it can drive the load to rotate relative to the axle arm 20, so that the load can adjust the working angle in time to better perform the work task.
  • the load may be a camera 300, a spraying device, a detection device, a rescue material, etc., and the specific form of the load is not limited here.
  • the elastic damping member 30 is connected to the mounting portion 12, and the axis of the elastic damping member 30 is inclined with respect to the plane where the base 11 is located. It can be understood that the axis of the elastic damping member 30 is not perpendicular to the plane where the base 11 is located.
  • the base 11 may be in the shape of a flat plate, the plane of the base 11 may refer to the plane where the flat plate is located, and the plane where the base 11 is located may also refer to the plane where the side wall 230 of the mounting bracket 10 is located.
  • the shaft arm 20 is connected to the plurality of mounting parts 12 through the elastic damping member 30.
  • the elastic damping member 30 there is an elastic damping member 30 between the shaft arm 20 and the bracket 10, and the elastic damping member 30 connects the shaft arm 20 and the bracket 10, and the vibration of the bracket 10 is The vibration is first transmitted to the elastic vibration damping member 30 and then to the shaft arm 20.
  • the elastic damping member 30 may be a spring, a damping ball 311 and other elements.
  • the axle arm 20 is mounted on the bracket 10 through the elastic vibration damping member 30, so that when the movable platform 1000 is moving, the fuselage 200 and the load mounted on the axle arm 20 can be effectively decoupled, which can reduce the vibration of the fuselage 200 on the load.
  • the vibration of the load is smaller and the stability is better.
  • the axis of the elastic damping member 30 is inclined with respect to the plane where the base 11 is located.
  • the movable platform 1000 is flat When moving and rotating, there is less coupling between the load carried on the shaft arm 20 and the movable platform 1000.
  • the decoupling rate of the pan/tilt 100 in the embodiment of the present application is about 95%, and the rotation frequency of each order is lower than that of the pan/tilt with the elastic vibration damping member 30 vertically connected to the mounting portion 12, so that the load and the fuselage 200 Resonance is not easy to occur.
  • the suppression ratio at 250 Hz in the roll angle roll direction and the heading angle Yaw direction is about 0.2, which is much larger than that of the elastic damper 30 and the base 11 perpendicularly connected. The promotion.
  • the pitch angle Pitch is the angle at which the movable platform 1000 rotates around the y axis
  • the roll angle Roll is the angle at which the movable platform 1000 rotates around the x axis
  • the heading angle Yaw is the angle at which the movable platform 1000 rotates around the z axis.
  • FIG. 7 is the response of the pan/tilt with the elastic damping member 30 vertically arranged in the pitch direction after a step force is applied on the X axis
  • Fig. 8 is the pan/tilt with the elastic damping member 30 arranged vertically applying a step force on the Y-axis
  • FIG. 9 is the response of the pan/tilt head 100 in the embodiment of the application in the Pitch direction after a step force is applied on the X axis
  • FIG. 10 is the pan/tilt head 100 in the embodiment of the application in the Y axis response The response in the Roll direction.
  • the maximum rotation angle of the pan/tilt with the elastic vibration damping member 30 arranged vertically in the Pitch direction is 1.8°, and it takes about 1.4s to reach a steady state, and the maximum rotation angle in the Roll direction is 0.8°. It takes about 0.8s to reach steady state.
  • the maximum rotation angle of the gimbal 100 in the pitch direction of the embodiment of the present application is 0.32°, which takes about 0.4s to reach a steady state, and the maximum rotation angle in the roll direction is 0.2°, which requires approximately 0.3 s reaches a steady state. It can be seen from the experimental data that the pan/tilt head 100 of the embodiment of the present application has a better vibration damping effect in the pitch direction and the roll direction than the pan/tilt head in which the elastic vibration damping member 30 is vertically arranged.
  • the number of elastic damping members 30 is more than The arm 20 is connected to the support 10, so that the plurality of elastic vibration damping members 30 can attenuate the vibration transmitted from the support 10 to the shaft arm 30, which enhances the vibration damping effect of the pan/tilt 100 on the load, so that the pan/tilt 100 The shaft arm 20 and the load are more stable.
  • the number of elastic vibration damping members 30 may be two, three, four, five, six, etc., which is not limited here.
  • the plurality of elastic damping members 30 are all connected on the same side of the base 11, and the shaft arm 20 is connected with the plurality of elastic damping members 30. It can be understood that the shaft arm 20 and the plurality of elastic damping members 30 are all located on the same side of the base 11 .
  • the base 11 is connected to the fuselage 200 of the movable platform 1000, and a plurality of elastic damping members 30 are connected to the side of the base 11 away from the fuselage 200 of the movable platform 1000.
  • the number of elastic damping members 30 is 4, and the 4 elastic damping members 30 are all located on the same side of the base 11, and the shaft arm 20 passes through these 4 elastic damping members. 30 is connected to the mounting part 12.
  • the inclination angles of the axes of the plurality of elastic damping members 30 with respect to the plane where the base 11 is located are the same, so that the pairs of the plurality of elastic damping members 30 are transmitted to the elastic damping member 30
  • the vibration damping effect of the vibration is the same, so that the vibration of the load mounted on the shaft arm 20 and the vibration of the shaft arm 20 are small.
  • the same inclination angle of the axis of the elastic damping member 30 with respect to the plane where the base 11 is located may be that the axes of two adjacent elastic damping members 30 are on the same plane, or it may be two adjacent elastic members. The axes of the vibration damping member 30 are not on the same plane.
  • the inclination angles of the axes of the at least two elastic damping members 30 with respect to the plane where the base 11 is located are different, and the damping effects of the elastic damping members 30 with different inclination angles will also have certain differences. Decoupling of vibrations in different directions.
  • the pan/tilt head 100 in this embodiment is suitable for being installed on a movable platform 1000 with large vibration differences at various positions.
  • the angles are all different.
  • the axes of the plurality of elastic damping members 30 are parallel to each other. Specifically, the inclination direction and the inclination angle of the axes of the plurality of elastic damping members 30 relative to the plane where the base 11 is located are the same, and the axes of the plurality of elastic damping members 30 are parallel to each other.
  • the vibration damping effect in the inclined direction of the member 30 is better, and it is suitable for installing the movable platform 1000 with strong vibration in a certain direction during the movement.
  • the axes of two adjacent elastic damping members 30 are distributed in the same plane, or the axes of two adjacent elastic damping members 30 are distributed in different planes. Specifically, the axes of two adjacent elastic damping members 30 are on the same plane, and the axes of two adjacent elastic damping members 30 may be parallel or non-parallel; or the axes of two adjacent elastic damping members 30 The axes are on two planes, not on the same plane.
  • the end 302 of the plurality of elastic damping members 30 connected to the shaft arm 20 is closer to the center C of the bracket 10 than the end 301 connected to the mounting portion 12.
  • a plurality of elastic vibration damping members 30 are arranged in the shape of an "inner horoscope" on the base 11. That is, the plurality of elastic members 30 are inclined in the direction of the center of the bracket 10, so that the elastic damping member 30 can better balance the gravity of the load on the shaft arm 20 and the shaft arm 20, so that the movable platform 1000 is moving It is possible to better dampen the shaft arm 20 and the load on the shaft arm 20.
  • the end 302 of the plurality of elastic damping members 30 connected to the shaft arm 20 is farther away from the center C of the bracket 10 than the end 301 connected to the mounting portion 12.
  • the plurality of elastic damping members 30 are arranged in the shape of an “outer figure” on the base 11, that is, the plurality of elastic members 30 are inclined in a direction away from the center C of the bracket 10.
  • the direction of the centrifugal force received by the pan/tilt head 100 is the direction extending from the center C of the bracket 10 to the surroundings. Therefore, when the movable platform 1000 rotates, the elastic vibration damping member 30 can be better.
  • the end of the at least one elastic damping member 30 connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12; and at least one elastic damping member The end of 30 connected to the shaft arm 20 is farther away from the center of the bracket 10 than the end connected to the mounting portion 12.
  • some of the elastic damping members 30 among the plurality of elastic damping members 30 are inclined toward the direction of the center of the bracket 10, and some of the elastic damping members 30 are inclined toward the direction away from the center of the bracket 10.
  • the elastic vibration damping member 30 can attenuate the vibration transmitted from the body 200 to the load on the shaft arm 20 and the shaft arm 20, so that the vibration on the shaft arm 20 and the shaft arm 20
  • the load can be in a relatively stable state when the body 200 vibrates.
  • the number of elastic damping members 30 whose one end connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12 may be one, two, three, and so on.
  • the end of at least one elastic damping member 30 connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12; or at least one elastic damping member The end of 30 connected to the shaft arm 20 is farther away from the center of the bracket 10 than the end connected to the mounting portion 12.
  • the number of elastic damping members 30 whose one end connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12 may be one, two, three, etc.; those connected to the shaft arm 20
  • the number of elastic damping members 30 whose one end is farther from the center of the bracket 10 than the end connected to the mounting portion 12 may be one, two, three, or the like.
  • a plurality of elastic damping members 30 are symmetrically distributed with respect to a plane.
  • the elastic damping member 30 connected above the base 11 and the elastic damping member 30 connected below the base 11 are symmetrical with respect to the horizontal plane at the center of the base 11; for another example, the one connected to the left side of the base 11
  • the elastic damping member 30 and the elastic damping member 30 connected to the right side are symmetrical with respect to the plane in the vertical direction at the center of the base 11.
  • the multiple elastic damping members 30 on both sides of the plane can balance the vibrations transmitted to the elastic damping member 30 on both sides, so that the movable platform 1000 will load on the shaft arm 20 during the movement. Vibration is not prone to occur, and the pan/tilt head 100 can better dampen vibration.
  • a plurality of elastic damping members 30 are distributed symmetrically with respect to the center of the bracket 10, for example, the elastic damping member 30 connected to the upper left of the base 11 and the elastic damping member 30 connected to the lower right
  • the damping member 30 is symmetrical with respect to the center of the bracket 10; the elastic damping member 30 connected to the lower left of the base 11 and the elastic damping member 30 connected to the upper right are symmetrical with respect to the center of the bracket 10.
  • the multiple elastic vibration damping members 30 can better attenuate the vibration transmitted from the fuselage 200 to the shaft arm 20, reduce the coupling ratio between the load and the fuselage 200, and make the fuselage 200 when the movable platform 1000 moves.
  • the vibration of the shaft arm 20 and the load carried by the shaft arm 20 have little influence.
  • the elastic damping member 30 includes a damping portion 31, a first connecting portion 32, and a second connecting portion 33.
  • the damping portion 31 is used for elastic deformation under pressure;
  • a connecting portion 32 is connected to one end of the damping portion 31, the first connecting portion 32 is connected to one of the mounting portion 12 and the shaft arm 20, the second connecting portion 33 is connected to the other end of the damping portion 31, and the second connecting portion 33 is connected to the other of the mounting portion 12 and the shaft arm 20.
  • the vibration of the fuselage 200 will be transmitted to the elastic vibration damping member 30, and the vibration damping portion 31 can be elastically deformed when receiving the vibration of the fuselage 200, so that the vibration transmitted to the shaft arm 20 is small, so that the shaft The load on the arm 20 and the shaft arm 20 can be relatively stable when the body 200 vibrates.
  • the damping portion 31 may be a spring, a damping ball 311, and other elements.
  • the elastic damping member 30 includes a first connecting portion 32, a damping portion 31, and a second connecting portion 33 that are connected in sequence. And the second connecting portion 33 to install the elastic damping member 30 between the bracket 10 and the shaft arm 20.
  • the body 200 vibrates, it will drive the bracket 10 to vibrate together.
  • the vibration is transmitted to the elastic damping member 30, it will be weakened. , The vibration reaching the shaft arm 20 is small.
  • the damping portion 31, the first connecting portion 32, and the second connecting portion 33 are an integral structure, that is, the damping portion 31, the first connecting portion 32, and the second connecting portion 33 are Different parts on the same part, rather than a separate part, so that the elastic vibration damping member 30 is more stable, and the vibration damping part 31, the first connecting part 32 and the second connecting part 33 are not easy to communicate when the fuselage 200 vibrates. Separation occurred.
  • the damping portion 31, the first connecting portion 32, and the second connecting portion 33 are made of soft materials, and the damping portion 31, the first connecting portion 32, and the second connecting portion 33 are all made of soft materials. Strong elasticity. When the vibration is transmitted to the elastic vibration damping member 30, the elastic vibration damping member 30 can better attenuate the vibration, so that the vibration transmitted to the shaft arm 20 is smaller.
  • the damping portion 31, the first connecting portion 32, and the second connecting portion 33 may be made of rubber, plastic, silicone or other materials.
  • the damping portion 31 is made of a soft material
  • the first connecting portion 32 and the second connecting portion 33 are made of a hard material.
  • the damping portion 31 includes a damping ball 311.
  • the damping ball 311 is in a drum shape.
  • the damping ball 311 is in a drum shape and can be more elastically deformed under pressure. The larger the force-receiving area can better attenuate the vibration, so that the vibration of the load transmitted to the shaft arm 20 and the shaft arm 20 is smaller.
  • the number of damping balls 311 is multiple, and the plurality of damping balls 311 are connected in series.
  • the number of damping balls 311 can be two, three, four, five, etc.
  • a plurality of damping balls 311 are connected in series between the first connecting portion 32 to the second connecting portion 33, so that the fuselage When the vibration of 200 is transmitted in the vibration damping part 31, it can be weakened by the multiple vibration damping balls 311, and finally the vibration transmitted to the shaft arm 20 is relatively small, and at the same time, the vibration frequency reaching the shaft arm 20 can be reduced, so that the shaft arm 20 It is not easy to resonate with the fuselage 200, so that the load carried on the axle arm 20 can maintain good stability when the fuselage 200 vibrates.
  • the damping ball 31 may be a solid structure or a hollow structure.
  • the mounting portion 12 includes a mounting post 121
  • the shaft arm 20 includes a body 21 and a fixing plate 22 that are connected to each other.
  • the fixing plate 22 is provided with a fixing hole 221.
  • the first connecting portion 32 is provided with a connecting hole 321
  • the mounting post 121 is penetrated in the connecting hole 321
  • the second connecting portion 33 is penetrated with a fixing hole 221.
  • the mounting post 121 is inserted in the connecting hole 321 so that the first connecting portion 32 is connected to the mounting portion 12.
  • the shaft arm 20 includes a body 21 and a fixing plate 22 that are connected to each other.
  • the load can be mounted on the body 21, and the second The connecting portion 33 passes through the fixing hole 221 on the fixing plate 22 so that the second connecting portion 33 is connected to the fixing plate 22.
  • the mounting post 121 may be cylindrical, prismatic, etc.
  • the shape of the connecting hole 321 may be a circle, a polygon, an irregular shape, etc.
  • the shape of the mounting post 121 is similar to or the same as the shape of the connecting hole 321.
  • the size of the end of the mounting post 121 is larger than the size of the middle part, the middle part of the mounting part 12 penetrates the connecting hole 321, and the end of the mounting post 121 clamps the first connecting part. 32, making the connection between the first connecting portion 32 and the mounting post 121 more stable.
  • the first connecting portion 32 is not easy to fall off the mounting post 121.
  • the size of the middle part of the mounting post 121 is smaller than or equal to the size of the connecting hole 321 so that the middle part of the mounting post 121 can penetrate into the connecting hole 321.
  • the size of the end of the mounting post 121 is larger than the size of the connecting hole 321.
  • the second connecting portion 33 includes a locking block 331, the size of the locking block 331 is larger than the size of the fixing hole 221, the fixing plate 22 is clamped in the locking block 331 Between the block 331 and the vibration damping part 31.
  • the locking block 331 is squeezed and reduced in size during the process of passing through the fixing hole 221.
  • the locking block 331 is restored to its natural size, thereby, the second connecting portion 33 is firmly connected to the fixed plate 22.
  • the second connecting portion 33 is not easy to fall off the mounting post 121.
  • the mounting portion 12 includes a mounting block 122, the mounting block 122 is provided with a mounting hole 1221, the shaft arm 20 includes a body 21 and a fixed post 23 that are connected to each other.
  • a connecting portion 32 is provided with a connecting hole 321, the fixing post 23 is penetrated in the connecting hole 321, and the second connecting portion 33 is penetrated with a mounting hole 1221, so that the elastic damping member 30 can be firmly connected to the bracket 10 and the shaft arm Between 20, the elastic vibration damping member 30 can have a better vibration damping effect, and the stability of the shaft arm 20 and the load on the shaft arm 20 is improved.
  • the fixed post 23 is connected to the main body 21, and the main body 21 can carry a load.
  • the fixed post 23 is inserted in the connecting hole 321, so that the first connecting portion 32 is connected to the fixed post 23, and the second connecting portion 33 is inserted through
  • the mounting hole 1221 enables the second connecting portion 33 to be fixedly connected to the mounting block 122.
  • the elastic damping member 30 is connected between the bracket 10 and the shaft arm 20, which can better weaken the transmission from the bracket 10 to the shaft arm 20 Vibration.
  • the size of the end of the fixed post 23 is larger than the size of the middle part, the middle part of the fixed post 23 penetrates the connecting hole 321, and the end of the fixed post 23 clamps the first connecting part 32, so that it can move
  • the first connecting portion 32 will not be separated from the fixed column 23, and the elastic vibration damping member 30 will not be separated from the shaft arm 20, so that the shaft arm 20 and the shaft arm 20 mounted on the shaft arm 20 Load work is more stable.
  • the size of the middle part of the fixing post 23 is smaller than the size of the connecting hole 321, so that the fixing post 23 can pass through the connecting hole 321.
  • the size of the end of the fixing column 23 is larger than the size of the connecting hole 321.
  • the second connecting portion 33 includes a locking block 331, the size of the locking block 331 is larger than the size of the mounting hole 1221, and the mounting hole 1221 is clamped between the locking block 331 and the damping portion 31.
  • the locking block 331 is squeezed in the process of passing through the mounting hole 1221 and has a small size. After the locking block 331 passes through the mounting hole 1221, the locking block 331 returns to the size of its natural shape, and thus, the second connecting portion 33 is fixedly connected to the mounting block 122 so that the elastic vibration damping member 30 is fixedly connected to the bracket 10.
  • the elastic vibration damping member 30 is not easily separated from the bracket 10.
  • two mounting posts 121 and two mounting blocks 122 are connected to the base 11, and the shaft arm 20 includes a body 21 and two fixing plates 22 connected to the body 21 and two There are two fixed posts 23, the number of elastic damping members 30 is four, the first connecting portion 32 of the two elastic damping members 30 is connected to the mounting column 121 and the second connecting portion 33 is connected to the fixing plate 22, and the other two elastic damping members 30 The first connecting portion 32 of the vibrating member 30 is connected to the fixing column 23 and the second connecting portion 33 to the mounting block 122 to connect the shaft arm 20 to the bracket 10.
  • the second connecting portion 33 further includes a guide post 332.
  • the guide post 332 and the vibration damping portion 31 are respectively located on opposite sides of the locking block 331 along the vibration damping portion 31 points to the direction of the locking block 331, and the cross-sectional size of the guide post 332 is gradually reduced.
  • the guide post 332 is more easily inserted into the mounting hole 1221 and the fixing hole 221, and the guide post 332 can guide the locking block 331 passes through the mounting hole 1221 and the fixing hole 221.
  • the damping portion 31 is located on the side of the second connecting portion 33 close to the first connecting portion 32
  • the guiding column 332 is located on the side of the second connecting portion 33 away from the damping portion 31, and points toward the card along the damping portion 31.
  • the cross-sectional size of the guide post 332 gradually decreases.
  • the base 11 is provided with an escape hole 111, and the load at least partially extends into the escape hole 111, so that the load will not collide with the base 11 when it rotates relative to the shaft arm 20.
  • the rotation angle of the load is restricted by the base 11, so that the rotation range of the load can be larger, so that the work task can be better performed.
  • the load is the camera 300, and the camera 300 can at least partially extend into the escape hole 111, so that the camera carrier 2000 can shoot videos or photos from more angles.
  • the movable platform 1000 is an unmanned aerial vehicle
  • the gimbal 100 is installed on the central body 411 of the unmanned aerial vehicle
  • the load on the gimbal 100 is the camera 300
  • the camera 300 is connected to the control system of the drone .
  • the control system can control the rotation of the motor of the shaft arm 20 to drive the camera 300 upward to detect whether there are obstacles above; when the unmanned aerial vehicle is automatically landing, the control system can control the shaft arm by The motor of 20 rotates to drive the camera 300 downward to detect whether there is an obstacle below, thereby ensuring the safety of the unmanned aerial vehicle when it returns to home to a certain extent.
  • the camera 300 can also be combined with a control system for collision warning.
  • the control system controls the rotation of the motor of the shaft arm 20 to rotate the camera 300 to A safe angle prevents the camera 300 from being directly impacted and damaged.
  • 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. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of this application, "a plurality of” means at least two, for example two, three, unless otherwise specifically defined.

Abstract

一种云台(100)、摄像载体(2000)及可移动平台(1000)。云台(100)用于可移动平台(1000)，云台(100)包括支架(10)、轴臂(20)及弹性减振件(30)，支架(10)包括基体(11)及连接在基体(11)上的多个安装部(12)。轴臂(20)用于承载负载，轴臂(20)与支架(10)间隔设置。弹性减振件(30)连接在安装部(12)上，弹性减振件(30)的轴线相对于基体(11)所在的平面倾斜。轴臂(20)通过弹性减振件(30)连接在多个安装部(12)上。

Description

云台、摄像载体及可移动平台 技术领域
本申请涉及无人机领域，特别涉及一种云台、摄像载体及可移动平台。
背景技术
无人机目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等等领域的应用，大大的拓展了无人机本身的用途。其中，“穿越机”/“无人竞速机”属于高竞速，续航时间较短的小型无人机，与常见的航拍无人机不同，穿越机的最高时速可达到每小时120km/h-230km/h，由于速度极快，无人机竞速也被称为“空中F1”，而FPV(第一人称视角)系统的存在，允许飞手和观众通过无人机镜头实时观看飞行竞速过程，体验坐在驾驶舱内的感觉。正是由于穿越机的高机动性，飞手可以利用穿越机携带相机记录不同于航拍无人机的视频画面，满足不同用户对航拍的需求。
但是，穿越机的最高时速较大，同时穿越机在飞行过程中的振动相对比较激烈，目前负载一般是与穿越机的机身固定相连，在机身振动时容易带动负载一起振动，负载振动过于剧烈，影响负载正常工作。
发明内容
本申请的实施方式提供了一种云台、摄像载体及可移动平台。
本申请实施方式的云台用于可移动平台，所述云台包括支架、轴臂及弹性减振件，所述支架包括基体及连接在所述基体上的多个安装部；所述轴臂用于承载负载，所述轴臂与所述支架间隔设置；所述弹性减振件连接在所述安装部上，所述弹性减振件的轴线相对于所述基体所在的平面倾斜；其中，所述轴臂通过所述弹性减振件连接在多个所述安装部上。
本申请实施方式的摄像载体包括云台及拍摄装置，所述云台包括支架、轴臂及弹性减振件，所述支架包括基体及连接在所述基体上的多个安装部；所述轴臂用于承载负载，所述轴臂与所述支架间隔设置；所述弹性减振件连接在所述安装部上，所述弹性减振件的轴线相对于所述基体所在的平面倾斜；其中，所述轴臂通过所述弹性减振件连接在多个所述安装部上，所述拍摄装置安装在所述轴臂上。
本申请实施方式的可移动平台包括机身及云台，所述云台包括支架、轴臂及弹性减振件，所述支架包括基体及连接在所述基体上的多个安装部；所述轴臂用于承载负载，所述轴臂与所述支架间隔设置；所述弹性减振件连接在所述安装部上，所述弹性减振件的轴线 相对于所述基体所在的平面倾斜；其中，所述轴臂通过所述弹性减振件连接在多个所述安装部上，所述基体安装在所述机身上。
本申请实施方式的云台、摄像载体及可移动平台中，通过使用弹性减振件将轴臂连接在支架上，同时弹性减振件的轴线相对于基体所在的平面倾斜，使得可移动平台在移动时支架与搭载在轴臂上的负载有效解耦，减弱了可移动平台的振动对负载的影响，相较于无弹性减振件的云台减振效果更佳，相较于弹性减振件垂直布置的云台，本申请实施方式的云台在可移动平台平动和转动时，负载与可移动平台之间的耦合相比有了很大的减少，可移动平台与负载之间的解耦率更高，负载更加稳定。
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可移动平台的立体装配示意图；
图2是本申请实施方式的可移动平台的立体装配示意图；
图3是本申请实施方式的摄像载体的立体分解示意图；
图4是本申请实施方式的摄像载体的一个视角的立体装配示意图；
图5是本申请实施方式的摄像载体的另一个视角的立体装配示意图；
图6是本申请实施方式的摄像载体的平面装配示意图；
图7是垂直布置弹性减振件的云台在x轴上施加阶跃力后Pitch方向上的响应；
图8是垂直布置弹性减振件的云台在y轴上施加阶跃力后Roll方向上的响应；
图9是本申请实施方式的云台在x轴上施加阶跃力后Pitch方向上的响应；
图10是本申请实施方式的云台在y轴上施加阶跃力后Roll方向上的响应；
图11是本申请实施方式的云台的平面结构示意图；
图12是本申请实施方式的云台的平面结构示意图；
图13是本申请实施方式的弹性减振件的立体结构示意图。
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，本申请实施方式的可移动平台1000包括机身200和云台100。可移动平台1000具体指的是能够移动或转动的任何设备。其中，可移动平台1000可以包括但不限于陆地移动设备、水中移动设备、空中移动设备以及其他类型的机动载运工具。出于说明性目的，可移动平台1000可以包括载客载运工具、无人飞行器、无人车、无人船等，并且可移动平台1000的运行可以包括飞行、游行、爬行等方式。本申请实施方式以可移动平台1000为无人飞行器为例进行示例性说明，例如无人飞行器为穿越机，可以理解，可移动平台1000不限于无人飞行器，可以是其他。
无人飞行器可以是多旋翼无人飞行器，例如四旋翼无人飞行器、六旋翼无人飞行器、八旋翼无人飞行器、十二旋翼无人飞行器等。无人飞行器可以用于搭载负载以完成预定的任务，例如搭载成像装置以进行拍摄，搭载农药、营养液及喷洒装置以进行植保任务等。无人飞行器还可以被用于微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等领域。
机身200可作为可移动平台1000的功能部件的安装载体，例如机身200外可以安装云台100、负载等等，机身200内可以安装电源模块、飞控系统、图传装置等。机身200可以为安装在机身200内的功能部件提供防水、防尘等的保护。
机身200包括顶壁210、底壁220及连接顶壁210与底壁220的多个侧壁230。其中，云台100包括有基体11，基体11固定安装在任意一个侧壁230上。可以理解，通过基体11将云台100固定安装在任意一个侧壁230上，例如基体11可以安装在前侧壁上、也可以安装在后侧壁上、还可以安装在左侧壁上、又可以安装在右侧壁上，在此不做限制。
如图1及图2所示的可移动平台1000为无人飞行器的例子中，无人飞行器包括机架410及多个旋翼装置420，机架410包括中心体411以及与中心体411连接的多个机臂412。其中，中心体411即可作为上述的机身200，多个机臂412可以以中心体411为中心呈放射状设置。在一个例子中，机臂412可以折叠并收容在中心体411上，以便于携带，在另一个例子中，机臂412还可以通过快拆结构连接在中心体411上，便于用户拆卸或者更换机臂412。
多个旋翼装置420安装在多个机臂412上。具体地，每个旋翼装置420安装在对应的 机臂412远离中心体411的一端上。每个旋翼装置420包括电机(在图中未标出)及安装在电机上的螺旋桨(在图中未标出)，电机能够驱动螺旋桨转动，并为无人飞行器提供升力或者拉力，以带动无人飞行器飞行或者悬停。其中，每个旋翼装置420可以被单独控制，例如每个旋翼装置420的开启与关闭、每个旋翼装置420的转动方向、每个旋翼装置420的输出功率等可以被独立控制。
请参阅图3至图6，本申请实施方式的摄像载体2000包括云台100及拍摄装置300。摄像载体2000可以是任意具备摄像功能的设备，摄像载体2000可以包括但不限于云台相机、云台手机、运动相机。本申请实施方式以摄像载体2000为云台相机为例进行示例性说明，可以理解，摄像载体2000不限于云台相机，可以是其他。
拍摄装置300可以用于拍摄照片、拍摄视频等操作，拍摄装置300可以是相机、手机、摄像头等。云台100包括轴臂20，拍摄装置300安装在轴臂20上，拍摄装置300可以与轴臂20上的电机固定连接，电机转动时带动拍摄装置300转动，以调整拍摄装置300的姿态，达到调整摄像角度的目的。
其中，摄像载体2000可以通过基体11安装在可移动平台1000的机身200上，以跟随可移动平台1000运动并实时拍摄视频或照片等。
请参阅图3，本申请实施方式的云台100包括支架10、轴臂20及弹性减振件30。支架10包括基体11及连接在基体11上的多个安装部12。轴臂20用于承载负载(如图3中的拍摄装置300)，轴臂20与支架10间隔设置。弹性减振件30连接在安装部12上，弹性减振件30的轴线相对于基体11所在的平面倾斜。轴臂20通过弹性减振件30连接在多个安装部12上。
本申请实施方式的云台100，通过使用弹性减振件30将轴臂20连接在支架10上，同时弹性减振件30的轴线相对于基体11所在的平面倾斜，使得可移动平台1000在移动时支架10与搭载在轴臂20上的负载可以有效解耦，减弱了可移动平台1000的振动对负载的影响，相较于无弹性减振件30的云台减振效果更佳；相较于弹性减振件30垂直布置的云台，本申请实施方式的云台100在可移动平台1000平动和转动时，负载与可移动平台之间的耦合相比有了很大的减少，可移动平台1000与负载之间的解耦率更高，负载更加稳定。
具体地，请参阅图3，云台100包括支架10、轴臂20及弹性减振件30。支架10包括基体11及连接在基体11上的多个安装部12，基体11可以通过紧固件等方式安装在机身200上，以使云台100能够固定安装在机身200上。例如，基体11可以通过螺钉连接的方式安装在机身200上。
轴臂20与支架10间隔设置，轴臂20并非直接连接在支架10上。轴臂20上可以承载负载，负载可以与轴臂20上的电机固定连接，电机转动时能够带动负载相对于轴臂20转 动，以使负载能够及时调整工作角度以更好地执行工作任务。其中，负载可以是拍摄装置300、喷洒装置、侦查装置、救援物资等，负载的具体形式在此不做限制。
弹性减振件30连接在安装部12上，弹性减振件30的轴线相对于基体11所在的平面倾斜。可以理解，弹性减振件30的轴线并非垂直于基体11所在的平面。基体11可以呈平板状，基体11的平面可以指该平板所在的平面，基体11所在的平面还可以是指安装支架10的侧壁230所在的平面。轴臂20通过弹性减振件30连接在多个安装部12上，轴臂20与支架10之间存在弹性减振件30，弹性减振件30连接轴臂20与支架10，支架10的振动将首先传递至弹性减振件30再传递至轴臂20上，振动传递至弹性减振件30上时将被弹性减振件30减弱，使得传递至轴臂20上的振动较弱。其中，弹性减振件30可以是弹簧、减振球311等元件。
通过弹性减振件30将轴臂20安装在支架10上，使得可移动平台1000在移动时，机身200与搭载在轴臂20上的负载可以有效解耦，可以减少机身200振动对负载的影响，相较于无弹性减振件30的可移动平台1000，负载的振动较小，稳定性更好。
进一步地，请结合图3至图5，弹性减振件30的轴线相对于基体11所在的平面倾斜，相较于弹性减振件30与基体11垂直连接的云台，可移动平台1000在平动和转动时，搭载在轴臂20上的负载与可移动平台1000之间的耦合更少。其中，本申请实施方式的云台100的解耦率约为95％，同时各阶转动频点都低于弹性减振件30垂直连接在安装部12上的云台，使得负载与机身200不易发生共振。另外，除了俯仰角Pitch方向外，在横滚角Roll方向和航向角Yaw方向在250Hz处的抑制比约为0.2，相较于弹性减振件30与基体11垂直连接的云台有了很大的提升。
其中，俯仰角Pitch为可移动平台1000绕y轴旋转的角，横滚角Roll为可移动平台1000绕x轴旋转的角，航向角Yaw为可移动平台1000绕z轴旋转的角。
在一个实验中，分别在本申请实施方式的云台100的质心处，及弹性减振件30的轴线与基体11所在的平面垂直的云台(下称垂直布置弹性减振件30的云台)的质心处施加1g重力的阶跃力时，观察负载在Pitch方向和Roll方向上的转角以及达到稳态的时间。
其中，图7为垂直布置弹性减振件30的云台在X轴上施加阶跃力后Pitch方向的响应，图8为垂直布置弹性减振件30的云台在Y轴上施加阶跃力后Roll方向的响应，图9为本申请实施方式的云台100在X轴上施加阶跃力后Pitch方向的响应，图10为本申请实施方式的云台100在Y轴上施加阶跃力后Roll方向的响应。
通过图7和图8可以看到，垂直布置弹性减振件30的云台在Pitch方向上的转角最大为1.8°，大约需要1.4s达到稳态，在Roll方向上的转角最大为0.8°，大约需要0.8s达到稳态。通过图9和图10可以看到，本申请实施方式的云台100在Pitch方向的转角最大为 0.32°，大约需要0.4s达到稳态，在Roll方向上的转角最大为0.2°，大约需要0.3s达到稳态。通过实验数据可以看到，本申请实施方式的云台100相较于垂直布置弹性减振件30的云台在Pitch方向和Roll方向上有更好的减振效果。
请参阅图3至图5，在某些实施方式中，弹性减振件30的数量为多个，多个弹性减振件30位于基体11的同一侧，通过多个弹性减振件30将轴臂20连接在支架10上，由此，多个弹性减振件30均可以减弱由支架10传递至轴臂30上的振动，增强了云台100对负载的减振作用，使得云台100上的轴臂20及负载更加稳定。
具体地，弹性减振件30的数量可以是两个、三个、四个、五个、六个等，在此不做限制。多个弹性减振件30均连接在基体11的同一侧，轴臂20与多个弹性减振件30连接，可以理解，轴臂20与多个弹性减振件30均位于基体11的同一侧。
更具体地，基体11连接在可移动平台1000的机身200上，多个弹性减振件30连接在基体11的远离可移动平台1000的机身200的一侧。
在图3至图5所示的实施例中，弹性减振件30的数量为4个，4个弹性减振件30均位于基体11的同一侧，轴臂20通过这4个弹性减振件30连接在安装部12上。
请参阅图3，在某些实施方式中，多个弹性减振件30的轴线相对于基体11所在的平面的倾斜角度相同，这样，多个弹性减振件30对传递至弹性减振30上的振动的减振作用相同，使得搭载在轴臂20上的负载的振动及轴臂20的振动较小。
需要说明的是，弹性减振件30的轴线相对于基体11所在的平面的倾斜角度相同可以是相邻两个弹性减振件30的轴线处于同一个平面上，也可以是相邻两个弹性减振件30的轴线不处于同一个平面上。
当然，还可以是至少两个弹性减振件30的轴线相对于基体11所在的平面的倾斜角度不相同，不同的倾斜角度的弹性减振件30的减振作用也会存在一定的差异，以对不同方向的振动进行解耦。本实施方式中的云台100适用于安装在各个位置处振动差异较大的可移动平台1000上。其中，本实施方式中也可以有部分弹性减振件30的轴线相对于基体11所在的平面的倾斜角度相同，也可以是多个弹性减振件30的轴线相对于基体11所在的平面的倾斜角度均不相同。
请继续参阅图3，在某些实施方式中，多个弹性减振件30的轴线两两平行。具体地，多个弹性减振件30的轴线相对于基体11所在的平面的倾斜方向及倾斜角度均相同，多个弹性减振件30的轴线相互平行，由此，云台100在弹性减振件30的倾斜方向上的减振效果较佳，适用于安装在移动过程中某个方向上振动较强的可移动平台1000。
请参阅图3，在某些实施方式中，相邻两个弹性减振件30的轴线呈共面分布，或者相邻两个弹性减振件30的轴线呈异面分布。具体地，相邻两个弹性减振件30的轴线在同一 个平面上，相邻两个弹性减振件30的轴线可以平行，也可以不平行；或者相邻两个弹性减振件30的轴线分别在两个平面上，并非在同一个平面上。
请参阅图3及图11，在某些实施方式中，多个弹性减振件30与轴臂20连接的一端302相较于与安装部12连接的一端301更靠近支架10的中心C。具体地，多个弹性减振件30在基体11上呈“内八字”的形状布置。即，多个弹性件30向支架10的中心所在的方向倾斜，由此，弹性减振件30可以更好地平衡轴臂20及轴臂20上负载的重力，使得可移动平台1000在移动时能够更好地对轴臂20及轴臂20上的负载进行减振。
请参阅图3及图12，在某些实施方式中，多个弹性减振件30与轴臂20连接的一端302相较于与安装部12连接的一端301更远离支架10的中心C。具体地，多个弹性减振件30在基体11上呈“外八字”的形状布置，即，多个弹性件30向远离支架10的中心C的方向倾斜。由于可移动平台1000在转动时，云台100所受到的离心力的方向为由支架10的中心C向四周延伸的方向，由此，可移动平台1000在转动时，弹性减振件30可以更好减弱由机身200传递至轴臂20及、轴臂20搭载的负载上的振动，使得可移动平台1000转动时轴臂20及搭载轴臂20上的负载能够处于比较稳定的状态，使得负载更好地执行工作任务，例如拍摄更加清晰的图片或影像、喷洒农药更加精准。
请参阅图3，在某些实施方式中，至少一个弹性减振件30与轴臂20连接的一端相较于与安装部12连接的一端更靠近支架10的中心；及至少一个弹性减振件30与轴臂20连接的一端相较于与安装部12连接的一端更远离于支架10的中心。具体地，多个弹性减振件30中的部分弹性减振件30向支架10的中心所在的方向倾斜，及另外部分弹性减振件30向远离支架10的中心的方向倾斜。由此，可移动平台1000在平动及转动时，弹性减振件30均可以减弱由机身200传递至轴臂20及轴臂20上负载的振动，使得轴臂20及轴臂20上的负载在机身200振动时能够处于较稳定的状态。
其中，与轴臂20连接的一端相较于与安装部12连接的一端更靠近支架10的中心的弹性减振件30的数量可以是一个、两个、三个等。
请参阅图3，在某些实施方式中，至少一个弹性减振件30与轴臂20连接的一端相较于与安装部12连接的一端更靠近支架10的中心；或者至少一个弹性减振件30与轴臂20连接的一端相较于与安装部12连接的一端更远离于支架10的中心。由此，使得可移动平台1000在平动及转动时，弹性减振件30至少可以减弱部分振动，使得搭载在轴臂20上的负载可以处于比较稳定的状态。
其中，与轴臂20连接的一端相较于与安装部12连接的一端更靠近支架10的中心的弹性减振件30的数量可以是一个、两个、三个等；与轴臂20连接的一端相较于与安装部12连接的一端更远离于支架10的中心的弹性减振件30的数量可以是一个、两个、三个等。
请参阅图3，在某些实施方式中，多个弹性减振件30相对于一平面对称分布。例如，连接在基体11上方的弹性减振件30与连接在基体11下方的弹性减振件30，相对于基体11的中心处水平方向上的平面对称；再例如，连接在基体11左侧的弹性减振件30与连接在右侧的弹性减振件30相对于基体11中心处的竖直方向上的平面对称。由此，在该平面两侧的多个弹性减振件30可以相互平衡两侧传递至弹性减振件30上的振动，使得可移动平台1000在移动过程中，安装在轴臂20上的负载不易发生振动，云台100可以起到更好地减振作用。
进一步地，在某些实施方式中，多个弹性减振件30相对于支架10的中心呈中心对称分布，例如，连接在基体11的左上方的弹性减振件30与连接在右下方的弹性减振件30相对于支架10的中心中心对称；连接在基体11的左下方的弹性减振件30与连接在右上方的弹性减振件30相对于支架10的中心中心对称。如此，使得多个弹性减振件30可以更好地减弱机身200传递至轴臂20上的振动，降低负载与机身200之间的耦合比，使可移动平台1000在移动时机身200的振动对轴臂20及轴臂20搭载的负载的影响较小。
请参阅图13，在某些实施方式中，弹性减振件30包括减振部31、第一连接部32及第二连接部33，减振部31用于在压力作用下发生弹性形变；第一连接部32连接在减振部31的一端，第一连接部32与安装部12及轴臂20中的一个连接，第二连接部33连接在减振部31的另一端，第二连接部33与安装部12及轴臂20中的另一个连接。由此，机身200的振动将会传递至弹性减振件30，减振部31在接收到机身200的振动时可以发生弹性形变，使得传递至轴臂20上的振动较小，使得轴臂20及轴臂20上的负载在机身200振动时能够比较稳定。
具体地，减振部31可以是弹簧、减振球311等元件，弹性减振件30包括依次连接的第一连接部32、减振部31及第二连接部33，通过第一连接部32及第二连接部33将弹性减振件30安装在支架10与轴臂20之间，机身200振动时将会带动支架10一起振动，振动传递至弹性减振件30上时将会被减弱，到达轴臂20的振动较小。
在某些实施方式中，减振部31、第一连接部32及第二连接部33为一体的结构，也即是说，减振部31、第一连接部32及第二连接部33为同一个零件上的不同部分，而不是独立的一个零件，由此，弹性减振件30更加稳固，机身200振动时减振部31、第一连接部32及第二连接部33之间不易发生分离。
在某些实施方式中，减振部31、第一连接部32及第二连接部33由软性材料制成，则减振部31、第一连接部32及第二连接部33均具有较强的弹性，振动传递至弹性减振件30上时，弹性减振件30可以更好地减弱该振动，使得传递至轴臂20上的振动更小。其中，减振部31、第一连接部32及第二连接部33可以是由橡胶、塑胶、硅胶等材料制成。
当然，还可以是减振部31由软性材料制成，第一连接部32及第二连接部33由硬性材料制成。
请参阅图13，在某些实施方式中，减振部31包括减振球311，减振球311呈鼓形，减振球311呈鼓形在受到压力时可以更好地发生弹性形变，同时受力面积更大，可以更好地减弱振动，以使传递至轴臂20及轴臂20上的负载的振动较小。
进一步地，减振球311的数量为多个，多个减振球311串联连接。减振球311的数量可以是两个、三个、四个、五个等，同时多个减振球311在第一连接部32至第二连接部33之间依次串联在一起，使得机身200的振动在减振部31中传递时能够被多个减振球311减弱，最后传递至轴臂20上的振动较小，同时还可以降低到达轴臂20上的振动频率，使得轴臂20与机身200不易发生共振，使得搭载在轴臂20上的负载在机身200振动时可以保持较好的稳定性。其中，减振球31可以是实心的结构，也可以是空心的结构。
请参阅图3、图4及图13，在某些实施方式中，安装部12包括安装柱121，轴臂20包括相互连接的本体21及固定板22，固定板22上开设有固定孔221，第一连接部32开设有连接孔321，安装柱121穿设在连接孔321内，第二连接部33穿设固定孔221，由此，弹性减振件30能够更加稳固地安装在支架10及轴臂20之间，在机身200振动时不易与支架10及/或轴臂20脱离，可以起到减振作用。
具体地，安装柱121穿设在连接孔321内使得第一连接部32连接在安装部12上，轴臂20包括相互连接的本体21及固定板22，负载可以搭载在本体21上，第二连接部33穿过固定板22上的固定孔221，使得第二连接部33连接在固定板22上。其中，安装柱121可以是圆柱形、棱柱形等形状，连接孔321的形状可以是圆形、多边形、不规格形状等，安装柱121的形状与连接孔321的形状相似或者相同。
进一步地，在某些实施方式中，安装柱121的端部的尺寸大于中间部分的尺寸，安装部12的中间部分穿设在连接孔321内，安装柱121的端部卡持第一连接部32，使得第一连接部32与安装柱121之间的连接更加稳固，可移动平台1000的机身200剧烈振动时，第一连接部32也不易从安装柱121上脱落。
其中，安装柱121的中间部分的尺寸小于或等于连接孔321的尺寸，以使安装柱121的中间部分可以穿设进入连接孔321。安装柱121的端部的尺寸大于连接孔321的尺寸，安装柱121在穿过连接孔321的过程中，连接孔321被撑开且尺寸增大，安装柱121穿过连接孔321后，连接孔321恢复到自然状态的尺寸，以使安装柱121的端部可以卡持第一连接部32，由此，第一连接部32不易与安装柱121脱离。
请参阅图3、图4及图13，在某些实施方式中，第二连接部33包括卡止块331，卡止块331的尺寸大于固定孔221的尺寸，固定板22夹持在卡止块331与减振部31之间。卡 止块331在穿过固定孔221的过程中被挤压且尺寸减小，卡止块331穿过固定孔221后，卡止块331恢复到自然状态的尺寸，由此，第二连接部33稳固连接在固定板22上，可移动平台1000的机身200剧烈振动时，第二连接部33也不易从安装柱121上脱落。
请参阅图3、图5及图13，在某些实施方式中，安装部12包括安装块122，安装块122开设有安装孔1221，轴臂20包括相互连接的本体21及固定柱23，第一连接部32开设有连接孔321，固定柱23穿设在连接孔321内，第二连接部33穿设安装孔1221，由此，弹性减振件30可以稳固的连接在支架10与轴臂20之间，使得弹性减振件30可以起到较好的减振作用，提升了轴臂20及轴臂20上的负载的稳定性。
具体地，固定柱23连接在本体21上，本体21上可以搭载负载，固定柱23穿设在连接孔321内，使得第一连接部32与固定柱23连接，同时第二连接部33穿设安装孔1221，使得第二连接部33与安装块122固定连接，由此，弹性减振件30连接在支架10与轴臂20之间，可以较好地减弱由支架10传递至轴臂20上的振动。
进一步地，固定柱23的端部的尺寸大于中间部分的尺寸，固定柱23的中间部分穿设在连接孔321内，固定柱23的端部卡持第一连接部32，由此，可移动平台1000的机身200剧烈振动时，第一连接部32不会与固定柱23脱离，则弹性减振件30不会与轴臂20发生脱离，使得轴臂20及搭载在轴臂20上的负载工作更加稳定。
进一步地，固定柱23的中间部分的尺寸小于连接孔321的尺寸，使得固定柱23可以穿设在连接孔321内。同时，固定柱23的端部的尺寸大于连接孔321的尺寸，固定柱23在穿过连接孔321的过程中，连接孔321被撑开且尺寸增大，固定柱23穿过连接孔321后，连接孔321恢复到自然状态的尺寸，以使固定柱23的端部可以卡持住第一连接部32，防止了第一连接部32与固定柱23之间发生脱离，使得弹性减振件30与轴臂20之间的连接更加的稳固。
在某些实施方式中，第二连接部33包括卡止块331，卡止块331的尺寸大于安装孔1221的尺寸，安装孔1221夹持在卡止块331与减振部31之间。卡止块331在穿过安装孔1221的过程中被挤压且尺寸较小，卡止块331穿过安装孔1221后，卡止块331恢复到自然形态的尺寸，由此，第二连接部33固定连接在安装块122上，使得弹性减振件30固定连接在支架10上，可移动平台1000的机身200剧烈振动时，弹性减振件30也不易与支架10发生脱离。
在图3至图5所示的实施例中，基体11上连接有两个安装柱121及两个安装块122，轴臂20包括本体21及连接在本体21上的两个固定板22及两个固定柱23，弹性减振件30的数量为四个，通过两个弹性减振件30的第一连接部32连接安装柱121及第二连接部33连接固定板22，另外两个弹性减振件30的第一连接部32连接固定柱23及第二连接部33 连接安装块122，将轴臂20连接在支架10上。
请参阅图13，在某些实施方式中，第二连接部33还包括导引柱332，导引柱332与减振部31分别位于卡止块331的相背的两侧，沿减振部31指向卡止块331的方向，导引柱332的截面尺寸逐渐缩小，由此，导引柱332更容易穿设进安装孔1221及固定孔221，同时导引柱332可以导引卡止块331穿过安装孔1221及固定孔221。
具体地，减振部31位于第二连接部33靠近于第一连接部32的一侧，导引柱332位于第二连接部33远离减振部31的一侧，沿减振部31指向卡止块331的方向，导引柱332的截面尺寸逐渐减小，导引柱332在穿过安装孔1221及固定孔221时，先将导引柱332小的一端穿过安装孔1221及固定孔221，可以导引卡止块331顺利穿过安装孔1221及固定孔221。
请参阅图3，在某些实施方式中，基体11上开设有避让孔111，负载至少部分伸入避让孔111内，以使负载相对于轴臂20转动时不会与基体11发生碰撞，避免了负载被基体11限制了转动角度，使得负载的转动幅度可以更大，以能够更好地执行工作任务。
在一个实施例中，负载为拍摄装置300，拍摄装置300至少部分可以伸入避让孔111中，使得摄像载体2000可以更多角度的拍摄视频或者照片。
进一步地，可移动平台1000为无人飞行器时，云台100安装在无人飞行器的中心体411上，云台100上的负载为拍摄装置300，拍摄装置300与无人飞行器的控制系统相连接。无人飞行器在自动向上爬升时，控制系统可以通过控制轴臂20的电机转动，带动拍摄装置300朝向上方，探测上方是否有障碍物；无人飞行器在自动降落时，控制系统可以通过控制轴臂20的电机转动，带动拍摄装置300朝向下方，检测下方是否有障碍物，由此，在一定程度上可以保证无人飞行器在自动返航时的安全性。同时，拍摄装置300还可以结合控制系统进行碰撞预警，例如在无人飞行器上的传感器或者拍摄装置300感知到存在碰撞风险时，控制系统通过控制轴臂20的电机转动，将拍摄装置300转动至安全的角度，避免拍摄装置300被直接碰撞而发生损坏。
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 (27)

  1. 一种云台，用于可移动平台，其特征在于，所述云台包括：
    支架，所述支架包括基体及连接在所述基体上的多个安装部；
    轴臂，用于承载负载，所述轴臂与所述支架间隔设置；以及
    弹性减振件，所述弹性减振件连接在所述安装部上，所述弹性减振件的轴线相对于所述基体所在的平面倾斜；
    其中，所述轴臂通过所述弹性减振件连接在多个所述安装部上。
  2. 根据权利要求1所述的云台，其特征在于，所述弹性减振件的数量为多个，多个所述弹性减振件位于所述基体的同一侧。
  3. 根据权利要求2所述的云台，其特征在于，多个所述弹性减振件的轴线相对于所述基体所在的平面的倾斜角度相同；或
    至少两个所述弹性连接件的轴线相对于所述基体所在的平面的倾斜角度不相同。
  4. 根据权利要求2所述的云台，其特征在于，多个所述弹性减振件的轴线两两平行。
  5. 根据权利要求2所述的云台，其特征在于，相邻两个所述弹性减振件的轴线呈共面分布；或
    相邻两个所述弹性减振件的轴线呈异面分布。
  6. 根据权利要求2所述的云台，其特征在于，存在相邻两个所述弹性减振件的轴线相对于所述基体所在的平面的倾斜角度相同；或
    存在相邻两个所述弹性减振件的轴线相对于所述基所在的平面的倾斜角度不同。
  7. 根据权利要求2至6任意一项所述的云台，其特征在于，多个所述弹性减振件与所述轴臂连接的一端，相较于与所述安装部连接的一端更靠近所述支架的中心；或
    多个所述弹性减振件与所述轴臂连接的一端，相较于与所述安装部连接的一端更远离所述支架的中心。
  8. 根据权利要求2至6任意一项所述的云台，其特征在于，至少一个所述弹性减振件与所述轴臂连接的一端，相较于与所述安装部连接的一端更靠近所述支架的中心；及/或
    至少一个所述弹性减振件与所述轴臂连接的一端，相较于与所述安装部连接的一端更远离所述支架的中心。
  9. 根据权利要求2至6任意一项所述的云台，其特征在于，多个所述弹性减振件相对于一平面对称分布；或
    多个所述弹性减振件相对于所述支架的中心呈中心对称分布。
  10. 根据权利要求1所述的云台，其特征在于，所述弹性减振件包括：
    减振部，所述减振部用于在压力作用下发生弹性形变；
    第一连接部，所述第一连接部连接在所述减振部的一端，所述第一连接部与所述安装部及所述轴臂中的一个连接；及
    第二连接部，所述第二连接部连接在所述减振部的另一端，所述第二连接部与所述安装部及所述轴臂中的另一个连接。
  11. 根据权利要求10所述的云台，其特征在于，所述减振部、所述第一连接部及所述第二连接部为一体的结构。
  12. 根据权利要求10所述的云台，其特征在于，所述减振部、所述第一连接部及所述第二连接部由软性材料制成。
  13. 根据权利要求10所述的云台，其特征在于，所述减振部包括减振球，所述减振球呈鼓形。
  14. 根据权利要求13所述的云台，其特征在于，所述减振球的数量为多个，多个所述减振球串联连接。
  15. 根据权利要求10所述的云台，其特征在于，所述安装部包括安装柱，所述轴臂包括相互连接的本体及固定板，所述固定板上开设有固定孔；
    所述第一连接部开设有连接孔，所述安装柱穿设在所述连接孔内；所述第二连接部穿设所述固定孔。
  16. 根据权利要求15所述的云台，其特征在于，所述安装柱的端部的尺寸大于中间部 分的尺寸，所述安装柱的中间部分穿设在所述连接孔内，所述安装柱的端部卡持所述第一连接部。
  17. 根据权利要求15所述的云台，其特征在于，所述第二连接部包括卡止块，所述卡止块的尺寸大于所述固定孔的尺寸，所述固定板夹持在所述卡止块与所述减振部之间。
  18. 根据权利要求10所述的云台，其特征在于，所述安装部包括安装块，所述安装块开设有安装孔，所述轴臂包括相互连接的本体及固定柱；
    所述第一连接部开设有连接孔，所述固定柱穿设在所述连接孔内；所述第二连接部穿设所述安装孔。
  19. 根据权利要求18所述的云台，其特征在于，所述固定柱的端部的尺寸大于中间部分的尺寸，所述固定柱的中间部分穿设在所述连接孔内，所述固定柱的端部卡持所述第一连接部。
  20. 根据权利要求18所述的云台，其特征在于，所述第二连接部包括卡止块，所述卡止块的尺寸大于所述安装孔的尺寸，所述安装块夹持在所述卡止块与所述减振部之间。
  21. 根据权利要求17或20所述的云台，其特征在于，所述第二连接部还包括导引柱，所述导引柱与所述减振部分别位于所述卡止块的相背的两侧，沿所述减振部指向所述卡止块的方向，所述导引柱的截面尺寸逐渐减小。
  22. 一种摄像载体，其特征在于，所述摄像载体包括：
    权利要求1至21任意一项所述的云台；及
    拍摄装置，所述拍摄装置安装在所述轴臂上。
  23. 根据权利要求22所述的摄像载体，其特征在于，所述基体上开设有避让孔，所述拍摄装置至少部分伸入所述避让孔内。
  24. 一种可移动平台，其特征在于，所述可移动平台包括：
    机身；及
    权利要求1至21任意一项所述的云台，所述基体安装在所述机身上。
  25. 根据权利要求24所述的可移动平台，其特征在于，所述机身包括顶壁、底壁、及连接所述顶壁与所述底壁的多个侧壁，所述基体固定安装在任意一个所述侧壁上。
  26. 根据权利要求24所述的可移动平台，其特征在于，所述可移动平台还包括拍摄装置，所述拍摄装置安装在所述轴臂上。
  27. 根据权利要求24所述的可移动平台，其特征在于，所述可移动平台为无人飞行器，所述无人飞行器包括：
    机架，包括中心体以及与所述中心体连接的多个机臂；及
    多个旋翼装置，分别安装在多个所述机臂上；每个所述旋翼装置包括电机以及安装在所述电机上的螺旋桨；
    其中，所述基体安装在所述中心体上。
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