WO2022011737A1 - 一种三轴云台 - Google Patents

一种三轴云台 Download PDF

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Publication number
WO2022011737A1
WO2022011737A1 PCT/CN2020/104036 CN2020104036W WO2022011737A1 WO 2022011737 A1 WO2022011737 A1 WO 2022011737A1 CN 2020104036 W CN2020104036 W CN 2020104036W WO 2022011737 A1 WO2022011737 A1 WO 2022011737A1
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WO
WIPO (PCT)
Prior art keywords
bracket
camera module
axis
motor
inner ring
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PCT/CN2020/104036
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English (en)
French (fr)
Inventor
黄湛明
陈光耀
陈志坚
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深圳市哈博森科技有限公司
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Publication of WO2022011737A1 publication Critical patent/WO2022011737A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • 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
    • 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

Definitions

  • the invention relates to the field of aircraft, in particular to a three-axis pan/tilt head.
  • the drone is generally equipped with a camera device through the gimbal.
  • the PTZ is a support table for installing a load device, and is usually used to install imaging devices such as cameras and cameras.
  • imaging devices such as cameras and cameras.
  • the movement of the imaging device driven by the gimbal can also be used to compensate the influence of environmental disturbances (such as Brownian vibration) on the position of the imaging device, so as to ensure that the imaging device is in a stable working state.
  • the central axes of the output shafts of the pan motor, roll motor and pitch motor of the traditional three-axis pan/tilt are perpendicular to each other.
  • the current three-axis pan/tilt has a complex structure, and the traditional three-axis pan/tilt is larger in size, and the size of the pan/tilt is large. It is directly related to the question of whether the size of the UAV can be miniaturized.
  • the present invention proposes a small-volume three-axis pan/tilt head.
  • the present invention provides a three-axis pan/tilt head
  • the three-axis pan/tilt head includes a pan/tilt bracket, a first bracket, a second bracket, a camera module, and a first motor
  • one end of the first bracket is fixed to the pan/tilt bracket , the other end is rotatably connected to the second bracket
  • the first motor includes a base and an inner ring, the inner ring is sleeved on the outer periphery of the camera module, and the inner ring can rotate relative to the base
  • the camera module is driven to rotate around the first rotation axis, and the base can rotate relative to the second bracket.
  • the inner ring is provided with an installation hole, the camera module penetrates the installation hole, and a fixed connection is formed between the camera module and the inner ring.
  • the pan/tilt support includes a first mounting plate and a second mounting plate that are perpendicular to each other, and a rotation space is formed between the first mounting plate and the second mounting plate.
  • the camera module rotates in the rotation space.
  • an obliquely arranged connecting plate is connected between the first mounting plate and the second mounting plate.
  • a second motor is provided between the first bracket and the second bracket, and the second motor rotates to make the second bracket rotate relative to the first bracket, thereby driving the camera module
  • the group rotates around the second axis of rotation.
  • it further includes a casing, the casing accommodates the camera module, and the base is fixedly installed in the casing.
  • a third motor is arranged between the casing and the second bracket, and the third motor rotates so that the camera module and the first motor rotate relative to the second bracket, thereby driving the camera module
  • the group rotates around the third rotation axis.
  • the housing is provided with a positioning hole for exposing the lens of the camera module.
  • a third motor is arranged between the base and the second bracket, and the third motor rotates so that the camera module and the first motor rotate relative to the second bracket, thereby driving the camera The module rotates around the third axis of rotation.
  • the three-axis gimbal includes a gimbal bracket, a first bracket, a second bracket, a camera module, and a first motor, and one end of the first bracket is fixed to the gimbal bracket, The other end is rotatably connected to the second bracket;
  • the first motor includes a base and an inner ring, the inner ring is sleeved on the outer periphery of the camera module, and the inner ring can rotate relative to the base to thereby
  • the camera module is driven to rotate around the first rotation axis, and the base can rotate relative to the second bracket.
  • Fig. 1-Fig. 2 is the structural exploded schematic diagram of the three-axis pan/tilt head according to Embodiment 1 of the present invention
  • Fig. 3-Fig. 4 is the structural schematic diagram of the three-axis pan/tilt according to Embodiment 1 of the present invention.
  • Fig. 5 is the structural exploded schematic diagram of the three-axis gimbal of the implementation 2 of the present invention.
  • 6-7 are schematic structural diagrams of a three-axis pan/tilt according to Embodiment 2 of the present invention.
  • the present invention proposes a three-axis gimbal.
  • the three-axis gimbal includes a gimbal bracket 1 , a first bracket 20 , a second bracket 21 , a camera module 3 , and a first motor 4 .
  • One end of the first bracket 20 is fixed to the pan-tilt bracket 1, and the other end is rotatably connected to the second bracket 21;
  • the first motor 4 includes a base 40 and an inner ring 41, and the inner ring 41 is sleeved on the second bracket 21.
  • the outer circumference of the camera module 3 and the inner ring 41 can rotate relative to the base 40 to drive the camera module 3 to rotate around the first rotation axis, and the base 40 can rotate relative to the second
  • the bracket 21 rotates.
  • the first motor 4 is a roll axis motor, and the first rotation axis rolls the axis.
  • the camera module 3 can be greatly reduced.
  • the three-axis pan/tilt of the present invention effectively reduces the overall size of the three-axis pan/tilt. The volume is conducive to the miniaturization of the size of the UAV.
  • the inner ring 41 is provided with an installation hole 43 , the camera module 3 penetrates the installation hole 43 , and a fixed connection is formed between the camera module 3 and the inner ring 41 .
  • the camera module 3 penetrates through the installation hole 43 , and the outer peripheral surface of the camera module 3 is in contact with the hole arm of the installation hole 43 , so that the camera module 3 and the
  • the inner ring 41 forms a fixed connection
  • the fixed connection method includes but is not limited to adhesive, welding, screw connection and other fixing methods.
  • a second motor 5 is provided between the first bracket 20 and the second bracket 21 , and the second motor 5 rotates to make the second bracket 21 rotate relative to the first bracket 20 ,
  • the camera module 3 is driven to rotate around the second rotation axis.
  • the second motor 5 is a pitch axis motor, which can drive the camera module 3 to rotate around the pitch axis.
  • a casing 7 is further included, the casing 7 accommodates the camera module 3 , and the base 40 is fixedly installed in the casing 7 .
  • a third motor 6 is provided between the housing 7 and the second bracket 21 , and the third motor 6 rotates to make the camera module 3 and the first motor 4 rotate relative to the second bracket 21 , thereby driving the camera module 3 to rotate around the third rotation axis.
  • the housing 7 is provided with a positioning hole 70 for exposing the lens of the camera module 3 .
  • the third motor 6 is a pan axis motor, which can drive the camera module 3 to rotate around the pan axis.
  • the base 40 is rotatably connected through the housing 7 , the third motor 6 and the second bracket 21 .
  • the casing 7 accommodates the camera module 3 , and a positioning hole 70 is provided for exposing the lens of the camera module 3 , and the base 40 is fixedly mounted on the casing 7 Inside, the inner ring 41 can rotate relative to the base 40 so as to drive the camera module 3 to rotate around the first rotation axis in the housing 7 .
  • the camera module 3 can be protected by the casing 7 .
  • the pan/tilt support 1 includes a first mounting plate 10 and a second mounting plate 11 that are perpendicular to each other, and a rotation space 13 is formed between the first mounting plate 10 and the second mounting plate 11 .
  • the camera module 3 rotates in the rotation space 13 .
  • an inclined connecting plate 12 is provided between the first mounting plate 10 and the second mounting plate 11 for connection.
  • the rotation space 13 is a semi-closed space, and the rotation process of the camera module 3 around the first rotation axis, the second rotation axis, and the third rotation axis can be performed in the rotation space 13 completed in.
  • the space utilization rate is maximized, the length of the three-axis pan/tilt head due to the space required for the rotation process is greatly shortened, and further Reduce the overall volume of the three-axis gimbal.
  • the present invention proposes a three-axis gimbal, the three-axis gimbal includes a gimbal bracket 1 , a first bracket 20 , a second bracket 21 , a camera module 3 , and a first motor 4 , one end of the first bracket 20 is fixed to the pan-tilt bracket 1, and the other end is rotatably connected to the second bracket 21;
  • the first motor 4 includes a base 40, an inner ring 41, and the inner ring 41 is sleeved
  • the inner ring 41 can rotate relative to the base 40 to drive the camera module 3 to rotate around a first rotation axis, and the base 40 can rotate relative to the first rotation axis.
  • the two brackets 21 rotate.
  • the first motor 4 is a roll axis motor, and the first rotation axis rolls the axis.
  • the camera module 3 can be greatly reduced.
  • the three-axis pan/tilt of the present invention effectively reduces the overall size of the three-axis pan/tilt. The volume is conducive to the miniaturization of the size of the UAV.
  • the inner ring 41 is provided with an installation hole 43 , the camera module 3 penetrates the installation hole 43 , and a fixed connection is formed between the camera module 3 and the inner ring 41 .
  • the camera module 3 penetrates through the installation hole 43 , and the outer peripheral surface of the camera module 3 is in contact with the hole arm of the installation hole 43 , so that the camera module 3 and the
  • the inner ring 41 forms a fixed connection
  • the fixed connection method includes but is not limited to adhesive, welding, screw connection and other fixing methods.
  • a second motor 5 is provided between the first bracket 20 and the second bracket 21 , and the second motor 5 rotates to make the second bracket 21 rotate relative to the first bracket 20 ,
  • the camera module 3 is driven to rotate around the second rotation axis.
  • the second motor 5 is a pitch axis motor, which can drive the camera module 3 to rotate around the pitch axis.
  • a third motor 6 is provided between the base 40 and the second bracket 21 , and the third motor 6 rotates so that the camera module 3 and the first motor 4 are relative to the second bracket 21 Rotate, thereby driving the camera module 3 to rotate around the third rotation axis.
  • the third motor 6 is a pan axis motor, which can drive the camera module 3 to rotate around the pan axis.
  • the base 40 is rotatably connected to the second bracket 21 through the third motor 6 .
  • the pan/tilt support 1 includes a first mounting plate 10 and a second mounting plate 11 that are perpendicular to each other, and a rotation space 13 is formed between the first mounting plate 10 and the second mounting plate 11 .
  • the camera module 3 rotates in the rotation space 13 .
  • an inclined connecting plate 12 is provided between the first mounting plate 10 and the second mounting plate 11 for connection.
  • the rotation space 13 is a semi-closed space, and the rotation process of the camera module 3 around the first rotation axis, the second rotation axis, and the third rotation axis can be performed in the rotation space 13 completed in.
  • the space utilization rate is maximized, the length of the three-axis pan/tilt head due to the space required for the rotation process is greatly shortened, and further Reduce the overall volume of the three-axis gimbal.
  • the present invention may also have other various embodiments. Based on the present embodiment, those of ordinary skill in the art can obtain other embodiments without any creative work, which all belong to the protection scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种三轴云台，所述三轴云台包括云台支架（1）、第一支架（20）、第二支架（21）、摄像模组（3）、第一电机（4），所述第一支架（20）一端固定于所述云台支架（1），另一端转动连接于所述第二支架（21）；所述第一电机（4）包括机座（40）、内圈（41），所述内圈（41）套装在所述摄像模组（3）的外周，所述内圈（41）能够相对于所述机座（40）转动从而带动所述摄像模组（3）绕第一旋转轴线转动，所述机座（40）能够相对于所述第二支架（21）转动，上述结构设计排布，可以有效减少三轴云台的整体体积，有利于无人机的体积往小型化发展。

Description

一种三轴云台 技术领域
本发明涉及飞行器领域，尤其是一种三轴云台。
背景技术
近年来，随着无人机研究的不断发展，无人机开始源源不断地向人类活动的各个领域渗透，于是，各种各样的无人机被研制出来，例如，高空拍摄无人机，没有无人机之前，人们进行高空拍摄无非有两种办法，一是人乘坐设备到达高空进行拍摄，二是人通过设备将摄像机运送到高空进行拍摄，有了高空拍摄无人机之后，人们可以简单的操作无人机进行拍摄，使用起来相当简单。
无人机一般通过云台搭载摄像装置。云台是用于安装负载装置的支撑工作台，通常用于安装摄像机、照相机等成像装置。将成像装置固定在云台上时，通过云台带动成像装置运动可以改变其位置和角度，以实现主动跟踪和定位被拍摄目标。云台带动成像装置运动还可用于补偿环境扰动(如布朗振动)对成像装置位置的影响，确保成像装置处于稳定的工作状态。
传统三轴云台的航向电机、横滚电机和俯仰电机的的输出轴的中心轴线相互垂直，目前的三轴云台结构复杂，且传统的三轴云台体积较大，而云台的大小直接关系到无人机的体积能否往小型化发展的问题。
发明内容
为了解决上述问题，本发明提出一种体积小的三轴云台。
本发明通过以下技术方案实现的：
本发明提出一种三轴云台，所述三轴云台包括云台支架、第一支架、第二支架、摄像模组、第一电机，所述第一支架一端固定于所述云台支架，另一端转动连接于所述第二支架；所述第一电机包括机座、内圈，所述内圈套装在所述 摄像模组的外周，所述内圈能够相对于所述机座转动从而带动所述摄像模组绕第一旋转轴线转动，所述机座能够相对于所述第二支架转动。
优选地，所述内圈设有安装孔，所述摄像模组贯穿所述安装孔，且所述摄像模组和所述内圈之间形成固定连接。
优选地，所述云台支架包括相互垂直的第一安装板和第二安装板，所述第一安装板和所述第二安装板之间形成一个转动空间。
优选地，所述摄像模组在所述转动空间中转动。
优选地，所述第一安装板和所述第二安装板之间设有倾斜设置的连接板连接。
优选地，所述第一支架和所述第二支架之间设有第二电机，所述第二电机转动以使得所述第二支架相对于所述第一支架转动，从而驱动所述摄像模组绕第二旋转轴线转动。
优选地，还包括外壳，所述外壳收容所述摄像模组，且所述机座固定安装在所述外壳内。
优选地，所述外壳和所述第二支架之间设有第三电机，第三电机转动以使得所述摄像模组和第一电机相对于所述第二支架转动，从而驱动所述摄像模组绕第三旋转轴线转动。
优选地，所述外壳设有用于露出所述摄像模组的镜头的定位孔。
优选地，所述机座和所述第二支架之间设有第三电机，第三电机转动以使得所述摄像模组和第一电机相对于所述第二支架转动，从而驱动所述摄像模组绕第三旋转轴线转动。
本发明的有益效果：
本发明提出的三轴云台，所述三轴云台包括云台支架、第一支架、第二支架、摄像模组、第一电机，所述第一支架一端固定于所述云台支架，另一端转动连接于所述第二支架；所述第一电机包括机座、内圈，所述内圈套装在所述摄像模组的外周，所述内圈能够相对于所述机座转动从而带动所述摄像模组绕第一旋转轴线转动，所述机座能够相对于所述第二支架转动。通过本发明的三轴云台的结构设计排布，可以有效减少三轴云台的整体体积，有利于无人机的体积往小型化发展。
附图说明
图1-图2为本发明的实施1的三轴云台的结构分解示意图；
图3-图4为本发明的实施1的三轴云台的结构示意图；
图5为本发明的实施2的三轴云台的结构分解示意图；
图6-图7为本发明的实施2的三轴云台的结构示意图。
具体实施方式
为了更加清楚、完整的说明本发明的技术方案，下面结合附图对本发明作进一步说明。
实施例1
请参考图1-图4，本发明提出一种三轴云台，所述三轴云台包括云台支架1、第一支架20、第二支架21、摄像模组3、第一电机4，所述第一支架20一端固定于所述云台支架1，另一端转动连接于所述第二支架21；所述第一电机4包括机座40、内圈41，所述内圈41套装在所述摄像模组3的外周，所述内圈41能够相对于所述机座40转动从而带动所述摄像模组3绕第一旋转轴线转动，所述机座40能够相对于所述第二支架21转动。
在本实施方式中，所述第一电机4为横滚轴电机，第一旋转轴线横滚轴线，通过设置内圈41套装在所述摄像模组3的外周，可以极大减少摄像模组3和第一电机4之间的距离，相比于传统的云台将摄像模组3和第一电机4之间有间距设置的方式，本发明的三轴云台有效减少三轴云台的整体体积，有利于无人机的体积往小型化发展。
优选地，所述内圈41设有安装孔43，所述摄像模组3贯穿所述安装孔43，且所述摄像模组3和所述内圈41之间形成固定连接。
在本实施方式中，所述摄像模组3贯穿所述安装孔43，且所述摄像模组3的外周表面与所述安装孔43的孔臂抵接，从而使得所述摄像模组3和所述内圈41形成固定连接，固定连接的方式包括但不局限于粘胶、焊接、螺纹连接等固定方式。
优选地，所述第一支架20和所述第二支架21之间设有第二电机5，所述第二电机5转动以使得所述第二支架21相对于所述第一支架20转动，从而驱动所述摄像模组3绕第二旋转轴线转动。
在本实施方式中，所述第二电机5为俯仰轴电机，其可以驱动所述摄像模组3绕俯仰轴线转动。
优选地，还包括外壳7，所述外壳7收容所述摄像模组3，且所述机座40固定安装在所述外壳7内。
优选地，所述外壳7和所述第二支架21之间设有第三电机6，第三电机6转动以使得所述摄像模组3和第一电机4相对于所述第二支架21转动，从而驱动所述摄像模组3绕第三旋转轴线转动。
优选地，所述外壳7设有用于露出所述摄像模组3的镜头的定位孔70。
在本实施方式中，第三电机6为航向轴电机，其可以驱动所述摄像模组3绕航向轴线转动。
在本实施方式中，所述机座40通过所述外壳7、所述第三电机6和所述第二支架21转动连接。
在本实施方式中，所述外壳7收容所述摄像模组3，并设置定位孔70用于露出所述所述摄像模组3的镜头，且所述机座40固定安装在所述外壳7内，所述内圈41能够相对于所述机座40转动从而带动所述摄像模组3在所述外壳7内绕第一旋转轴线转动。
在本实施方式中，通过设置所述外壳7，可以利用外壳7对所述摄像模组3进行保护。
优选地，所述云台支架1包括相互垂直的第一安装板10和第二安装板11，所述第一安装板10和所述第二安装板11之间形成一个转动空间13。
优选地，所述摄像模组3在所述转动空间13中转动。
优选地，所述第一安装板10和所述第二安装板11之间设有倾斜设置的连接板12连接。
在本实施方式中，所述转动空间13为半封闭式空间，所述摄像模组3绕第一旋转轴线、第二旋转轴线、第三旋转轴线转动的过程，均可以在所述转动空间13中完成。
在本实施方式中，通过设置所述摄像模组3的转动过程在所述转动腔完成，达到空间利用率最大化，极大缩短三轴云台因为转动过程所需空间而产生的长度，进一步减少三轴云台的整体体积。
实施例2
请参考图5-图7，本发明提出提出一种三轴云台，所述三轴云台包括云台支架1、第一支架20、第二支架21、摄像模组3、第一电机4，所述第一支架20一端固定于所述云台支架1，另一端转动连接于所述第二支架21；所述第一电机4包括机座40、内圈41，所述内圈41套装在所述摄像模组3的外周，所述内圈41能够相对于所述机座40转动从而带动所述摄像模组3绕第一旋转轴线转动，所述机座40能够相对于所述第二支架21转动。
在本实施方式中，所述第一电机4为横滚轴电机，第一旋转轴线横滚轴线，通过设置内圈41套装在所述摄像模组3的外周，可以极大减少摄像模组3和第一电机4之间的距离，相比于传统的云台将摄像模组3和第一电机4之间有间距设置的方式，本发明的三轴云台有效减少三轴云台的整体体积，有利于无人机的体积往小型化发展。
优选地，所述内圈41设有安装孔43，所述摄像模组3贯穿所述安装孔43，且所述摄像模组3和所述内圈41之间形成固定连接。
在本实施方式中，所述摄像模组3贯穿所述安装孔43，且所述摄像模组3的外周表面与所述安装孔43的孔臂抵接，从而使得所述摄像模组3和所述内圈41形成固定连接，固定连接的方式包括但不局限于粘胶、焊接、螺纹连接等固定方式。
优选地，所述第一支架20和所述第二支架21之间设有第二电机5，所述第二电机5转动以使得所述第二支架21相对于所述第一支架20转动，从而驱动所述摄像模组3绕第二旋转轴线转动。
在本实施方式中，所述第二电机5为俯仰轴电机，其可以驱动所述摄像模组3绕俯仰轴线转动。
优选地，所述机座40和所述第二支架21之间设有第三电机6，第三电机6转动以使得所述摄像模组3和第一电机4相对于所述第二支架21转动，从而驱动所述摄像模组3绕第三旋转轴线转动。
在本实施方式中，第三电机6为航向轴电机，其可以驱动所述摄像模组3绕航向轴线转动。
在本实施方式中，所述机座40通过所述第三电机6和所述第二支架21转动连接。
优选地，所述云台支架1包括相互垂直的第一安装板10和第二安装板11，所述第一安装板10和所述第二安装板11之间形成一个转动空间13。
优选地，所述摄像模组3在所述转动空间13中转动。
优选地，所述第一安装板10和所述第二安装板11之间设有倾斜设置的连接板12连接。
在本实施方式中，所述转动空间13为半封闭式空间，所述摄像模组3绕第一旋转轴线、第二旋转轴线、第三旋转轴线转动的过程，均可以在所述转动空间13中完成。
在本实施方式中，通过设置所述摄像模组3的转动过程在所述转动腔完成，达到空间利用率最大化，极大缩短三轴云台因为转动过程所需空间而产生的长度，进一步减少三轴云台的整体体积。
当然，本发明还可有其它多种实施方式，基于本实施方式，本领域的普通技术人员在没有做出任何创造性劳动的前提下所获得其他实施方式，都属于本发明所保护的范围。

Claims (10)

  1. 一种三轴云台，其特征在于，所述三轴云台包括云台支架、第一支架、第二支架、摄像模组、第一电机，所述第一支架一端固定于所述云台支架，另一端转动连接于所述第二支架；所述第一电机包括机座、内圈，所述内圈套装在所述摄像模组的外周，所述内圈能够相对于所述机座转动从而带动所述摄像模组绕第一旋转轴线转动，所述机座能够相对于所述第二支架转动。
  2. 根据权利要求1所述的三轴云台，其特征在于，所述内圈设有安装孔，所述摄像模组贯穿所述安装孔，且所述摄像模组和所述内圈之间形成固定连接。
  3. 根据权利要求1所述的三轴云台，其特征在于，所述云台支架包括相互垂直的第一安装板和第二安装板，所述第一安装板和所述第二安装板之间形成一个转动空间。
  4. 根据权利要求3所述的三轴云台，其特征在于，所述摄像模组在所述转动空间中转动。
  5. 根据权利要求3所述的三轴云台，其特征在于，所述第一安装板和所述第二安装板之间设有倾斜设置的连接板连接。
  6. 根据权利要求1所述的三轴云台，其特征在于，所述第一支架和所述第二支架之间设有第二电机，所述第二电机转动以使得所述第二支架相对于所述第一支架转动，从而驱动所述摄像模组绕第二旋转轴线转动。
  7. 根据权利要求1所述的三轴云台，其特征在于，还包括外壳，所述外壳收容所述摄像模组，且所述机座固定安装在所述外壳内。
  8. 根据权利要求7所述的三轴云台，其特征在于，所述外壳和所述第二支架之间设有第三电机，第三电机转动以使得所述摄像模组和第一电机相对于所述第二支架转动，从而驱动所述摄像模组绕第三旋转轴线转动。
  9. 根据权利要求7所述的三轴云台，其特征在于，所述外壳设有用于露出所述摄像模组的镜头的定位孔。
  10. 根据权利要求1所述的三轴云台，其特征在于，所述机座和所述第二支架之间设有第三电机，第三电机转动以使得所述摄像模组和第一电机相对于所述第二支架转动，从而驱动所述摄像模组绕第三旋转轴线转动。
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