WO2023173377A1 - 隔振垫和可移动平台 - Google Patents

隔振垫和可移动平台 Download PDF

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Publication number
WO2023173377A1
WO2023173377A1 PCT/CN2022/081539 CN2022081539W WO2023173377A1 WO 2023173377 A1 WO2023173377 A1 WO 2023173377A1 CN 2022081539 W CN2022081539 W CN 2022081539W WO 2023173377 A1 WO2023173377 A1 WO 2023173377A1
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WO
WIPO (PCT)
Prior art keywords
vibration isolation
isolation pad
tilt
pan
movable platform
Prior art date
Application number
PCT/CN2022/081539
Other languages
English (en)
French (fr)
Inventor
李雄飞
王韵杰
王永明
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 CN202280050539.0A priority Critical patent/CN117769518A/zh
Priority to PCT/CN2022/081539 priority patent/WO2023173377A1/zh
Publication of WO2023173377A1 publication Critical patent/WO2023173377A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • 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
    • 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

Definitions

  • This application relates to the technical field of movable platforms, and in particular to a vibration isolation pad and a movable platform.
  • multi-rotor UAVs have been widely used and developed in military, civil and scientific fields due to their good stability, simple control, ability to take off and land vertically on the spot, simple site requirements, and good concealment.
  • the broadband vibration excitation caused by rotor vibration, airflow disturbance and other factors is transmitted to the lens through the fuselage, which will have a serious impact on the imaging quality of the lens. Therefore, measures need to be taken to actively stabilize the lens.
  • a gimbal is usually used to stabilize the lens.
  • the vibration excitation generated by the drone will also be transmitted to the gimbal, resulting in poor stabilization of the lens on the gimbal.
  • Embodiments of the present application provide a vibration isolation pad and a movable platform.
  • a vibration isolation pad is used to connect the movable platform body and the pan/tilt.
  • the vibration isolation pad includes:
  • the first connection part is provided with at least two first connectors along the circumference of the vibration isolation pad.
  • the first connectors are used to cooperate with the pan/tilt to realize the installation of the vibration isolation pad and the pan/tilt. ,and
  • the second connection part is provided with at least two second connectors along the circumference of the vibration isolation pad, and the second connectors are used to cooperate with the main body to realize the installation of the vibration isolation pad and the main body;
  • one of the first connecting member and the second connecting member includes a mounting hole, and the other includes a clamping block.
  • the vibration isolation pad is connected between the main body and the cloud platform, the vibration isolation pad includes:
  • the first connection part is provided with at least two first connectors along the circumference of the vibration isolation pad.
  • the first connectors are used to cooperate with the pan/tilt to realize the installation of the vibration isolation pad and the pan/tilt. ,and
  • the second connection part is provided with at least two second connectors along the circumference of the vibration isolation pad, and the second connectors are used to cooperate with the main body to realize the installation of the vibration isolation pad and the main body;
  • the above-mentioned vibration isolation pad and movable platform are installed with the pan/tilt through a first connector arranged along the circumference, and are installed with the main body through a second connector. Vibration excitation on the main body can be achieved through the second connector and The first connecting piece performs decentralized isolation, which effectively reduces the vibration excitation transmitted from the main body to the gimbal and improves the stabilization effect of the gimbal.
  • Figure 2 is a schematic structural diagram of the movable platform according to the embodiment of the present application.
  • FIGS 3 to 10 are schematic structural diagrams of the pan/tilt and shooting device according to the embodiment of the present application.
  • FIGS 11 to 12 are schematic structural diagrams of the pan/tilt, shooting device and vibration isolation pad according to the embodiment of the present application;
  • Figure 15 is an exploded schematic diagram of the roll axis assembly and the shooting device according to the embodiment of the present application.
  • 16 to 17 are schematic structural diagrams of the rear case according to the embodiment of the present application.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
  • features defined as “first” and “second” may explicitly or implicitly include one or more of the described features.
  • “plurality” means two or more than two, unless otherwise explicitly and specifically limited.
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a detachable connection.
  • the connection can be mechanical or electrical. It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements.
  • a vibration isolation pad 100 is used to connect the main body 12 of the movable platform 200 and the pan/tilt 300.
  • the vibration isolation pad 100 includes a first connection part 14 and a second connection part 16. .
  • the first connection part 14 is provided with at least two first connectors 18 along the circumferential direction of the vibration isolation pad 100 .
  • the first connectors 18 are used to cooperate with the pan/tilt 300 to realize the installation of the vibration isolation pad 100 and the pan/tilt 300 .
  • the second connection portion 16 is provided with at least two second connectors 20 along the circumferential direction of the vibration isolation pad 100 .
  • the second connectors 20 are used to cooperate with the main body 12 to realize the installation of the vibration isolation pad 100 and the main body 12 .
  • One of the first connecting member 18 and the second connecting member 20 includes a mounting hole 22 , and the other includes a blocking block 24 .
  • the above-mentioned vibration isolation pad 100 is installed with the pan/tilt 300 through the first connecting member 18 arranged along the circumference, and is installed with the main body 12 through the second connecting member 20.
  • the vibration excitation on the main body 12 can be achieved through the second connecting member. 20 and the first connecting member 18 are dispersed and isolated, which effectively reduces the vibration excitation transmitted from the main body 12 to the pan/tilt 300 and improves the stabilizing effect of the pan/tilt 300.
  • the movable platform 200 includes a drone, an unmanned vehicle, an unmanned ship, a robot or a shooting stabilizer.
  • the movable platform 200 usually generates vibrations when moving.
  • vibration excitation will be generated when the rotor of the drone rotates. If the vibration excitation is directly transmitted to the pan/tilt 300 without filtering, the vibration of the pan/tilt 300 will also increase, which will weaken the stabilizing effect of the pan/tilt 300.
  • a vibration isolation pad 100 is connected between the main body 12 of the movable platform 200 and the pan/tilt 300, so that the vibration excitation of the movable platform 200 is transmitted to the pan/tilt 300 as little as possible, thereby improving the stabilizing effect of the pan/tilt 300 on the load.
  • the first connecting member 18 includes a mounting hole 22
  • the second connecting member 20 includes a clamping block 24
  • the motor housing of the outermost pan/tilt 300 is provided with a clamping piece 26 (see FIG. 3 )
  • the clamping member 26 can pass through the mounting hole 22, and the top of the clamping member 26 can be clamped on the surface of the first connecting portion 14, so that an interference fit connection between the vibration isolation member and the pan/tilt 300 can be achieved.
  • the clamping member 26 can be in a T-shape, so that the vibration isolation pad 100 and the pan/tilt 300 have a good installation effect and a solid structure.
  • the main body 12 can be provided with a clamping hole (not shown), the clamping block 24 can pass through the clamping hole, and the top of the clamping block 24 can be clamped on the surface of the main body 12, so that the vibration isolation pad 100 and the main body 12 can be installed.
  • the first connecting member 18 and a corresponding second connecting member 20 are arranged along the radial direction of the vibration isolation pad 100 . In this way, the connection strength between the vibration isolation pad 100, the main body 12 and the pan/tilt 300 is better.
  • the distance between the first connecting member 18 and the second connecting member 20 arranged along the radial direction of the vibration isolation pad 100 is short, so that the installation point of the first connecting member 18 and the pan/tilt 300 is in contact with the second connecting member 18 and the second connecting member 20 .
  • the distance between the mounting points of the connecting piece 20 and the main body 12 is also shorter.
  • the number of the first connecting members 18 is three, and the three first connecting members 18 are evenly spaced along the circumferential direction of the vibration isolation pad 100 .
  • the number of the second connecting members 20 is three. Three
  • the second connecting member 20 corresponds to the three first connecting members 18 one by one, and each first connecting member 18 and a corresponding second connecting member 20 are arranged radially along the vibration isolation pad 100 .
  • the number of the first connecting members 18 is not limited to three, and may also be two or more.
  • the number of the second connecting members 20 is not limited to three, and may also be two or more. More than three.
  • mounting holes 22 are racetrack-shaped. In this way, the mounting holes 22 can increase the connection strength.
  • the first connecting member 18 includes a mounting hole 22
  • the second connecting member 20 includes a blocking block 24
  • the pan/tilt 300 may include a clamping member 26
  • a hook 28 may be provided on the top of the clamping member 26 (see FIG. 5 ), and the clamping member 26 passes through the mounting hole 22 .
  • the hook 28 can be clamped on the first connecting member 18 along the periphery of the mounting hole 22 .
  • the track-shaped mounting hole 22 has a larger circumferential length, which allows the size of the hook 28 to be appropriately increased, and the hook 28 has more places where it is stuck on the first connector 18, which can improve the cloud.
  • At least two first connectors 18 are arranged in an annular shape along the circumferential direction of the vibration isolation pad 100
  • at least two second connectors 20 are arranged in an annular shape along the circumferential direction of the vibration isolation pad 100 .
  • the connecting piece 18 is located in the ring formed by at least two second connecting pieces 20 . In this way, the vibration isolation pad 100 can be more firmly connected to the pan head 300 and the main body 12 respectively.
  • the annular shape formed by the arrangement of at least two first connecting members 18 is concentrically arranged with the annular shape formed by the arrangement of at least two second connecting members 20 . In this way, undesired vibration of the vibration isolation pad 100 due to vibration transmission can be avoided or reduced.
  • the annular shape formed by the arrangement of at least two first connecting members 18 is an inner ring
  • the annular shape formed by the arrangement of at least two second connecting members 20 is an outer ring.
  • the inner ring and the outer ring are arranged concentrically.
  • the block 24 is T-shaped. In this way, the blocking effect of the blocking block 24 is good.
  • the first connecting member 18 includes a mounting hole 22
  • the second connecting member 20 includes a blocking block 24
  • the clamping block 24 may include a cylindrical part 30 and a clamping part 32.
  • the cylindrical part 30 is connected to the clamping part 32.
  • the clamping part 32 has two protruding parts at 180 degrees relative to the circumferential edge of the cylindrical part 30.
  • the mounting body 12 and When the vibration isolation pad 100 is installed, the clamping portion 32 deforms when passing through the clamping hole on the main body 12.
  • the clamping portion 32 returns to its shape after passing through the clamping hole.
  • the columnar portion 30 is inserted into the clamping hole.
  • the protruding portion of the clamping portion 32 The peripheral portion of the main body 12 that forms the clamping hole can be pressed along 180 degrees.
  • the vibration isolation pad 100 when the vibration isolation pad 100 is manufactured, three elongated tweezer-shaped spokes 34 are reserved at the end of the clamping portion 32 .
  • the three spokes 34 When installing the vibration isolation pad 100 and the main body 12, the three spokes 34 can penetrate into the clamping holes on the main body 12, and pull the spokes 34, so that the roots of the spokes 34 (ie, the clamping portions 32) clamp the main body 12 to limit the position. After that, The spokes 34 can be cut and removed.
  • the perforated installation method of the vibration isolation pad 100 is relatively simple and reliable, and the additional installation structure size and weight are small.
  • the second connecting portion 16 is annular and connected to the edge of the first connecting portion 14 along the circumferential direction of the vibration isolation pad 100 . In this way, a bowl-shaped vibration isolation pad 100 can be formed with good vibration isolation effect.
  • the annular second connecting part 16 connects the main body 12.
  • the vibration on the main body 12 is transmitted to the second connecting part 16, it is dispersed by the annular second connecting part 16 to avoid excessive concentration of vibration and excessive local vibration. And reduce the vibration isolation effect.
  • the bottom of the clamping block 24 is provided with a first clamping surface 36
  • the top of the clamping block 24 is provided with a second clamping surface opposite to the first clamping surface 36 38.
  • the first clamping surface 36 and the second clamping surface 38 are used to jointly clamp the opposite surfaces of the mounting portion 40 of the main body 12. In this way, the installation effect of the vibration isolation pad 100 and the main body 12 is good.
  • the main body 12 includes a mounting portion 40.
  • the mounting portion 40 can be provided with a clamping hole.
  • the two clamping surfaces clamp the opposite surfaces of the mounting portion 40 of the main body 12.
  • the clamping area is large and the clamping position can be relatively uniform. Ground distribution, good clamping effect, thereby ensuring the installation effect of the vibration isolation pad 100 and the main body 12.
  • the second clamping surface 38 may be the bottom surface of the clamping portion 32 .
  • the shape of the vibration isolation pad 100 includes a circle, an ellipse, a triangle, a square, and a regular polygon. In this way, the design of the vibration isolation pad 100 is flexible and can adapt to more needs.
  • the shape of the vibration isolation pad 100 can be designed and manufactured according to actual needs to meet the required application scenarios or design requirements.
  • the vibration isolation pad 100 is circular in shape. In one embodiment, the vibration isolation pad 100 is oval in shape. In one embodiment, the vibration isolation pad 100 is triangular in shape. In one embodiment, the vibration isolation pad 100 is square in shape. In one embodiment, the shape of the thermal insulation pad is a regular polygon, and the regular polygon can be a pentagon, a hexagon, etc.
  • the material of the vibration isolation pad 100 includes rubber or plastic. In this way, the vibration isolation pad 100 is low in cost and easy to manufacture.
  • the vibration isolation pad 100 may be manufactured through an integral molding process.
  • the material of the vibration isolation pad 100 is rubber.
  • the material of the vibration isolation pad 100 is plastic.
  • the vibration isolation pad 100 can be manufactured through the following steps:
  • Step 1 Calculate the mass and inertia parameters of the gimbal 300, determine the approximate range of the vibration isolation frequency point of the gimbal 300 rotation axis (such as the roll axis, yaw axis, etc.), determine the lowest limit vibration isolation frequency point in the radial translation direction, and Combined with the span of the left and right ends of the pan/tilt 300, the range of the radial and axial stiffness of the vibration isolation pad 100 is roughly determined;
  • Step 2 Combine the diameter of the motor and the distance between the pan/tilt 300 and the fuselage to roughly give the diameter and depth of the vibration isolation pad 100. Calculate the axial and radial stiffness of the vibration isolation pad 100 in CAE simulation software (such as HyperWorks). If the stiffness does not meet the requirements, it can be adjusted by adjusting the thickness, height, diameter and other parameters of the vibration isolation pad 100 until the appropriate parameters of the vibration isolation pad 100 are obtained;
  • Step 3 Further import the vibration isolation pad 100 model into the gimbal CAE model to calculate the vibration isolation frequency point, decoupling rate, vibration isolation attenuation curve, and maximum stress under the most severe working conditions of the gimbal 300 to comprehensively evaluate the vibration isolation. Whether the pad 100 meets the vibration isolation and strength requirements;
  • Step 4 Add production process features to form the final form of the vibration isolation pad 100, proof the sample to verify whether the stiffness of the vibration isolation pad 100 is consistent with the design value, and install the pan/tilt 300 to the movable platform 200 through the vibration isolation pad 100 (if not Man-machine test flight) to verify whether the vibration isolation effect and strength of the vibration isolation pad 100 meet the requirements.
  • a movable platform 200 includes a main body 12, a pan/tilt 300 and a vibration isolation pad 100.
  • the vibration isolation pad 100 is connected between the main body 12 and the pan/tilt 300.
  • the installation with the pan/tilt 300 is achieved through the first connector 18 arranged along the circumference, and the installation with the main body 12 is achieved through the second connector 20.
  • the vibration excitation on the main body 12 can be achieved through the second connector 20.
  • the connecting piece 20 and the first connecting piece 18 are dispersed and isolated, which effectively reduces the vibration excitation transmitted from the main body 12 to the pan/tilt 300 and improves the stabilizing effect of the pan/tilt 300.
  • At least two first connectors 18 are arranged in an annular shape along the circumferential direction of the vibration isolation pad 100
  • at least two second connectors 20 are arranged in an annular shape along the circumferential direction of the vibration isolation pad 100 .
  • the connecting piece 18 is located in the ring formed by at least two second connecting pieces 20 .
  • the block 24 is T-shaped.
  • the second connecting portion 16 is annular and connected to the edge of the first connecting portion 14 along the circumferential direction of the vibration isolation pad 100 .
  • the pan/tilt 300 is a three-axis pan/tilt.
  • the axis sequence from the inside to the outside of the pan/tilt 300 is the roll axis assembly 42 (Roll), the yaw axis assembly 44 ( Yaw) and a pitch axis assembly 46 (Pitch), the pitch axis assembly 46 is connected to the main body 12, and the roll axis assembly 42 is used to install the shooting device 50.
  • the three-axis pan/tilt 300 using this axis sequence can reduce the upper, lower, front and rear envelope dimensions of the pan/tilt 300, obtain a larger pitch angle, and support vertical shooting of the shooting device 50.
  • the axis sequence can be defined such that the side of the shooting device 50 is the inside of the pan/tilt 300 and the side of the main body 12 is the outside of the pan/tilt 300.
  • the pitch axis assembly 46 is located at the outermost side of the pan/tilt 300, which reduces the obstruction of the pan/tilt 300 components and the main body 12 components to the rotation range of the pitch axis assembly 46.
  • the pitch axis assembly 46 When the pitch axis assembly 46 is working, it can obtain a wider range of motion. Large pitch angle enables shooting of the sky and the ground.
  • the pan/tilt 300 is a two-axis pan/tilt.
  • the two-axis pan/tilt 300 includes a roll axis assembly 42 and a pitch axis assembly 46.
  • the axis sequence from the inside to the outside of the pan/tilt 300 is the roll axis assembly 42 in order. , pitch axis assembly 46.
  • the pitch axis assembly 46 Relative to the roll axis assembly 42, the pitch axis assembly 46 is located outside the pan/tilt 300, which reduces the obstruction of the pan/tilt 300 components and the main body 12 components to the rotation range of the pitch axis assembly 46.
  • the pitch axis assembly 46 When the pitch axis assembly 46 is working, it can obtain a larger rotation angle. Pitch angle.
  • the rolling axis assembly 42 is used to install the shooting device 50. When the rolling axis assembly 42 is working, it can drive the shooting device 50 to rotate and switch from a horizontal shooting to a vertical shooting, or from a vertical shooting to a horizontal shooting, or to switch between a vertical shooting and a vertical shooting. Take other angles between horizontal shots.
  • the pan/tilt 300 is a two-axis pan/tilt.
  • the two-axis pan/tilt 300 includes a yaw axis component 44 and a pitch axis component 46.
  • the axis sequence from the inside to the outside of the pan/tilt 300 is the yaw axis component 44, the pitch axis component in sequence.
  • the pitch axis assembly 46 Relative to the yaw axis assembly 44, the pitch axis assembly 46 is located outside the pan/tilt 300, which reduces the obstruction of the pan/tilt 300 components and the main body 12 components to the rotation range of the pitch axis assembly 46.
  • the pitch axis assembly 46 When the pitch axis assembly 46 is working, it can obtain a larger pitch. horn.
  • the yaw axis assembly 44 is used to install the shooting device 50. When the yaw axis assembly 44 is working, it can drive the shooting device 50 to rotate and shoot at a large angle in the circumferential direction, such as 360-degree surround shooting.
  • the pan/tilt 300 is a single-axis pan/tilt that includes a pitch axis assembly 46 .
  • the pitch axis group connects the main body 12 and the mounted shooting device 50, which can reduce the obstruction of the tilt axis assembly 46 by the parts of the pan/tilt 300 and the main body 12. When the pitch axis assembly 46 is working, a larger pitch angle can be obtained.
  • the pitch axis assembly 46 includes two pitch axis arms 52 , the two pitch axis arms 52 are symmetrically arranged on both sides of the shooting device 50 , each pitch axis arm 52 The arms 52 are connected to the main body 12 through the vibration isolation pad 100 . In this way, the vibration isolation effect can be improved.
  • the two pitch axis arms 52 are symmetrically arranged on both sides of the shooting device 50 so that the vibration generated by the main body 12 is isolated through the two vibration isolation pads 100 to improve the vibration isolation effect. Moreover, the two symmetrically arranged pitch axis arms 52 are The axle arm 52 also reduces unwanted vibrations caused by positional misalignment. Each pitch axis arm 52 is connected to the main body 12 through a vibration isolation pad 100. The vibration isolation form is symmetrical both left and right and along the radial direction, making it easy to obtain a higher vibration reduction and decoupling rate.
  • the main body 12 has two mounting parts 40 spaced at a certain distance for mounting the pan/tilt 300 .
  • Each mounting part 40 is connected to a corresponding pitch axis arm 52 through a vibration isolation pad 100 .
  • the pitch axis assembly 46 further includes at least one pitch axis motor 54 .
  • the pitch axis motor 54 includes a rotor and a stator. One of the rotor and the stator is connected to the pitch axis arm 52 and the other is connected to the vibration isolation pad 100 . In this way, the pitch axis motor 54 can be connected to the pitch axis arm 52 and the vibration isolation pad 100 through the rotor and the stator.
  • the stator of the pitch axis motor 54 can be connected to the pitch axis arm 52 , the rotor of the pitch axis motor 54 can be connected to the vibration isolation pad 100 , and the vibration isolation pad 100 is connected to the mounting part 40 .
  • the motor housing of the pitch axis motor 54 is fixedly connected to the rotor.
  • the motor housing of the pitch axis motor 54 is provided with a clamp 26 for connection and installation with the vibration isolation pad 100 .
  • a convex ring 56 is provided on the periphery of the motor housing of the tilt axis motor 54 , and the space formed by the convex ring 56 can accommodate part of the vibration isolation pad 100 .
  • a plurality of resisting portions 58 are provided along the circumferential side of the convex ring 56 .
  • the resisting portions 58 can compress the vibration isolation pad 100 received in the space formed by the convex ring 56 , so that the vibration isolation portion is not easily detached from the pan/tilt 300 .
  • the rotor of the pitch axis motor 54 can be connected to the pitch axis arm 52 , the stator of the pitch axis motor 54 can be connected to the vibration isolation pad 100 , and the vibration isolation pad 100 is connected to the mounting part 40 .
  • the motor housing of the pitch axis motor 54 is fixedly connected to the stator, and the motor housing of the pitch axis motor 54 is provided with a clamp 26 for connection and installation with the vibration isolation pad 100 .
  • the pitch axis assembly 46 may include a pitch axis motor 54 , and the pitch axis motor 54 may be connected to one of the pitch axis arms 52 and one of the mounting parts 40 .
  • the other pitch axis arm 52 is rotatably connected to the other mounting part 40 .
  • the pitch axis assembly 46 may include two pitch axis motors 54 , and each pitch axis motor 54 is connected to a corresponding pitch axis arm 52 and a mounting portion 40 .
  • the movable platform 200 includes a connecting wire 72 and a
  • the wire hole 74 and the wire passing hole 74 pass through the stator 70 , the rotor 68 and the rear housing 64 of the roll axis motor 60 , and the connecting wire 72 passes through the wire hole 74 and is connected to the shooting assembly 66 .
  • the connecting wire 72 can directly pass through the motor 60 inside the shaft arm 62, and after extending from the shaft arm 62, can directly enter the shooting device from the rear housing 64 and connect to the shooting assembly 66, without the need for complicated external wire winding, which can reduce
  • the connecting wire 72 winds around the power, which is beneficial to increasing the rotation angle of the roll axis motor 60 and increasing the shooting angle range of the shooting device 50 .
  • the pan/tilt 300 is a three-axis pan/tilt, and the axis arm 62 of the pan/tilt 300 is the axis arm of the yaw axis assembly 44.
  • the shooting device 50 is installed on the rolling axis assembly 42.
  • the rolling axis assembly 42 can drive the shooting device 50 to achieve horizontal shooting, vertical shooting and shooting at other angles, and switching between them.
  • the wire passing hole 74 penetrates the stator 70 and the rotor 68 of the roll axis motor 60 and the rear shell 64 of the shooting device 50 , and the connecting wire 72 passes through the wire passing hole 74 and is connected to the shooting assembly 66 , so that in the horizontal direction,
  • the connecting wire 72 has less circling movement, which can reduce the winding force of the connecting wire 72 and achieve low wire winding, thereby avoiding easy damage to the connecting wire 72 caused by excessive winding force of the connecting wire 72 , and the rotation resistance of the shooting device 50 is large, and it can realize large angles of the roll axis, such as a rotation angle of ⁇ 180 degrees, and vertical shooting.
  • connection line 72 may be a coaxial line.
  • the rotor 68 of the roll axis motor 60 is connected to the rear housing 64 , and the stator 70 is connected to the roll axis arm 60 .
  • the stator 70 of the roll axis motor 60 is connected to the rear housing 64 , and the rotor 68 is connected to the roll axis arm 60 .
  • the photographing component 66 may include a circuit board 76 and an image sensor 78 , and a connecting wire 72 may be connected to the circuit board 76 to realize image data transmission and control signal transmission between the main body 12 and the photographing device 50 .
  • the roll axis motor 60 is provided with a first opening 80 penetrating the stator 70 and the rotor 68 , and the first opening 80 constitutes a part of the wire passing hole 74 .
  • the first opening 80 is located at the rotation center of the roll axis motor 60 . It can be understood that in other embodiments, the first opening 80 can also be deviated from the center of rotation by a certain distance to achieve the effect of reducing wire winding.
  • the motor driver chip can be integrated into the core board of the main body 12 to reduce the weight of the gimbal 300 and achieve good control accuracy, and the operation of the motor can be controlled through the connecting wire 72 .
  • a thermally conductive planar structure 82 is provided on the inside of the rear case 64 .
  • the shooting assembly 66 includes a circuit board 76 and an image sensor 78 .
  • the circuit board 76 includes an opposite first surface 84 and On the second side 86 , the image sensor 78 is mounted on the first side 84 , and the thermally conductive planar structure 82 is in contact with the second side 86 . In this way, the heat of the photographing component 66 can be dissipated.
  • the second opening 88 is a square hole
  • the plane of the heat conductive portion 92 is a square plane. It can be understood that in other embodiments, the planes of the second opening 88 and the heat conductive portion 92 may also be other polygonal shapes or other shapes.
  • the image sensor 78 can output image data, which is processed by the circuit board 76 and then output to the main body 12 or other external devices through the connecting wire 72 .
  • Image sensor 78 may be a CCD or CMOS image sensor 78.
  • the shooting device 50 also includes a front housing 94 and a lens 96 .
  • the lens 96 is installed on the front housing 94 and located in front of the image sensor 78 .
  • the rear shell 64 is fixedly connected to the front shell 94 .
  • a thermally conductive layer (not shown) is disposed between the thermally conductive planar structure 82 and the second surface 86 . In this way, the heat dissipation efficiency can be improved.
  • the thermal conductive layer connects the thermal conductive part 92 and the second surface 86.
  • the thermal conductive layer can reduce the air gap between the thermal conductive part 92 and the second surface 86, increase the heat dissipation contact area, thereby improve the heat dissipation efficiency, and ensure that the shooting device 50 works in Suitable operating temperature range.
  • the material of the thermal conductive layer can be thermal conductive silicone grease or other thermal conductive materials.
  • Step 1 Fix the stator 70 of the roll axis motor 60 and the roll axis arm 60 with screws;
  • Step 2 Fix the structure composed in Step 1 to the rear case 64 of the shooting device 50 with screws;
  • Step 3 Pass the coaxial line through the structure formed in Step 2 and connect it to the shooting assembly 66;
  • Step 5 Assemble the structure formed in Step 3 and the structure formed in Step 4 together into the front shell 94 of the shooting device 50 to complete the coaxial threading and heat dissipation of the shooting assembly 66, and drive the motor to realize rotation control of the shooting device 50 , detecting whether the requirements for controlling the photographing device 50 can be met.
  • the movable platform 200 includes a drone
  • the main body 12 is the body of the drone
  • the pan/tilt 300 is installed on the front end of the drone body through the vibration isolation pad 100 .
  • the movable platform 200 includes an unmanned vehicle
  • the main body 12 is the body of the unmanned vehicle
  • the pan/tilt 300 is installed on the top of the unmanned vehicle body through the vibration isolation pad 100 .
  • the movable platform 200 includes an unmanned vessel, a robot, or a camera stabilizer.
  • the installation location of the pan/tilt 300 is not limited to the above-mentioned location, and can also be at other locations, which are not specifically limited here.
  • the vibration isolation pad 100 and the movable platform 200 in the embodiment of the present application can at least achieve the following technical effects:
  • the design takes into account low wire winding and heat dissipation, effectively reducing wire winding while taking into account the heat dissipation of the shooting device 50;

Abstract

一种隔振垫(100)，用于连接可移动平台(200)主体(12)和云台(300)，隔振垫(100)包括：第一连接部(14)，沿隔振垫(100)周向设有至少两个第一连接件(18)，第一连接件(18)用于与云台(300)配合连接以实现隔振垫(100)与云台(300)的安装，和第二连接部(16)，沿隔振垫(100)周向设有至少两个第二连接件(20)，第二连接件(20)用于与主体(12)配合连接以实现隔振垫(100)与主体(12)的安装，其中，第一连接件(18)与第二连接件(20)的其中一个包括安装孔(22)，另一个包括卡块(24)。隔振构型空间位置和角度的设计比较简单，受空间位置的约束较少。

Description

隔振垫和可移动平台 技术领域
本申请涉及可移动平台技术领域，特别涉及一种隔振垫和可移动平台。
背景技术
目前，多旋翼无人机由于其稳定性好，操纵简单，能够原地垂直起降，场地要求简单，隐蔽性好，在军事、民用、科学领域均得到了广泛的应用和发展。无人机在飞行过程中，由于旋翼振动，气流扰动等因素产生的宽频振动激励经过机身传递到镜头，会对镜头的成像质量产生严重影响，因此需要采取措施来对镜头进行主动增稳。在相关技术中，通常采用云台来实现对镜头的增稳。然而云台安装在无人机上时，无人机所产生的振动激励也会传递到云台，造成对在云台上的镜头的增稳效果欠佳。
发明内容
本申请的实施方式提供一种隔振垫和可移动平台。
本申请实施方式的一种隔振垫，用于连接可移动平台主体和云台，所述隔振垫包括：
第一连接部，沿所述隔振垫周向设有至少两个第一连接件，所述第一连接件用于与所述云台配合连接以实现所述隔振垫与所述云台的安装，和
第二连接部，沿所述隔振垫周向设有至少两个第二连接件，所述第二连接件用于与所述主体配合连接以实现所述隔振垫与所述主体的安装；
其中，所述第一连接件与所述第二连接件的其中一个包括安装孔，另一个包括卡块。
本申请实施方式的一种可移动平台，包括：
主体，
云台，和
隔振垫，所述隔振垫连接在所述主体和所述云台之间，所述隔振垫包括：
第一连接部，沿所述隔振垫周向设有至少两个第一连接件，所述第一连接件用于与所述云台配合连接以实现所述隔振垫与所述云台的安装，和
第二连接部，沿所述隔振垫周向设有至少两个第二连接件，所述第二连接件用于与所述主体配合连接以实现所述隔振垫与所述主体的安装；
其中，所述第一连接件与所述第二连接件的其中一个包括安装孔，另一个包括卡块。
上述隔振垫和可移动平台，通过沿周向设置的第一连接件实现与云台的安装，及通过第二连接件实现与主体的安装，主体上的振动激励可以经由第二连接件和第一连接件进行分散隔离，有效地减少了从主体传递至云台的振动激励，提升了云台的增稳效果。
本申请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隔振垫的结构示意图；
图2是本申请实施方式的可移动平台的结构示意图；
图3至图10是本申请实施方式的云台和拍摄装置的结构示意图；
图11至图12是本申请实施方式的云台、拍摄装置和隔振垫的结构示意图；
图13至图14是本申请实施方式的横滚轴组件和拍摄装置的结构示意图；
图15是本申请实施方式的横滚轴组件和拍摄装置的分解示意图；
图16至图17是本申请实施方式的后壳的结构示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。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一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
请参阅图1和图2，本申请实施方式的一种隔振垫100，用于连接可移动平台200主体12和云台300，隔振垫100包括第一连接部14和第二连接部16。
第一连接部14沿隔振垫100周向设有至少两个第一连接件18，第一连接件18用于与云台300配合连接以实现隔振垫100与云台300的安装。第二连接部16沿隔振垫100周向设有至少两个第二连接件20，第二连接件20用于与主体12配合连接以实现隔振垫100与主体12的安装。其中，第一连接件18与第二连接件20的其中一个包括安装孔22，另一个包括卡块24。
上述隔振垫100通过沿周向设置的第一连接件18实现与云台300的安装，及通过第二连接件20实现与主体12的安装，主体12上的振动激励可以经由第二连接件20和第一连接件18进行分散隔离，有效地减少了从主体12传递至云台300的振动激励，提升了云台300的增稳效果。
具体地，可移动平台200包括无人机、无人车、无人船、机器人或拍摄稳定器。可移动平台200在移动时，通常会产生振动，例如，当可移动平台200为多旋翼无人机时，无人机的旋翼旋转时，会产生振动激励。若该振动激励不经过滤就直接传递到云台300上，会使得云台300的振动也随之增大，会减弱云台300的增稳效果。在可移动平台200主体12和云台300之间连接有隔振垫100，使得可移动平台200的振动激励尽可能少地传递至云台300，提升了云台300对负载的增稳效果。
在图1所示的实施方式中，第一连接件18包括安装孔22，第二连接件20包括卡块24，位于最外侧的云台300电机壳上设有卡件26(见图3)，卡件26可穿设安装孔22，且卡件26的顶部可以卡设在第一连接部14的表面，可以实现隔振件与云台300过盈配合连接。在一个实施方式中，卡件26可以呈T型，如此隔振垫100与云台300的安装效果好，结构牢固。
主体12上可设有卡孔(图未示)，卡块24可以穿设卡孔，且卡块24的顶部可以卡设在主体12的表面，可以实现隔振垫100与主体12的安装。
在某些实施方式中，第一连接件18与对应的一个第二连接件20沿隔振垫100的径向排列。如此，隔振垫100与主体12和云台300的连接强度较好。
具体地，沿隔振垫100的径向排列的第一连接件18和第二连接件20，两者之间的距离较短，使得第一连接件18与云台300的安装点和第二连接件20与主体12的安装点之间的距离也较短，在振动传递时，可以减少两个安装点之间的振幅，避免第一连接件18与云台300之间发生意外脱落，及避免第二连接件20与主体12之间发生意外脱落，保证了隔振垫100与主体12和云台300的连接强度。
在图示的实施方式中，第一连接件18的数量是三个，三个第一连接件18沿隔振垫100周向均匀间隔设置，第二连接件20的数量是三个，三个第二连接件20与三个第一连接件18一一对应，每个第一连接件18与对应的一个第二连接件20沿隔振垫100径向排列。可以理解，在其它实施方式中，第一连接 件18的数量不限于三个，还可以是二个或多于三个，第二连接件20的数量不限于三个，还可以是二个或多于三个。
在某些实施方式中，安装孔22呈跑道型。如此，安装孔22可以增加连接强度。
具体地，在图示的实施方式中，第一连接件18包括安装孔22，第二连接件20包括卡块24。云台300可包括卡件26，卡件26的顶部可以设置有卡勾28(见图5)，卡件26穿设安装孔22。卡勾28可以沿安装孔22的周缘卡在第一连接件18。相较于圆形孔，呈跑道型的安装孔22的周缘长度较大，可允许卡勾28的尺寸适当增大，卡勾28卡在第一连接件18的部位也较多，可以提升云台300与第一连接件18的连接强度。
在某些实施方式中，至少两个第一连接件18沿隔振垫100周向排列呈环形，至少两个第二连接件20沿隔振垫100周向排列呈环形，至少两个第一连接件18位于至少两个第二连接件20所构成的环形内。如此，可以使隔振垫100分别与云台300和主体12连接更牢固。
具体地，在图示的实施方式中，第一连接件18和第二连接件20的数量均为三个，三个第一连接件18和三个第二连接件20均沿隔振垫100周向排列呈形环形。呈环形排列的连接件，可以将隔振垫100与主体12和云台300的安装点分布也呈环形，形成内环与外环的连接分布，整体上提升隔振垫100分别与云台300和主体12的连接强度，使三者连接更牢固。
在某些实施方式中，至少两个第一连接件18排列所构成的环形与至少两个第二连接件20排列所构成的环形同心设置。如此，可以避免或减少因振动传递而造成期望外的隔振垫100振动。
具体地，至少两个第一连接件18排列所构成的环形为内环，至少两个第二连接件20排列所构成的环形为外环，内环与外环同心设置。在主体12上的振动传递至隔振垫100时，由于内环与外环同心设置，使得振动在隔振垫100上各个方向的传递趋于一致，可以避免或减少因振动在各个方向传递差异而造成期望外的隔振垫100振动。
在某些实施方式中，卡块24呈T型。如此，卡块24的卡设效果好。
具体地，在图示的实施方式中，第一连接件18包括安装孔22，第二连接件20包括卡块24。请参图1，卡块24可包括柱状部30和卡部32，柱状部30连接卡部32，卡部32相对于柱状部30的周缘沿180度具有两个凸出部位，安装主体12和隔振垫100时，卡部32在穿过主体12上的卡孔时发生变形，卡部32穿过卡孔后恢复形状，柱状部30穿设在卡孔内，卡部32的凸出部位可以沿180度将主体12上围成卡孔的周缘部位压紧。
在一个实施方式中，隔振垫100在制造出来时，卡部32的末端预留有三个细长的镊子状的辐条34。在安装隔振垫100与主体12时，三个辐条34可穿入主体12上的卡孔，并拉扯辐条34，使辐条34根部(即卡部32)卡住主体12进行限位，之后，可以将辐条34剪断去除。隔振垫100的穿孔安装方式，比较简单牢靠，且额外增加安装结构尺寸和重量均较小。
在某些实施方式中，第二连接部16呈环形，沿隔振垫100周向连接在第一连接部14的边缘。如此，可以形成一类似于碗状的隔振垫100，隔振效果好。
具体地，呈环形的第二连接部16连接主体12，主体12上的振动传递至第二连接部16时，由环形的第二连接部16进行分散，避免振动过于集中而造成局部振动过大而降低隔振效果。
在某些实施方式中，请参图1和图2，卡块24的底部设有第一夹持面36，卡块24的顶部设有与第一夹持面36相对的第二夹持面38，第一夹持面36与第二夹持面38用于共同夹持主体12的安装部40相背两表面。如此，隔振垫100与主体12的安装效果好。
具体地，主体12包括安装部40，安装部40可开设有卡孔，两个夹持面对主体12安装部40的相背两表面进行夹持，夹持面积大，夹持位置能够较为均匀地分布，夹持效果好，进而保证了隔振垫100与主体12的安装效果。第二夹持面38可以是卡部32的底面。
在某些实施方式中，隔振垫100的形状包括圆形、椭圆形、三角形、方形、规则多边形。如此，隔振垫100的设计灵活，可以适应更多需求。
具体地，可以根据实际需要来对隔振垫100的形状进行设计制造，以满足所需的应用场景或设计要求。
在一个实施方式中，隔振垫100的形状为圆形。在一个实施方式中，隔振垫100的形状为椭圆形。在一个实施方式中，隔振垫100的形状为三角形。在一个实施方式中，隔振垫100的形状为方形。在一个实施方式中，隔热垫的形状为规则多边形，规则多边形可以是五边形、六边形等等形状。
可以理解，在其它实施方式中，隔振垫100的形状还可以是圆环状，工字垫状，圆锥状等。在此不作具体限定。
在某些实施方式中，隔振垫100的材质包括橡胶、塑胶。如此，隔振垫100成本低，易于制造。
具体地，隔振垫100可以通过一体成型工艺来制造。在一个实施方式中，隔振垫100的材质是橡胶。在一个实施方式中，隔振垫100的材质是塑胶。
在一个实施方式中，隔振垫100在制造设计时，可以通过以下步骤进行：
步骤1：计算云台300的质量和惯量参数，确定云台300转轴(如横滚轴、偏航轴等)隔振频点的大致区间，确定径向平动方向最低限制隔振频点，并结合云台300左右两端的跨距，大致确定隔振垫100径向和轴向刚度的范围；
步骤2：结合电机直径及云台300与机身的距离，大致给出隔振垫100的直径和深度，在CAE仿真软件中(例如HyperWorks)计算隔振垫100的轴向和径向刚度，如果刚度不满足要求，可以通过调节隔振垫100的厚度，高度和直径等参数来调节，直至得到合适的隔振垫100参数；
步骤3：进一步将隔振垫100模型导入到云台CAE模型计算云台300的隔振频点，解耦率，隔振衰减曲线，以及最严苛工况下的最大应力，综合评估隔振垫100是否满足隔振以及强度要求；
步骤4：增加生产工艺特征形成隔振垫100的最终形态，打样验证隔振垫100的刚度是否和设计值一致，并通过隔振垫100将云台300安装至可移动平台200移动(如无人机试飞)验证隔振垫100隔振效果和强度是否满足要求。
请参图1和图2,本申请实施方式的一种可移动平台200，包括主体12、云台300和隔振垫100，隔振垫100连接在主体12和云台300之间。
上述可移动平台200中，通过沿周向设置的第一连接件18实现与云台300的安装，及通过第二连接件20实现与主体12的安装，主体12上的振动激励可以经由第二连接件20和第一连接件18进行分散隔离，有效地减少了从主体12传递至云台300的振动激励，提升了云台300的增稳效果。
需要指出的是，上述对隔振垫100的实施方式和有益效果的解释说明，也适用于本实施方式的可移动平台200的隔振垫100，为避免冗余，在此不作详细展开。
在某些实施方式中，第一连接件18与对应的一个第二连接件20沿隔振垫100的径向排列。
在某些实施方式中，安装孔22呈跑道型。
在某些实施方式中，至少两个第一连接件18沿隔振垫100周向排列呈环形，至少两个第二连接件20沿隔振垫100周向排列呈环形，至少两个第一连接件18位于至少两个第二连接件20所构成的环形内。
在某些实施方式中，至少两个第一连接件18排列所构成的环形与至少两个第二连接件20排列所构成的环形同心设置。
在某些实施方式中，卡块24呈T型。
在某些实施方式中，第二连接部16呈环形，沿隔振垫100周向连接在第一连接部14的边缘。
在某些实施方式中，卡块24的底部设有第一夹持面36，卡块24的顶部设有与第一夹持面36相对的第二夹持面38，主体12包括安装部40，安装部40开设有卡孔，卡块24穿设卡孔，第一夹持面36与第二夹持面38共同夹持安装部40的相背两表面。
在某些实施方式中，请参图3至图10，云台300为三轴云台，从云台300内到外的轴序依次是横滚轴组件42(Roll)、航向轴组件44(Yaw)和俯仰轴组件46(Pitch)，俯仰轴组件46连接主体12，横滚轴组件42用于安装拍摄装置50。如此，采用该轴序的三轴云台300可以减小云台300上下和前后的包络尺寸，且能获得较大的俯仰角和支持拍摄装置50竖拍。
具体地，在本申请实施方式中，可以按拍摄装置50侧是云台300内侧，主体12侧是云台300外侧来对轴序进行定义。相对于另外的两个轴组件，俯仰轴组件46位于云台300的最外侧，减少云台300部件和主体12部件对俯仰轴组件46转动范围的阻挡，俯仰轴组件46工作时，能够获取较大的俯仰角，实 现对天和对地的拍摄。
横滚轴组件42用于安装拍摄装置50，横滚轴组件42工作时，可以驱动拍摄装置50转动，从横拍切换至竖拍，或从竖拍切换至横拍，或切换至竖拍与横拍之间的其它角度拍摄。
在某些实施方式中，云台300为两轴云台，两轴云台300包括横滚轴组件42和俯仰轴组件46，从云台300内到外的轴序依次是横滚轴组件42、俯仰轴组件46。相对于横滚轴组件42，俯仰轴组件46位于云台300的外侧，减少云台300部件和主体12部件对俯仰轴组件46转动范围的阻挡，俯仰轴组件46工作时，能够获取较大的俯仰角。横滚轴组件42用于安装拍摄装置50，横滚轴组件42工作时，可以驱动拍摄装置50转动，从横拍切换至竖拍，或从竖拍切换至横拍，或切换至竖拍与横拍之间的其它角度拍摄。
在某些实施方式中，云台300为两轴云台，两轴云台300包括航向轴组件44和俯仰轴组件46，从云台300内到外的轴序依次是航向轴组件44、俯仰轴组件46。相对于航向轴组件44，俯仰轴组件46位于云台300的外侧，减少云台300部件和主体12部件对俯仰轴组件46转动范围的阻挡，俯仰轴组件46工作时，能够获取较大的俯仰角。航向轴组件44用于安装拍摄装置50，航向轴组件44工作时，可以驱动拍摄装置50转动沿周向大角度拍摄，如360度环绕拍摄。
在某些实施方式中，云台300为单轴云台，单轴云台包括俯仰轴组件46。俯仰轴组连接主体12和安装拍摄装置50，可减少云台300部件和主体12部件对俯仰轴组件46转动范围的阻挡，俯仰轴组件46工作时，能够获取较大的俯仰角。
在某些实施方式中，请参图3和图4，俯仰轴组件46包括两个俯仰轴轴臂52，两个俯仰轴轴臂52对称布置在拍摄装置50的两侧，每个俯仰轴轴臂52均通过隔振垫100与主体12连接。如此，可以提升隔振效果。
具体地，两个俯仰轴轴臂52对称布置在拍摄装置50的两侧，使得由主体12产生的振动经由两个隔振垫100进行隔离，提升隔振效果，而且，对称布置的两个俯仰轴轴臂52也可以减少因位置偏差而引起的期望外振动。每个俯仰轴轴臂52均通过隔振垫100与主体12连接，隔振形式呈左右和沿径向均对称，容易得到较高的减振解耦率。
主体12具有两个安装部40，两个安装部40间隔一定距离以用于安装云台300。每个安装部40与对应的一个俯仰轴轴臂52通过隔振垫100连接。
在某些实施方式中，俯仰轴组件46还包括至少一个俯仰轴电机54，俯仰轴电机54包括转子和定子，转子和定子的其中一个连接俯仰轴轴臂52，另一个连接隔振垫100。如此，俯仰轴电机54可以通过转子和定子与俯仰轴轴臂52和隔振垫100连接。
在一个实施方式中，俯仰轴电机54的定子可以连接俯仰轴轴臂52，俯仰轴电机54的转子可以连接隔振垫100，隔振垫100连接安装部40。俯仰轴电机54的电机壳固定连接转子，俯仰轴电机54的电机壳上设有卡件26与隔振垫100连接安装。在图5所示的实施方式中，俯仰轴电机54的电机壳的周缘设有凸环56，凸环56所形成的空间可以收容部分隔振垫100。在凸环56的侧边沿周向设有多个抵持部58，抵持部58可以将收容在凸环56所形成空间内的隔振垫100压紧，使得隔振部不易从云台300上脱落。
在一个实施方式中，俯仰轴电机54的转子可以连接俯仰轴轴臂52，俯仰轴电机54的定子可以连接隔振垫100，隔振垫100连接安装部40。俯仰轴电机54的电机壳固定连接定子，俯仰轴电机54的电机壳上设有卡件26与隔振垫100连接安装。
在图2至图10的实施方式中，俯仰轴组件46可包括一个俯仰轴电机54，俯仰轴电机54可连接其中一个俯仰轴轴臂52和其中一个安装部40。另一个俯仰轴轴臂52与另一个安装部40转动连接。
在一个实施方式中，俯仰轴组件46可包括两个俯仰轴电机54，每个俯仰轴电机54连接对应的一个俯仰轴轴臂52和一个安装部40。
在某些实施方式中，请参图11至图15，横滚轴组件42包括横滚轴电机60，横滚轴电机60安装在云台300的轴臂62，拍摄装置50包括后壳64和拍摄组件66，横滚轴电机60包括转子68和定子70，定子70和转子68的其中一个连接后壳64，另一个连接云台300的轴臂62，可移动平台200包括连接线72和过线孔74，过线孔74贯穿横滚轴电机60的定子70、转子68和后壳64，连接线72穿设过线孔74并与拍摄组件66连接。如此，连接线72可以在轴臂62内部直接穿过电机60，从轴臂62伸出后又可以直 接从后壳64进入拍摄装置与拍摄组件66连接，而无需复杂的外部线绕，可以降低连接线72绕动力，有利于增加横滚轴电机60的转动角度，增加拍摄装置50的拍摄角度范围。
具体地，在本申请的附图所示的实施方式中，云台300为三轴云台，云台300的轴臂62为航向轴组件44的轴臂。
拍摄装置50安装在横滚轴组件42上，横滚轴组件42可以驱动拍摄装置50实现横拍，竖拍和其它角度拍摄，及之间的切换。在本实施方式中，过线孔74贯穿横滚轴电机60的定子70、转子68和拍摄装置50的后壳64，连接线72穿设过线孔74并与拍摄组件66连接，使得在横滚轴组件42驱动拍摄装置50转动时，连接线72的绕动运动较少，可以降低连接线72绕动力，实现低线绕，避免因连接线72绕动力过大而导致连接线72容易损坏，及拍摄装置50转动阻力大，并可实现横滚轴的大角度，如≥180度的旋转角度，及竖拍。在一个例子中，连接线72可以是同轴线。
在一个实施方式中，横滚轴电机60的转子68连接后壳64，定子70连接横滚轴轴臂60。在一个实施方式中，横滚轴电机60的定子70连接后壳64，转子68连接横滚轴轴臂60。
拍摄组件66可包括电路板76和图像传感器78，连接线72可以连接电路板76，以实现主体12与拍摄装置50的图像数据传输及控制信号传输等。
横滚轴电机60设有贯穿定子70和转子68的第一开孔80，第一开孔80构成过线孔74的一部分。在图示的实施方式中，第一开孔80位于横滚轴电机60的回转中心。可以理解，其它实施方式中，第一开孔80也可以偏离回转中心一定的距离来都达到降低线绕的效果。
在一个实施方式中，可以将电机驱动芯片集成到主体12的核心板上以降低云台300重量且可以达到良好的控制精度，并可以通过连接线72控制电机的运行。
在某些实施方式中，请参图15至图17，后壳64内侧设有导热平面结构82，拍摄组件66包括电路板76和图像传感器78，电路板76包括相背的第一面84和第二面86，图像传感器78安装在第一面84，导热平面结构82与第二面86抵接。如此，可以对拍摄组件66进行散热。
具体地，后壳64开设有第二开孔88，第二开孔88构成过线孔74的一部分。导热平面结构82可以与后壳64上的第二开孔88对应设置，请参图17，导热平面结构82包括连接部90和导热部92，连接部90连接在第二开孔88周围的后壳64部件，导热部92连接在连接部90顶部。导热部92与电路板76的第二面86抵接。导热部92呈平面状，如此可以增加散热面积。后壳64可以采用金属材料或其它适用于散热的材料制成。
在图示的实施方式中，第二开孔88为方形孔，导热部92平面为方形平面。可以理解，在其它实施方式中，第二开孔88和导热部92平面也可以是其他多边形形状或其它形状。
图像传感器78可以输出图像数据，经电路板76处理后，由连接线72输出至主体12或其它外部设备。图像传感器78可以是CCD或CMOS图像传感器78。拍摄装置50还包括前壳94和镜头96，镜头96安装在前壳94并位于图像传感器78前侧。后壳64与前壳94固定连接。
在某些实施方式中，导热平面结构82与第二面86之间设有导热层(图未示)。如此，可以提升散热效率。
具体地，导热层连接导热部92和第二面86，导热层可以减少导热部92和第二面86之间的空气间隙，提升散热接触面积，进而可提升散热效率，保证拍摄装置50工作在合适的工作温度范围。导热层的材质可以是导热硅脂，或其它导热材料。
在本申请的一个实施方式中，可以通过以下步骤实现同轴线中间穿以降低线绕和散热的目的，实现横滚轴的大角度(竖拍)拍摄：
步骤1，将横滚轴电机60定子70与横滚轴轴臂60通过螺丝固定；
步骤2，将步骤1组成的结构与拍摄装置50后壳64通过螺丝固定；
步骤3，将同轴线穿过步骤2组成的结构与拍摄组件66连接；
步骤4，将拍摄装置50后壳64的导热平面涂导热脂形成导热层；
步骤5，将步骤3组成的结构和步骤4形成的结构一起组装进与拍摄装置50前壳94装配完成，实现同轴线的穿轴和拍摄组件66散热，驱动电机实现拍摄装置50的转动控制，检测是否能满足控制拍摄装 置50要求。
在某些实施方式中，可移动平台200包括无人机、无人车、无人船、机器人或拍摄稳定器。如此，可移动平台200的应用范围广，应用场景多。
具体地，在图示的实施方式中，可移动平台200包括无人机，主体12是无人机的机身，云台300通过隔振垫100安装在无人机机身的前端。
在一个实施方式中，可移动平台200包括无人车，主体12是无人车的车身，云台300通过隔振垫100安装在无人车车身的顶部。在其它实施方式中，可移动平台200包括无人船、机器人或拍摄稳定器。云台300的安装位置不限于上述所指的位置，还可以是其它位置，在此不作具体限定。
综上，本申请实施方式的隔振垫100和可移动平台200，至少可以实现以下技术效果：
1、隔振构型空间位置和角度的设计比较简单，受空间位置的约束较少；
2、由于该隔振形式左右和沿径向均对称，容易得到较高的减振解耦率；
3、兼顾低线绕且散热的设计，有效降低线绕同时能兼顾拍摄装置50散热；
4、云台300外包络尺寸和重量都得到更好的优化，对于重量和尺寸要求较小的便携式折叠小型无人机的设计比较有利。
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之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，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”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式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方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施方式，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、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. 一种隔振垫，用于连接可移动平台主体和云台，其特征在于，所述隔振垫包括：
    第一连接部，沿所述隔振垫周向设有至少两个第一连接件，所述第一连接件用于与所述云台配合连接以实现所述隔振垫与所述云台的安装，和
    第二连接部，沿所述隔振垫周向设有至少两个第二连接件，所述第二连接件用于与所述主体配合连接以实现所述隔振垫与所述主体的安装；
    其中，所述第一连接件与所述第二连接件的其中一个包括安装孔，另一个包括卡块。
  2. 根据权利要求1所述的隔振垫，其特征在于，所述第一连接件与对应的一个所述第二连接件沿所述隔振垫的径向排列。
  3. 根据权利要求1所述的隔振垫，其特征在于，所述安装孔呈跑道型。
  4. 根据权利要求1所述的隔振垫，其特征在于，所述至少两个第一连接件沿所述隔振垫周向排列呈环形，所述至少两个第二连接件沿所述隔振垫周向排列呈环形，所述至少两个第一连接件位于所述至少两个第二连接件所构成的环形内。
  5. 根据权利要求4所述的隔振垫，其特征在于，所述至少两个第一连接件排列所构成的环形与所述至少两个第二连接件排列所构成的环形同心设置。
  6. 根据权利要求1所述的隔振垫，其特征在于，所述卡块呈T型。
  7. 根据权利要求1所述的隔振垫，其特征在于，所述第二连接部呈环形，沿所述隔振垫周向连接在所述第一连接部的边缘。
  8. 根据权利要求1所述的隔振垫，其特征在于，所述卡块的底部设有第一夹持面，所述卡块的顶部设有与所述第一夹持面相对的第二夹持面，所述第一夹持面与所述第二夹持面用于共同夹持所述主体的安装部相背两表面。
  9. 根据权利要求1所述的隔振垫，其特征在于，所述隔振垫的形状包括圆形、椭圆形、三角形、方形、规则多边形。
  10. 根据权利要求1所述的隔振垫，其特征在于，所述隔振垫的材质包括橡胶、塑胶。
  11. 一种可移动平台，其特征在于，包括：
    主体，
    云台，和
    隔振垫，所述隔振垫连接在所述主体和所述云台之间，所述隔振垫包括：
    第一连接部，沿所述隔振垫周向设有至少两个第一连接件，所述第一连接件用于与所述云台配合连接以实现所述隔振垫与所述云台的安装，和
    第二连接部，沿所述隔振垫周向设有至少两个第二连接件，所述第二连接件用于与所述主体配合连接以实现所述隔振垫与所述主体的安装；
    其中，所述第一连接件与所述第二连接件的其中一个包括安装孔，另一个包括卡块。
  12. 根据权利要求11所述的可移动平台，其特征在于，所述第一连接件与对应的一个所述第二连接件沿所述隔振垫的径向排列。
  13. 根据权利要求11所述的可移动平台，其特征在于，所述安装孔呈跑道型。
  14. 根据权利要求11所述的可移动平台，其特征在于，所述至少两个第一连接件沿所述隔振垫周向排列呈环形，所述至少两个第二连接件沿所述隔振垫周向排列呈环形，所述至少两个第一连接件位于所述至少两个第二连接件所构成的环形内。
  15. 根据权利要求14所述的可移动平台，其特征在于，所述至少两个第一连接件排列所构成的环形与所述至少两个第二连接件排列所构成的环形同心设置。
  16. 根据权利要求11所述的可移动平台，其特征在于，所述卡块呈T型。
  17. 根据权利要求11所述的可移动平台，其特征在于，所述第二连接部呈环形，沿所述隔振垫周向连接在所述第一连接部的边缘。
  18. 根据权利要求11所述的可移动平台，其特征在于，所述卡块的底部设有第一夹持面，所述卡块的顶部设有与所述第一夹持面相对的第二夹持面，所述主体包括安装部，所述安装部开设有卡孔，所述卡块穿设所述卡孔，所述第一夹持面与所述第二夹持面共同夹持所述安装部的相背两表面。
  19. 根据权利要求11所述的可移动平台，其特征在于，所述云台为三轴云台，从所述云台内到外的轴序依次是横滚轴组件、航向轴组件和俯仰轴组件，所述俯仰轴组件连接所述主体，所述横滚轴组件用于安装拍摄装置。
  20. 根据权利要求11所述的可移动平台，其特征在于，所述云台为两轴云台，从所述云台内到外的 轴序依次是横滚轴组件或航向轴组件、俯仰轴组件，所述俯仰轴组件连接所述主体，所述横滚轴组件或所述航向轴组件用于安装拍摄装置。
  21. 根据权利要求11所述的可移动平台，其特征在于，所述云台包括俯仰轴组件，所述俯仰轴组件连接所述主体和用于安装拍摄装置。
  22. 根据权利要求19-21任一项所述的可移动平台，其特征在于，所述俯仰轴组件包括两个俯仰轴轴臂，所述两个俯仰轴轴臂对称布置在所述拍摄装置的两侧，每个俯仰轴轴臂均通过所述隔振垫与所述主体连接。
  23. 根据权利要求22所述的可移动平台，其特征在于，所述俯仰轴组件还包括至少一个俯仰轴电机，所述俯仰轴电机包括转子和定子，所述转子和所述定子的其中一个连接所述俯仰轴轴臂，另一个连接所述隔振垫。
  24. 根据权利要求19或20所述的可移动平台，其特征在于，所述横滚轴组件包括横滚轴电机，所述横滚轴电机安装在所述云台的轴臂，所述拍摄装置包括后壳和拍摄组件，所述横滚轴电机包括转子和定子，所述定子和所述转子的其中一个连接所述后壳，另一个连接所述云台的轴臂，所述可移动平台包括连接线和过线孔，所述过线孔贯穿所述横滚轴电机的定子、转子和所述后壳，所述连接线穿设所述过线孔并与所述拍摄组件连接。
  25. 根据权利要求24所述的可移动平台，其特征在于，所述后壳内侧设有导热平面结构，所述拍摄组件包括电路板和图像传感器，所述电路板包括相背的第一面和第二面，所述图像传感器安装在所述第一面，所述导热平面结构与所述第二面抵接。
  26. 根据权利要求25所述的可移动平台，其特征在于，所述导热平面结构与所述第二面之间设有导热层。
  27. 根据权利要求11所述的可移动平台，其特征在于，所述可移动平台包括无人机、无人车、无人船、机器人或拍摄稳定器。
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