CN205560201U - Cloud platform and use shooting equipment and unmanned vehicles of this cloud platform - Google Patents

Abstract

A gimbal and a shooting device and unmanned aerial vehicle using the gimbal are disclosed. The gimbal includes a connector and a first actuator. The first actuator includes a rotating member, and the connector includes a mounting portion. The connector is connected to the rotating member via the mounting portion. The rotating member is capable of driving the connector to rotate about an axis. The gimbal also includes a transmission member that extends from the side of the rotating member along the end face of the rotating member to the connector. The gimbal is relatively small in size.

Description

Cloud-tilt and shooting equipment and unmanned aerial vehicle using the cloud-tilt

technical field

The utility model relates to a cloud platform, a photographing device and an unmanned aerial vehicle using the platform.

Background technique

In the process of using electric pan-tilts to set up video cameras, cameras and other electronic devices for shooting, it is often necessary to electrically connect the electronic components disposed on the pan-tilts with the electronic devices to transmit data or power. The pan/tilt is usually a two-axis pan/tilt or a three-axis pan/tilt, and the electronic device is installed on the end shaft of the pan/tilt and is driven by the pan/tilt to change the shooting posture. In order to reserve a sufficient rotation angle for the rotation of the end shaft of the pan-tilt, when the electronic component is electrically connected to the electronic device, a relatively long connection line is required for connection. Due to the long length of the connecting wire, it is necessary to set a special part for winding the wire on the pan/tilt, so as to prevent the connecting wire from being entangled during the rotation of the pan/tilt. However, the part specially used for winding takes up a large space, which makes the pan-tilt larger, which is not conducive to the miniaturization design of the pan-tilt.

Utility model content

In view of the above situation, it is necessary to provide a relatively small cloud platform, and it is also necessary to provide a shooting device and an unmanned aerial vehicle using the cloud platform.

A cloud platform includes a connecting piece and a first driver. The first driver includes a rotating part, the connecting part includes a mounting part, the connecting part is connected to the rotating part through the installing part, and the rotating part can drive the connecting part to rotate around an axis , the platform further includes a transmission member, the transmission member extends from the side of the rotating member along the end surface of the rotating member to the connecting member.

Further, the transmission member is a data line or a flexible circuit board, which is used to transmit power or data.

Further, one end of the transmission member is fixed on the first driver, and the other end extends to the connecting member along the end surface of the rotating member.

Further, the connector driver is a rotating motor, a rotating cylinder or a steering gear

Further, the rotation axis of the rotating member is the yaw axis of the pan/tilt.

Further, the first driver further includes a stator, the rotating member is rotatably connected to the stator, the transmission member includes a first transmission part and a second transmission part connected, and the first transmission part Fixed on the stator, the second transmission part is connected to the first transmission part and extends to the connecting part along the end surface of the rotating part.

Further, the rotating member is arranged at one end of the stator, one end of the first transmission part is fixed on the stator, and extends along the outer circumference of the stator to be adjacent to the rotating member.

Further, the first transmission part is arranged parallel to the outer circumference of the stator.

Further, the second transmission part is arranged perpendicular to the end surface of the rotating member, and extends along the end surface of the rotating member to the connecting member.

Further, the transmission part also includes a third transmission part, the third transmission part is connected to an end of the second transmission part away from the first transmission part, and the second transmission part passes through the third transmission part. connected to the connector.

Further, a predetermined angle is formed between the second transmission part and the third transmission part, so that the transmission part produces a pre-bending deformation.

Further, the pan/tilt further includes a mounting part disposed on the stator, and one end of the transmission part is fixedly disposed on the mounting part.

Further, the connecting part is provided with a first limiting part, and the first limiting part cooperates with the installation part to limit the rotation angle of the connecting part relative to the stator along a first direction.

Further, the connecting part is also provided with a second limiting part, and the second limiting part cooperates with the installation part to limit the rotation angle of the connecting part relative to the stator along a second direction. , the second direction is opposite to the first direction.

Further, the other end of the transmission member is fixedly connected to the connecting member, and the first limiting portion and the second limiting portion are arranged symmetrically with respect to the other end of the transmission member.

Further, the first limiting portion and the second limiting portion are set at a predetermined angle.

Further, the angle formed between the first limiting part and the second limiting part is less than or equal to 180 degrees;

Alternatively, the predetermined included angle between the first limiting portion and the second limiting portion is 90 degrees to 135 degrees.

Further, the mounting part is provided with a positioning part, and the transmission part is provided with an engaging part that cooperates with the positioning part, and the positioning part is engaged with the engaging part to lock the The transmission part is positioned on the installation part.

Further, the installation part includes a fixed part and a guide part, the fixed part is fixed on the stator, the guide part is connected to the fixed part, and is arranged adjacent to the end surface of the rotating part , the transmission part extends to the connecting part along the fixing part and the guiding part.

Further, the fixing portion extends along the outer circumference of the stator to be adjacent to the edge of the rotating member.

Further, the guide part is arranged perpendicular to the end surface of the rotating member.

Further, the mounting part further includes a supporting part, the supporting part is arranged between the fixing part and the guiding part, and is parallel to the end surface of the rotating part.

Further, the pan/tilt further includes a reinforcing member, the reinforcing member is arranged on the connecting member and corresponds to the guiding portion, and the other end of the transmission member is fixed on the reinforcing member.

Further, the reinforcing member is arranged perpendicular to the end surface of the rotating member, and the guiding portion and the reinforcing member are arranged at a predetermined angle.

Further, the pan/tilt also includes a support and a second driver, the second driver is arranged on the connecting member, and the support is connected to the second driver to allow the second driver to drive The supporting part rotates relative to the connecting part.

Further, the supporting member includes an adapter portion and a support arm disposed on the adapter portion, and the adapter portion is connected to the second driver.

Further, the number of the support arms is two, and the two support arms are respectively arranged on both sides of the transition part.

Alternatively, the two support arms are symmetrically arranged on opposite sides of the transition part.

Further, the rotation axis of the support member is perpendicular to the rotation axis of the rotating member.

Further, the connecting piece includes a connecting arm connected to the first driver and a connecting part arranged on the connecting arm, and the second driver is arranged in the connecting part.

Further, the pan/tilt further includes a third driver arranged on the support, and the rotor of the third driver can rotate relative to the support.

Further, the rotation axis of the rotor of the third driver is perpendicular to the rotation axis of the support member.

Further, the pan/tilt is a three-axis pan/tilt, and the rotation axis of the rotor of the third driver, the rotation axis of the support member and the rotation axis of the rotating member correspond to the pitch axis, roll axis and yaw axis.

Further, the pan/tilt further includes an assembly, and the first driver is arranged in the assembly.

Further, the cloud platform also includes a receiving part, the receiving part is arranged at one end of the connecting part, and is fastened with the fitting and can rotate relative to the fitting, and the fitting is connected to the receiving part. pieces collectively house the first drive.

Further, the fitting is provided with a piercing hole for the transmission element to pass through, and the inner cavity of the fitting communicates with the outside world through the piercing hole.

Further, an electronic device is connected to the connecting part of the pan/tilt, and the transmission part is electrically connected to the electronic device.

Further, the transmission member is connected between the electronic device and the power supply device of the platform, and the transmission member is also used to transmit the power of the power supply device to the electronic device;

Or/and, one end of the transmission part is connected to the controller of the pan-tilt, the other end of the transmission part is connected to the electronic device, and the transmission part is used to transmit the control instruction of the controller to said electronic device;

Or/and the electronic device is one of the following: video camera, camera, video head, infrared camera or portable communication device; the transmission part is used to transmit the image data acquired by the electronic device to an image transmission device .

A photographing device, comprising an image acquisition device, and the platform according to any one of the above, the image acquisition device is arranged on the platform.

An unmanned aerial vehicle includes a fuselage and the above-mentioned photographing equipment, and the photographing equipment is arranged on the fuselage.

Further, the unmanned aerial vehicle also includes a flight controller and an inertial measurement unit electrically connected to the flight controller, the inertial measurement unit is used to detect the attitude of the unmanned aerial vehicle to allow the flight controller according to This attitude controls the flight of the UAV.

Further, the unmanned aerial vehicle further includes an electronic governor connected to the first driver, and the electronic governor is used to control the rotation speed and rotation direction of the first driver.

In the above-mentioned cloud platform, the transmission part extends from the side of the rotating part to the connecting part along the end surface of the rotating part, and can be connected to the electronic components in the connecting part, so that the transmitting part has A certain length margin is used to adapt to the change of the relative position or/and relative distance between the electronic components in the connector and the first driver when the connector is rotating, which makes reasonable use of the pan/tilt space, while avoiding that the transmission element is entangled into a cluster, there is no need to additionally provide a place for the transmission element to wrap around, so that the overall volume of the pan/tilt is relatively small.

Description of drawings

FIG. 1 is an assembled perspective view of a photographing device provided by an embodiment of the present invention.

FIG. 2 is a three-dimensional exploded schematic diagram of a first viewing angle of the photographing device shown in FIG. 1 .

FIG. 3 is a three-dimensional exploded schematic view of the shooting device shown in FIG. 1 at a second viewing angle.

FIG. 4 is a three-dimensional exploded schematic view of the photographing device shown in FIG. 1 at a third viewing angle.

FIG. 5 is an exploded perspective view of a fourth viewing angle of the photographing device shown in FIG. 1 .

Fig. 6 is an assembly perspective view of the unmanned aerial vehicle provided by the embodiment of the present invention.

Description of main component symbols

shooting equipment 300 PTZ 100 first bracket assembly 10 Assemblies 12 piercing hole 123 first drive 13 stator 131 shaft 133 rotating parts 135 Containment 14 Installation parts 15 fixed part 152 Support 154 Positioning Department 1541,1561 Guidance Department 156 connector 16 Installation Department 161 The first limit 1611 The second limiting part 1613 connecting arm 163 Connection 165 Reinforcement 17 second bracket assembly 30 second drive 32 supporting item 34 Transition 341 support arm 343 Installation Department 345 third drive 50 Transmission 70 first transmission unit 72 Second transmission department 74 The third transmission department 76 Image acquisition device 200 UAV 500 body 510 Power mechanism 530

The following specific embodiments will further illustrate the utility model in conjunction with the above-mentioned accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "connected" to another component, it may be directly connected to the other component or there may be intervening components at the same time. When a component is said to be "set on" another component, it may be set directly on the other component or there may be an intervening component at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this invention. The terminology used in the description of the utility model herein is only for the purpose of describing specific embodiments, and is not intended to limit the utility model. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Below in conjunction with the accompanying drawings, some embodiments of the present utility model will be described in detail. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to Figs. 1-3 together, a photographing device 300 provided by an embodiment of the present invention is used for photographing and video recording. The photographing device 300 includes a pan-tilt 100 and an image acquisition device 200 disposed on the pan-tilt 100 . The photographing device 300 can be applied to an unmanned aerial vehicle 500 (see FIG. 6 ) for aerial photographing. The photographing device 300 can also be applied to a handle as a handheld photographing device, allowing users to manually operate the photographing device 300 to take pictures, record videos, and the like.

In this embodiment, the pan/tilt 100 is a three-axis pan/tilt, which includes a first bracket assembly 10 and a second bracket assembly 30 . The second bracket component 30 is rotatably mounted on the first bracket component 10 .

The first bracket assembly 10 includes an assembly part 12 , a first driver 13 and a connecting part 16 . In this embodiment, the first driver 13 is disposed on the assembly part 12 , and the connecting part 16 is connected to the first driver 13 . The first driver 13 is used to drive the connecting member 16 to rotate around a first axis.

The assembly part 12 is used to install the pan/tilt 100 on an application platform as a whole, and the application platform may be an unmanned aerial vehicle or a handle. In this embodiment, the fitting 12 is substantially cylindrical with a bottom wall. The fitting 12 is provided with a through hole 123 , and the through hole 123 passes through the fitting 12 and communicates with the inner cavity of the fitting 12 . The piercing holes 123 are used for piercing electronic components such as data lines and power lines. In this embodiment, the through hole 123 is also used for accommodating a connector, so that the platform 100 is electrically connected with the application platform through the connector.

The first driver 13 is used to drive the connecting part 16 to rotate relative to the assembly part 12 around the first axis. The first driver 13 is a motor, which may be any suitable type of motor such as a brushless motor and a brushed motor. In this embodiment, the first driver 13 is a brushless motor, which is used as a yaw driving part of the pan/tilt 100 to drive the connecting part 16 to rotate around the first axis, and the first axis is the yaw axis of the gimbal 100 . It can be understood that, in some other embodiments, the first driver 13 can be used as a roll driver or a pitch driver of the gimbal 100 to drive the connecting member 16 to rotate around the first axis, Correspondingly, the first axis may be a roll axis or a pitch axis of the gimbal 100 .

Furthermore, in order to adjust the rotation speed and rotation direction of the first driver 13, a controller, an electronic speed controller or other electronic components may also be arranged in the assembly part 12 or/and the application platform. The electronic components are electrically connected with the first driver 13 .

Please refer to FIGS. 2 to 4 at the same time. In this embodiment, the first driver 13 is an inner rotor motor, which includes a stator 131 , a rotating shaft 133 , a rotor (not shown in the figure) and a rotating member 135 .

The stator 131 is fixedly arranged on the fitting 12 , the rotating shaft 133 is rotatably passed through the stator 131 , and protrudes out of the piercing hole 123 of the stator 131 facing away from the fitting 12 side. The rotor is connected to the rotating shaft 133 and accommodated in the stator 131 . The rotating member 135 is disposed at an end of the rotating shaft 133 away from the through hole 123 , and the rotating member 135 is used for installing the connecting member 16 . The rotating part 135 can rotate relative to the stator 131 to drive the connecting part 16 to rotate relative to the assembly part 12 .

Further, please also refer to FIG. 5 , in order to fix electronic components such as data cables and flexible circuit boards disposed in the assembly part 12 , the first bracket assembly 10 further includes a mounting part 15 . The installation part 15 is arranged inside the assembly part 12 .

The mounting part 15 includes a fixing part 152 , a supporting part 154 and a guiding part 156 . Specifically, in the illustrated embodiment, the mounting part 15 is roughly in the shape of a bent sheet, and the supporting part 154 is connected between the fixing part 152 and the guiding part 156 .

The fixed portion 152 is disposed on the outer periphery of the stator 131 , one end of the fixed portion 152 is connected to an end of the stator 131 away from the rotating member 135 , and the other end of the fixed portion 152 is along the stator 131 The axial direction of the rotating member 135 extends to the side adjacent to the rotating member 135 , and protrudes from the side of the rotating member 135 away from the stator 131 .

The supporting portion 154 is disposed at an end of the fixing portion 152 adjacent to the rotating member 135 , and the supporting portion 154 is substantially parallel to an end surface of the rotating member 135 . The supporting portion 154 extends from the edge of the rotating member 135 to the inside of the rotating member 135 .

The guiding portion 156 is disposed at an end of the supporting portion 154 away from the fixing portion 152 , and the guiding portion 156 is substantially perpendicular to the supporting portion 154 . At the same time, the guide portion 156 extends substantially along the diameter direction of the rotating member 135, that is, the guide portion 156 is substantially coplanar with the rotation axis of the rotating member 135, so that the guide portion 156 One side of the rotating member 135 is substantially parallel to the rotation axis of the rotating member 135 .

The connecting member 16 is disposed on the rotating member 135 and can rotate relative to the assembly member 12 driven by the first driver 13 . The connecting member 16 includes a mounting portion 161 , a connecting arm 163 and a connecting portion 165 , and the mounting portion 161 and the connecting portion 165 are respectively disposed at two ends of the connecting arm 163 .

Please refer to FIG. 2 again, the mounting portion 161 is fixedly connected to the rotating member 135 . In this embodiment, the mounting portion 161 is stacked on a side of the rotating member 135 away from the stator 131 , and is located between the rotating member 135 and the supporting portion 154 . A fan-shaped groove 1610 is defined on the mounting portion 161 , and the supporting portion 154 can rotate in the fan-shaped groove 1610 . The mounting part 161 can rotate relative to the stator 131 and the mounting part 15 driven by the rotating part 135 .

Please refer to FIG. 4 again, the installation part 161 is provided with a first limiting part 1611 and a second limiting part 1613, and the first limiting part 1611 and the second limiting part 1613 are used to limit the The rotation angle of the connecting member 16 relative to the stator 131. In this embodiment, the first limiting portion 1611 is arranged adjacent to the supporting portion 154, the second limiting portion 1613 is arranged adjacent to the guiding portion 156, and the first limiting portion 1611 and the The second limiting part 1613 is connected, and both of them together form the fan-shaped groove 1610. The first limiting part 1611 and the second limiting part 1613 are two parts of the fan-shaped groove 1610 respectively. side wall. When the rotating member 135 drives the connecting member 16 to rotate along a first direction in the fan-shaped groove 1610 to a first limit angle, the first limiting portion 1611 is held against the supporting portion 154 on the side of the connecting member 16 relative to the stator 131 along the first direction to limit the rotation angle. When the rotating member 135 drives the connecting member 16 to rotate to a limit angle in a second direction opposite to the first direction, the second limiting portion 1613 is held against the guiding portion 156 , Thus, the rotation angle of the connecting member 16 relative to the stator 131 along the second direction is limited.

Specifically, in the illustrated embodiment, the first limiting portion 1611 and the second limiting portion 1613 are substantially arranged along the radial direction of the rotating member 135 to jointly form the fan-shaped groove 1610, And the angle formed between the first limiting portion 1611 and the second limiting portion 1613 is less than or equal to 180 degrees. Preferably, the angle formed between the first limiting portion 1611 and the second limiting portion 1613 is 90° to 135°. It can be understood that, the angle formed between the first limiting portion 1611 and the second limiting portion 1613 can be set according to the angle range that the connecting member 16 needs to rotate. Further, in this embodiment, when the pan/tilt 100 is in the non-working initial state, the formation between the first limiting portion 1611 and the side of the supporting portion 154 adjacent to it is The included angle is equal to the included angle formed between the second limiting portion 1613 and the guiding portion 156, so that when the connecting member 16 rotates, it rotates along the first direction or along the first direction. The rotational angles in the two directions are symmetrically equal, and the required rotational torques are also symmetrically equal.

One end of the connecting arm 163 is disposed on one side of the mounting portion 161 , and the other end is bent and extends away from the rotating member 135 .

The connecting portion 165 is disposed at an end of the connecting arm 163 away from the installing portion 161 , and is used for connecting the second bracket assembly 30 .

Further, the first bracket assembly 10 further includes a receiving part 14 , and the receiving part 14 is disposed on the connecting part 16 . The receiving part 14 cooperates with the assembly part 12 to accommodate the first driver 13 and the installation part 15 together. Specifically, in the illustrated embodiment, the receiving part 14 is fixedly disposed on the installation part 161 and can rotate relative to the assembly part 12 along with the connecting part 16 .

Further, please also refer to FIG. 5 , in order to fix electronic components such as data cables and flexible circuit boards disposed on the first bracket assembly 10 , the first bracket assembly 10 further includes a reinforcing member 17 . The reinforcing piece 17 is disposed on the connecting piece 16 and extends along the extending direction of the connecting piece 16 .

Specifically, in the illustrated embodiment, the reinforcing member 17 is arranged on the mounting portion 161 and the connecting arm 163 of the connecting member 16, and is substantially perpendicular to the mounting portion 161 and the connecting arm. The outer surface of the arm 163. The reinforcing member 17 is used to support the part of the electronic components such as the data line and the flexible circuit board extending along the connecting member 16, so as to strengthen the installation structure of the electronic components.

One end of the reinforcing member 17 is disposed opposite to one side of the guiding portion 156, wherein the side of the guiding portion 156 is adjacent to the rotation axis of the rotating member 135, and the reinforcing member 17 At the same time, one end extends substantially along the extension line of the diameter of the rotating member 135, so that when the platform 100 is in a non-working initial state, one end of the reinforcing member 17 forms a predetermined angle with the guiding portion 156 set up. And after the reinforcing member 17 extends along the extension line of the diameter of the rotating member 135, it continues to extend along the installation portion 161 and the connecting arm 163, so that the first limiting portion 1611 and the The second limiting portion 1613 is substantially symmetrically disposed with respect to one end of the reinforcement member 17 .

Please refer to FIG. 2 again, the second bracket assembly 30 is rotatably disposed on the connecting member 16 , and includes a second driver 32 and a supporting member 34 . The second driver 32 is connected to the connecting portion 165 , and the support member 34 is disposed at a driving end of the second driver 32 .

The second driver 32 is used to drive the supporting member 34 to rotate relative to the connecting member 16 around a second axis, and the second axis is substantially perpendicular to the first axis. The second driver 32 is a motor, which can be any suitable type of motor such as a brushless motor and a brushed motor. In this embodiment, the second driver 32 is a brushless motor, which is used as a roll driving part of the pan/tilt 100 to drive the connecting part 16 to rotate around the second axis, and the second The axis is the roll axis of the gimbal 100 . It can be understood that, in some other embodiments, the second driver 32 can be used as a yaw driver or a pitch driver of the gimbal 100 to drive the support 34 to rotate around the second axis, corresponding to Specifically, the second axis may be a pan axis or a pitch axis of the gimbal 100 .

Further, in order to adjust the rotation speed and direction of rotation of the second driver 32, a controller, an electronic governor or other electronic components may also be arranged in the connecting portion 165, and the electronic components are connected with the second driver 32. The driver 32 is electrically connected. Alternatively, the second driver 32 may be electrically connected to the assembly part 12 or/and the electronic components in the application platform, so as to allow the assembly part 12 or/and the electronic components in the application platform to Electronic components adjust the rotation speed and rotation direction of the second driver 32 .

The support member 34 is connected to the second driver 32 and can rotate relative to the connecting portion 165 driven by the second driver 32 . The supporting member 34 includes a connecting portion 341 , a supporting arm 343 , and a mounting portion 345 . Specifically, in the illustrated embodiment, the support arm 343 is disposed on the transfer portion 341 , and the installation portion 345 is disposed on the support arm 343 . In this embodiment, the transfer portion 341 , the first support arm 343 , and the installation portion 345 are integrally formed. It can be understood that, in other embodiments, the adapter part 341 , the first support arm 343 and the installation part 345 can be assembled together. The adapter part 341 is connected to the driving end of the second driver 32 and can rotate relative to the connecting part 165 driven by the second driver 32 . It can be understood that, in other embodiments, the adapter portion 341 can also be integrally formed with the driving end of the second driver 32 .

In this embodiment, the support member 34 is a double-arm support member, and the number of the support arms 343 and the installation parts 345 are both two. The two supporting arms 343 are substantially symmetrically disposed on opposite sides of the connecting portion 341 . Each of the supporting arms 343 is substantially curved, one end of which is connected to the connecting portion 341 , and the other end extends away from the connecting portion 165 . Each of the installation parts 345 is disposed on one end of the support arm 343 away from the adapter part 341 , and the installation parts 345 are used for installing the image acquisition device 200 . Specifically, the two installation parts 345 and the two support arms 343 are used to jointly support the image acquisition device 200, so that the overall rigidity of the platform 100 is relatively high, and the two installation parts 345 and the two support arms The two support arms 343 are arranged approximately symmetrically, so that the center of gravity of the pan/tilt 100 and the image acquisition device 200 is easier to adjust, and the rotational movement of the image acquisition device 200 relative to the second bracket assembly 30 is also easier to control ,Adjustment.

It can be understood that, in some other implementation manners, the support member 34 may be a single-arm support member, and in this case, the number of the support arm 343 and the installation portion 345 are both one.

Further, referring to FIG. 3 , the pan/tilt 100 further includes a third driver 50 . The third driver 50 is disposed on one of the installation parts 345 and is used to drive the image acquisition device 200 to rotate relative to the pan/tilt 100 to adjust the shooting angle of the image acquisition device 200 .

Specifically, the third driver 50 is used to drive the image acquisition device 200 to rotate relative to the support member 34 around a third axis, and the third axis is substantially perpendicular to the second axis. The third driver 50 is a motor, which may be any suitable type of motor such as a brushless motor and a brushed motor. In this embodiment, the third driver 50 is a brushless motor, which is used as the pitch driving part of the pan head 100 to drive the image acquisition device 200 to rotate around the third axis, and the third The axis is the pitch axis of the gimbal 100 . It can be understood that, in some other embodiments, the third driver 50 can be used as a yaw driver or a roll driver of the gimbal 100 to drive the support 34 to rotate around the third axis, Correspondingly, the third axis may be a yaw axis or a roll axis of the gimbal 100 .

Further, in order to adjust the rotation speed and rotation direction of the third driver 50, a controller, an electronic speed controller or other electronic components may also be arranged in the connecting portion 165, and the electronic components are connected with the third driver 50. The driver 50 is electrically connected. Alternatively, the third driver 50 may be electrically connected to the assembly 12 or/and the electronic components in the application platform, so as to allow the assembly 12 or/and the electronic components in the application platform to Electronic components adjust the rotation speed and rotation direction of the third driver 50 .

The image acquisition device 200 is connected to the driving end of the third driver 50, and the image acquisition device 200 is used for taking pictures, video recording and other work. In this embodiment, the image acquisition device 200 is an infrared camera, which is used for infrared imaging or thermal imaging.

Please refer to FIG. 4 and FIG. 5 again. In order to control the image acquisition device 200 to perform shooting work, the pan/tilt 100 further includes a main controller (not shown in the figure), an auxiliary controller (not shown in the figure) and a transmission 70 pieces. The main controller is used to control the pan/tilt 100 to adjust to the desired working posture, the auxiliary controller is used to control the image acquisition device 200 to work, the auxiliary controller communicates with the main controller through the transmission part 70 The controller is electrically connected.

Specifically, the main controller is used to control the first driver 13, the second driver 32 and the third driver 50 to rotate and work together to drive the image acquisition device 200 to adjust to the work required for shooting attitude. The main controller may be a control chip or a control circuit board. In this embodiment, the main controller is set on the application platform of the photographing device 300 . It can be understood that the main controller can also be arranged in the assembly part 12 or/and the receiving part 14 , or in the support part 34 or the connecting part 16 .

The auxiliary controller is used to control the image capturing device 200 to perform shooting work, and is used to store or/and transmit images or frames captured by the image capturing device 200 . The auxiliary controller may be a control chip or a control circuit board. In this embodiment, the auxiliary controller is a control circuit board, which is electrically connected to the image acquisition device 200 .

In this embodiment, the transmission member 70 is a flexible circuit board, which is used to transmit the image or picture captured by the image acquisition device 200 in the auxiliary controller to the main controller, or directly The image or frame captured by the image acquisition device 200 is transmitted to the main controller, so that the main controller can transmit the image or frame to the user through an image transmission device. It can be understood that the transmission member 70 can also be a power line or a data line, which can also be used to transmit data such as power or control instructions.

Further, the photographing device 300 may include an image transmission device. The image transmission device is connected to the pan/tilt 100 and is electrically connected to the image acquisition device 200 through the transmission member 70 . The image transmission device is used to read and store the image captured by the image acquisition device 200 . At this time, the transmission member 70 is used for returning the image data acquired by the image acquisition device 200 to the image transmission device.

Please refer to FIG. 1 and FIG. 2 again. In this embodiment, one end of the transmission member 70 is connected to the main controller (not shown) in the application platform (not shown), and the other One end passes through the assembly part 12 and the receiving part 14 and extends along the connecting part 16, is divided into two parts and extends into the connecting part 16 and the supporting part 34 respectively, so as to be respectively connected with the connecting part 16 and the supporting part 34. The electronic components in the connecting member 16 and the supporting member 34 are electrically connected.

Please refer to FIG. 4 and FIG. 5 at the same time. Specifically, in the illustrated embodiment, after the transmission member 70 extends from the application platform of the pan/tilt 100, it passes through the through hole 123 and enters the inside the assembly part 12, and superimposed on the installation part 15, extending along the fixing part 152, the support part 154 and the guide part 156 of the installation part 15 in sequence, and passing through After the receiving part 14 is extended and stacked on the reinforcing part 17, it continues to extend along the reinforcing part 17 and is electrically connected with the electronic components in the connecting part 16 and the supporting part 34 .

Since the cloud platform 100 is in a non-working state, one end of the reinforcing member 17 and the guiding portion 156 are arranged at a predetermined angle, the guiding effect of the guiding portion 156 and the reinforcing member 17 Next, the transmission member 70 is bent at a predetermined angle near the rotation axis of the rotating member 135 . Note that the transmission member 70 includes a first transmission part 72, a second transmission part 74 and a third transmission part 76 connected in sequence, the first transmission part 72 is arranged on the fixed part 152, and the second transmission part 74 is disposed on the guide portion 156 , and the third transmission portion 76 is disposed on the reinforcing member 17 (see FIG. 2 ). Then: under the guidance of the installation part 15, the transmission part 70 extends from the side of the rotation part 135 along the end surface of the rotation part 135 to the reinforcement part 17, so as to connect with the connecting part 16 connections. When the pan/tilt 100 is in a non-working state, the third transmission part 76 is bent at the predetermined angle relative to the second transmission part 74, that is, the third transmission part 76 and the second transmission part 74 It is set at a predetermined included angle, so that the transmission member 70 produces a pre-bending deformation. The first limiting portion 1611 and the second limiting portion 1613 are substantially symmetrically disposed with respect to the third transmission portion 76 .

When the connecting part 16 rotates relative to the assembly part 12, the relative position or/and relative distance between the main controller and the electronic components in the connecting part 16 will change, in order to ensure that the main control To maintain a reliable electrical connection between the controller and the electronic components, it is necessary to make the transmission member 70 have a certain length margin to adapt to the relative position or/and relative position between the main controller and the components. The amount of change in distance.

In this embodiment, the transmission member 70 is pre-bent and arranged in the fitting 12, and extends from the side of the rotating member 135 along the end surface of the rotating member 135 to the reinforcing member. 17, the third transmission part 76 can be bent or rotated relative to the second transmission part 74, so that the connecting part 16 is relative to the assembly part 12 from an initial state along the first direction or the During the rotation of the second direction to the maximum limit angle, the flexibility and freedom of rotation of the connecting member 16 will not be limited by the length of the transmission member 70, and the transmission member 70 will not be limited by the connecting member 16 The rotation is taut and broken, and it will not accumulate into balls or become entangled in the assembly 12. The arrangement structure of the above-mentioned transmission member 70 does not need to wind the transmission member 70 on other parts of the pan/tilt 100, nor does it need to set additional tools in the assembly part 12 or/and the receiving part 14. The length of the transmission member 70 is relatively short, and the overall volume of the pan/tilt 100 is also reduced.

In this embodiment, the first driver 13 drives the connecting member 16 to rotate relative to the fitting 12 at a maximum rotation angle of no more than one turn. Preferably, the first driver 13 drives the connecting member 16 relative to the The maximum rotation angle of the assembly part 12 rotation does not exceed 180 degrees. Preferably, the first driver 13 drives the connecting part 16 to rotate relative to the assembly part 12 at a maximum rotation angle of 90 degrees to 135 degrees.

Further, in order to position and fix the transmission part 70 on the installation part 15, the installation part 15 is provided with a positioning part, and the transmission part 70 is provided with an engaging part corresponding to the positioning part , the positioning portion is engaged with the engaging portion. Specifically, in the illustrated embodiment, the edge of the supporting part 154 of the installation part 15 is provided with a positioning part 1541, the edge of the guide part 156 is provided with a positioning part 1561, and the positioning part 1541 and the positioning part The positioning part 1561 is a positioning protrusion, and positioning grooves are respectively provided on the transmission part 70 corresponding to the positioning part 1541 and the positioning part 1561, and the positioning protrusions are snapped into the corresponding positioning grooves, so that the The transmission member 70 is positioned and fixed on the installation member 15 .

In this embodiment, when the pan/tilt 100 is in the non-working initial state, the angle formed between the first limiting portion 1611 and the side of the supporting portion 154 adjacent to it is equal to The angle formed between the second limiting portion 1613 and the guiding portion 156 , the first limiting portion 1611 and the second limiting portion 1613 are arranged symmetrically with respect to the third transmission portion 76 , so that when the connecting member 16 drives the third transmission part 76 to rotate relative to the second transmission part 74, the limit angle for the third transmission part 76 to rotate in the first direction in the initial state It is equal to the limit angle of rotation of the third transmission part 76 in the second direction in the initial state, which makes the bending and rotation of the transmission part 70 approximately The symmetrical state avoids fatigue damage caused by asymmetric bending of the transmission member 70 or excessive bending along a certain direction, which is beneficial to prolonging the service life of the transmission member 70 .

Since the transmission member 70 extends from the side of the rotating member 135 to the reinforcing member 17 along the end surface of the rotating member 135 to connect with the connecting member 16, the length of the transmitting member 70 It is relatively short, and the amount of elastic deformation generated when it is bent is relatively small, so when the third transmission part 76 resets relative to the second transmission part 74 , the resilience force it drives the connecting member 16 is relatively small.

To sum up, in the cloud platform of the present invention, the transmission part extends from the side of the rotating part 135 to the reinforcing part 17 along the end surface of the rotating part 135, and is connected to the inside of the connecting part 16. electronic components, and the third transmission part 76 can rotate relative to the second transmission part 74, so that the transmission part 70 has a certain length margin, so as to accommodate the connecting part 16 when relative to the assembly part 12 When rotating, the relative position or/and relative distance between the electronic components in the connecting member 16 and the assembly member 12 change, rationally utilizing the internal space of the receiving part, and avoiding the entanglement of the transmission member While agglomerating, the overall volume of the cloud platform 100 is reduced, and the overall length of the transmission member is reduced, so that the resistance of the transmission member 70 is reduced, thereby reducing the overall resistance of the cloud platform 100. Power consumption prolongs the battery life of the cloud platform 100. In addition, when the pan/tilt 100 is in operation, the bending and rotation of the transmission member 70 are approximately symmetrical, which avoids the asymmetrical bending of the transmission member 70 or excessive bending along a certain direction. Fatigue damage is beneficial to prolong the service life of the transmission member 70 . Moreover, the amount of elastic deformation produced by the transmission member 70 when it is bent is relatively small, so that when the third transmission part 76 drives the connecting member 16 to reset, its resilience is relatively small.

It can be understood that the structure of the transmission member 70 is not limited to the bending structure described above, and it can also be configured as other structures to connect the electronic components and the connecting member on the application platform 16. For example, the included angle between the second transmission part 74 and the third transmission part 76 of the transmission member 70 may be 180 degrees, that is, the second transmission part 74 and the third transmission part 76 Set along the same diameter of the rotating member 135, so that the transmission member 70 extends from the stator 131 to the side of the rotating member 135, and from the side of the rotating member 135 along the It only needs to continue extending the end surface of the rotating member 135 to the reinforcing member 17 . At this time, the structure of the installation part 15 is adapted to the transmission part 70 , which will not be repeated in this specification.

Even, when the included angle between the second transmission part 74 and the third transmission part 76 of the transmission member 70 is 180 degrees, the second transmission part 74 and the third transmission part 76 do not have to It is arranged along the diameter of the rotating member 135, so that the second transmission portion 74 and the third transmission portion 76 extend along the end surface of the rotating member 135, and the second transmission portion 74 and the first transmission portion The three transmission parts 76 are approximately perpendicular to the end surface of the rotating member 135, so that one end of the transmitting member 70 is fixed on the stator 131, and the other end extends to the connecting member 16 along the end surface of the rotating member 135. Can.

It can be understood that the installation part 15 can be fixed on the assembly part 12 .

It can be understood that, the structure of the installation part 15 is not limited to the structure described above, it can also be other fixing structures, and is used to fix the transmission part 70 . For example, the installation part 15 is a clamping structure disposed on the stator 131 , and the transmission part 70 is clamped on the clamping structure.

It can be understood that the installation part 15 can be omitted, and the transmission part 70 is arranged on the first bracket assembly 10 in other ways. For example, one end of the transmission member 70 is fixed on the stator 131 by bonding or welding, or one end of the transmission member 70 is fastened to the stator 131 by a rivet.

It can be understood that the reinforcing member 17 can also be omitted, and the transmission member 70 is partially connected to the connecting member 16 directly.

Referring to Fig. 6, the utility model also provides an unmanned aerial vehicle 500, which includes a fuselage 510, a power mechanism 530 arranged on the fuselage 510 and the above-mentioned cloud platform 100, the cloud platform The table 100 is installed on the fuselage 510 through the assembly part 12 . The unmanned aerial vehicle 500 is used to carry the image acquisition device 200 for aerial photography.

In the embodiment of the present utility model, the UAV 500 is a rotor-type UAV, and the power mechanism 530 includes a motor and a propeller, and the motor drives the propeller to rotate to provide the travel for the UAV 500. motivation.

The UAV 500 also includes a control board, an inertial measurement unit (IMU, Inertial measurement unit), an electronic governor, and an image transmission device.

The control board can be a flight controller, which is used to control the overall flight operation of the unmanned aerial vehicle 500, including flight speed, flight attitude, etc., and is also used to control the movement of the gimbal 100 to adjust the image acquisition The shooting angle of the device 200. The flight controller is disposed on the fuselage 510 and connected to the gimbal 100 through the transmission member 70 .

The inertial measurement module is arranged on the pan-tilt 100 and is electrically connected to the control board through the transmission member 70 . The inertial measurement module includes a plurality of inertial measurement units, and a plurality of the inertial measurement units are respectively connected to the first driver 13, the second driver 32 and the third driver 50 of the pan-tilt 100, and They are respectively used to detect the rotation speed and rotation direction of the first driver 13 , the second driver 32 and the third driver 50 , so as to detect the posture of the pan-tilt 100 . At this time, the transmission member 70 is used to transmit the control command of the control board to the inertial measurement module, and return the data detected by the inertial measurement module to the control board.

The electronic governor is arranged on the fuselage and is electrically connected with the control board. Under the control of the control board, the electronic governor can adjust the rotation speed and rotation direction of the motor, and can also adjust the rotation speed and rotation direction of the pan/tilt 100 . Specifically, there may be multiple electronic speed controllers, and one or more of the multiple electronic speed controllers are connected to the platform 100 through the transmission member 70, and the one or more The electronic governor is connected with the motor of the power mechanism 530 and is used to adjust the rotation speed and rotation direction of the motor, so as to adjust the flight speed and flight attitude of the UAV 500 . The other one or more electronic speed controllers in the multiple electronic speed controllers are respectively connected with the first driver 13, the second driver 32 and the third driver 50, and are used to adjust the The rotational speed and rotational direction of the first driver 13 , the second driver 32 and the third driver 50 . At this time, the transmission part 70 is used to transmit the control instructions of the control board to the pan/tilt 100, specifically, the transmission part 70 transfers the control commands of the control board and the electronic governor Instructions are transmitted to the rotational speed and rotational direction of the first drive 13 , the second drive 32 and the third drive 50 .

In other embodiments, the electronic speed controllers for adjusting the first driver 13, the second driver 32 and the third driver 50 can be directly arranged on the first driver 13, the On the second driver 32 and the third driver 50, and the above-mentioned electronic governor is connected with the control main board through the transmission part 70, and the transmission part 70 transmits the control command of the control main board to the The electronic speed controller is used to control the rotation speed and rotation direction of the first driver 13 , the second driver 32 and the third driver 50 .

The image transmission device is disposed on the body and is electrically connected to the image acquisition device 200 through the transmission member 70 . The image transmission device is used to read and store the image taken by the image acquisition device 200 under the control of the control board, and is also used to transmit the image to the ground end of the UAV 500, so that The user of the UAV 500 can obtain the image captured by the image acquisition device 200 . At this time, the transmission member 70 is used to transmit the control command of the control board to the image acquisition device 200, and return the image data acquired by the image acquisition device 200 to the image transmission device.

Further, the UAV 500 also includes a power supply device, the power supply device is disposed in the fuselage 510 and used to provide power for the pan/tilt 100 and the image acquisition device 200 . One end of the transmission member 70 is connected to the power supply device, and the other end is respectively connected to the platform 100 and the image acquisition device 200, so as to transmit the power of the power supply device to the platform 100 and the image acquisition device 200. The image acquisition device 200. In other embodiments, the power supply device can provide an energy source for the power mechanism 530 at the same time; The cloud platform 100 provides an energy source, or the dedicated power supply device of the platform 100 can also transmit power to the image acquisition device 200 through the transmission member 70 .

It can be understood that the main controller can be an electronic component such as a separate control chip, a control circuit board, or even an image transmission device. The main controller can be set in the assembly part 12 or/and the storage part 14, or can be set on the application platform of the shooting device 300, the application platform can be the aforementioned unmanned aerial vehicle or handle etc.

It can be understood that the auxiliary controller can be omitted, and the main controller is directly electrically connected to the image acquisition device 200 through the transmission member 70, so as to allow the main controller to control the image acquisition device 200 Execute shooting work, and allow the main controller to store or/and transmit the images or frames captured by the image acquisition device 200 .

It can be understood that the above-mentioned image acquisition device is an electronic device, which may be a camera, a video camera, a still camera, or a portable communication device.

It can be understood that the above-mentioned winding structure of the transmission member is not limited to be applied to the rotatable structure of the pan head described above, and it can also be applied to other driving devices capable of relative rotation. For example, the winding structure of the above-mentioned transmission element can be applied to a driving device of a mechanical arm, and the driving device is used to drive the mechanical arm to operate.

Specifically, the drive device may include an assembly, a connecting piece, and a first driver, the first driver is arranged on the assembly, the connecting piece is connected to the first driver, and the first The driver can drive the connector to rotate relative to the assembly; the first driver includes a stator and a rotating member disposed on the stator, and the assembly and the connector are respectively provided with a first electronic component and a The second electronic component, the first electronic component is electrically connected to the second electronic component through a transmission element. One end of the transmission member is connected to the first electronic component, fixed on the stator and extends along the outer circumference of the stator to be adjacent to the rotating member, and the other end of the transmission member is rotated from the rotating member. The side part of the part extends to the connecting part along the end surface of the rotating part and is electrically connected with the second electronic component, so that the connecting part moves from an initial state along a first In the process of turning to the maximum limit angle in one direction, or in the process of turning to the maximum limit angle in the direction opposite to the first direction, the flexibility and freedom of rotation of the connecting part will not be affected by the transmission part Due to the length limitation of the connecting member, the transmission member will not be broken due to the rotation and tension of the connecting member, nor will it be piled up in the accommodating portion or entangled. The transmission part can be an electric wire, a data line, an optical fiber or a flexible circuit board, etc.; the driver of the connecting part can be a rotating motor, a rotating cylinder, or a steering gear.

In the embodiment of the present utility model, the unmanned aerial vehicle is a rotor unmanned aerial vehicle, which is used to carry photographing devices such as cameras and video cameras for aerial photography operations. It can be understood that the unmanned aerial vehicle can also be used for map surveying, disaster investigation and rescue, aerial monitoring, transmission line inspection and other work. It is also understandable that the unmanned aerial vehicle may also be a fixed-wing unmanned aerial vehicle.

It can be understood that the cloud platform is not limited to the application in the unmanned aerial vehicle, and it can also be applied to other mobile devices or remote control mobile devices such as unmanned vehicles and unmanned ships. repeat.

It can be understood that the application platform of the pan/tilt is not limited to the above-mentioned unmanned aerial vehicle, and it can also be installed on a handle, so that the shooting device can be used as a handheld shooting device.

The above embodiments are only used to illustrate the technical solution of the present utility model without limitation. Although the utility model has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solution of the utility model can be modified Or equivalent replacements should not deviate from the spirit and scope of the technical solutions of the present utility model. Those skilled in the art can also make other changes within the spirit of the utility model to be used in the design of the utility model, as long as it does not deviate from the technical effect of the utility model. These changes made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims (29)

1. a The Cloud Terrace, including connector and the first driver, it is characterized in that: described first driver includes tumbler, described connector includes installing department, described connector is connected on described tumbler by described installing department, described tumbler can drive described connector to rotate around an axis, and described The Cloud Terrace also includes Transmission Part, and described Transmission Part extends on described connector along the end face of described tumbler from the sidepiece of described tumbler.

2. The Cloud Terrace as claimed in claim 1, it is characterised in that: described Transmission Part is data wire or flexible PCB, and it is used for transmitting electric power or transmission data；

And/or, one end of described Transmission Part is fixed in described first driver, and the other end extends on described connector along the end face of described tumbler；

And/or, described connector driver is electric rotating machine, rotary cylinder or steering wheel

And/or, the pivot center of described tumbler is the course axle of described The Cloud Terrace.

3. The Cloud Terrace as claimed in claim 1, it is characterized in that: described first driver also includes stator, described tumbler can be rotationally connected with on described stator, described Transmission Part includes the first transport part and the second transport part being connected, described first transport part is fixed on described stator, and described second transport part is connected on described first transport part and extends on described connector along the end face of described tumbler.

4. The Cloud Terrace as claimed in claim 3, it is characterised in that: described tumbler is arranged at described stator one end, and one end of described first transport part is fixed on described stator, extends to neighbouring described tumbler along described stator periphery；

And/or, setting is paralleled in described first transport part with described stator periphery；

And/or, the end face of the described second vertical described tumbler in transport part is arranged, and extends on described connector along the end face of described tumbler.

5. The Cloud Terrace as claimed in claim 3, it is characterized in that: described Transmission Part also includes the 3rd transport part, described 3rd transport part is connected to one end away from described first transport part, described second transport part, and described second transport part is connected on described connector by described 3rd transport part.

6. The Cloud Terrace as claimed in claim 5, it is characterised in that: in predetermined angle between described second transport part and described 3rd transport part, make described Transmission Part produce the deformation of pre-bend.

7. The Cloud Terrace as claimed in claim 3, it is characterised in that: described The Cloud Terrace also includes the installing part being arranged on described stator, and one end of described Transmission Part is fixedly installed on described installing part.

8. The Cloud Terrace as claimed in claim 7, it is characterised in that: being provided with the first limiting section on described connector, described first limiting section matches the rotational angle limiting described connector along a relative described stator of first direction with described installing part.

9. The Cloud Terrace as claimed in claim 8, it is characterized in that: on described connector, be additionally provided with the second limiting section, described second limiting section matches the rotational angle limiting described connector along a relative described stator of second direction with described installing part, and described second direction is opposite to the first direction.

10. The Cloud Terrace as claimed in claim 9, it is characterised in that: the other end of described Transmission Part is fixed with described connector and is connected, and described first limiting section and described second limiting section are symmetrical arranged about the other end of described Transmission Part；

And/or, arrange in a predetermined angle between described first limiting section and described second limiting section；

And/or, between described first limiting section and described second limiting section, formed angle is less than or equal to 180 degree；

Or, the described predetermined angle between described first limiting section and described second limiting section is 90 degree ~ 135 degree.

11. The Cloud Terraces as claimed in claim 7, it is characterized in that: on described installing part, be provided with location division, being provided with the holding section matched with described location division on described Transmission Part, described location division coordinates to be positioned on described installing part described Transmission Part with described holding section phase clamping.

12. The Cloud Terraces as claimed in claim 7, it is characterized in that: described installing part includes fixed part and guidance part, described fixed part is fixedly installed on described stator, described guidance part is connected on described fixed part, and adjacent to the end face setting of described tumbler, described Transmission Part extends on described connector along described fixed part and described guidance part.

13. The Cloud Terraces as claimed in claim 12, it is characterised in that: described fixed part extends to neighbouring described tumbler edge along described stator periphery；

And/or, described guidance part is perpendicular to the end face of described tumbler and arranges；

And/or, described installing part also includes that supporting part, described supporting part are arranged between described fixed part and described guidance part, and is parallel to the end face of described tumbler.

14. The Cloud Terraces as claimed in claim 12, it is characterised in that: described The Cloud Terrace also includes that reinforcement, described reinforcement are arranged on described connector and corresponding with described guidance part, and the other end of described Transmission Part is fixed on described reinforcement.

15. The Cloud Terraces as claimed in claim 14, it is characterised in that: described reinforcement is perpendicular to the end face of described tumbler and arranges, and arranges in a predetermined angle between described guidance part and described reinforcement.

16. The Cloud Terraces as claimed in claim 1, it is characterized in that: described The Cloud Terrace also includes support member and the second driver, described second driver is arranged on described connector, described support member is connected in described second driver, to allow support member described in described second driver drives to rotate relative to described connector.

17. The Cloud Terraces as claimed in claim 16, it is characterised in that: described support member includes switching part and is arranged at the support arm on described switching part, and described switching part is connected in described second driver.

18. The Cloud Terraces as claimed in claim 17, it is characterised in that: the quantity of described support arm is two, and two described support arms are respectively arranged at the both sides of described switching part；

Or, two described support arms are symmetrically disposed in the opposite sides of described switching part.

19. The Cloud Terraces as claimed in claim 16, it is characterised in that: the pivot center of described support member is perpendicular to the pivot center of described tumbler；

And/or, described connector includes the linking arm being connected in described first driver and is arranged at the connecting portion on described linking arm, and described second driver is arranged in described connecting portion.

20. The Cloud Terraces as claimed in claim 16, it is characterised in that: described The Cloud Terrace also includes the 3rd driver being arranged on described support member, and the rotor of described 3rd driver can rotate relative to described support member.

21. The Cloud Terraces as claimed in claim 20, it is characterised in that: the pivot center of the rotor of described 3rd driver is perpendicular to the pivot center of described support member；

And/or, described The Cloud Terrace is three axle The Cloud Terraces, and the pivot center of the pivot center of rotor, the pivot center of described support member and the described tumbler of described 3rd driver corresponds respectively to the pitch axis of three axle The Cloud Terraces, roll axle and course axle.

22. The Cloud Terraces as claimed in claim 1, it is characterised in that: described The Cloud Terrace also includes that assembly parts, described first driver are arranged in described assembly parts.

23. The Cloud Terraces as claimed in claim 22, it is characterized in that: institute's The Cloud Terrace also includes housing piece, described housing piece is arranged at one end of described connector, and is interlocked with described assembly parts and can rotate relative to described assembly parts, and described assembly parts and described housing piece house described first driver jointly；

And/or, described assembly parts being provided with perforating, wears for described Transmission Part, the inner chamber of described assembly parts is connected with the external world by described perforating.

24. The Cloud Terraces as claimed in claim 1, it is characterised in that: connecting on the connector of described The Cloud Terrace and have electronic installation, described Transmission Part is electrically connected with described electronic installation.

25. The Cloud Terraces as claimed in claim 24, it is characterised in that: described Transmission Part is connected between the electric supply installation of described electronic installation and described The Cloud Terrace, and described Transmission Part is additionally operable to transmit to described electronic installation the electric power of described electric supply installation；

And/or, one end of described Transmission Part is connected with the controller of described The Cloud Terrace, and the other end of described Transmission Part is connected with described electronic installation, and described Transmission Part is for transmitting the control instruction of described controller to described electronic installation；

And/or described electronic installation be following several in one: camera, photographing unit, photographic head, infrared camera or portable communication apparatus；Described Transmission Part is for being sent to an image transmission by the view data that described electronic installation obtains.

26. 1 kinds of capture apparatus, including image acquiring device, it is characterised in that: described capture apparatus also includes that the The Cloud Terrace according to any one of claim 1 ~ 25, described image acquiring device are arranged on described The Cloud Terrace.

27. 1 kinds of unmanned vehicles, including fuselage, it is characterised in that: described unmanned vehicle also includes that the capture apparatus described in claim 26, described capture apparatus are arranged on described fuselage.

28. unmanned vehicles as claimed in claim 27, it is characterized in that: described unmanned vehicle also includes flight controller and the Inertial Measurement Unit being electrically connected with described flight controller, described Inertial Measurement Unit is for detecting the attitude of described unmanned vehicle to allow this flight controller to fly according to unmanned vehicle described in this gesture stability.

29. unmanned vehicles as claimed in claim 28, it is characterised in that: described unmanned vehicle also includes the electron speed regulator being connected in described first driver, and described electron speed regulator is for controlling velocity of rotation and the rotation direction of described first driver.