[go: up one dir, main page]

WO2018018634A1 - 云台及具该云台的无人机 - Google Patents

云台及具该云台的无人机 Download PDF

Info

Publication number
WO2018018634A1
WO2018018634A1 PCT/CN2016/092426 CN2016092426W WO2018018634A1 WO 2018018634 A1 WO2018018634 A1 WO 2018018634A1 CN 2016092426 W CN2016092426 W CN 2016092426W WO 2018018634 A1 WO2018018634 A1 WO 2018018634A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
connecting member
driving member
driving
pan
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/092426
Other languages
English (en)
French (fr)
Inventor
廖然
刘浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
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 SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN202110041479.3A priority Critical patent/CN112623246A/zh
Priority to PCT/CN2016/092426 priority patent/WO2018018634A1/zh
Priority to CN201680012470.7A priority patent/CN107624099B/zh
Publication of WO2018018634A1 publication Critical patent/WO2018018634A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the field of cloud platform technology, in particular to a miniaturized cloud platform and a drone with the same.
  • drones such as unmanned aerial vehicles
  • a module such as a camera or a camera.
  • the gimbal itself also includes a driving component, a control panel and the like.
  • the above modules are usually connected by a plurality of connecting cables. Electrical connection to achieve signal connection between various functional modules.
  • the cable for connecting the driving member and the control board is usually disposed in the casing of the driving member. Due to the small space of the wiring, the driving member drives the bracket to be subjected to a large resistance during the rotation, which affects the use of the platform.
  • a pan/tilt head includes a bracket assembly, a function module, a control panel, and a connection structure, wherein the function module is disposed on the bracket assembly, the function module includes a driving component, and the control panel is disposed on the
  • the connecting structure electrically connects the control board and the driving member, the connecting structure includes a bending portion corresponding to the driving member, and the bending portion is disposed on the driving portion
  • the outer portion is located between the bracket assembly and the driving member for providing a movement allowance for the connecting structure to rotate with the driving member.
  • the bracket assembly includes a first bracket and a second bracket connected to the first bracket, the driving component includes a first driving component, and the first driving component is coupled to the first bracket and the Between the second brackets, the first driving member is configured to drive the second bracket to rotate about the first axis, and the connecting structure is electrically connected between the first driving member and the control board, the bending The portion is located outside the first driving member and disposed adjacent to the first bracket and/or the second bracket.
  • the first axis is a heading axis of the pan/tilt head.
  • the bracket assembly further includes a third bracket
  • the function module further includes a second driving component
  • the second driving component is connected between the second bracket and the third bracket
  • the first The second driving member is configured to drive the third bracket to rotate about the second axis
  • the connecting structure is electrically connected to the second driving member.
  • the second axis is perpendicular to the first axis.
  • the second axis is a roll axis of the pan/tilt head.
  • connection structure includes a trunk, a first branch, and a second branch, wherein the first branch and the second branch are formed by extending the trunk, and the trunk is away from the first branch and the second One end of the branch is electrically connected to the control board, the first branch is electrically connected to the first driving member, and the second branch is electrically connected to the second driving member.
  • a branch point extending from the first branch on the trunk is a first branch point
  • a branch point extending from the second branch on the trunk is a second branch point
  • the trunk A bent portion is formed from a portion of the first branch point and the second branch point, the bent portion being located between the first driving member and the second driving member.
  • the connecting structure further includes a third branch formed by the extension of the trunk
  • the functional module further includes a third driving component, wherein the third driving component is connected to the third bracket away from the first One end of the two brackets, the third branch is electrically connected to the third driving member.
  • the third branch is bent between the first driving member and the third driving member to form a curved portion.
  • the third branch portion is attached to the outer circumference of the third bracket.
  • the function module further includes a photographing device, wherein the photographing device is mounted on the third driving member, and the third driving member is configured to drive the photographing device to rotate about a third axis.
  • the third axis, the second axis and the first axis are perpendicular to each other.
  • the third axis is a pitch axis of the pan/tilt.
  • bracket assembly is arranged from the innermost side to the outer side in a roll-pitch-heading direction, and the innermost side is a side directly connected to the photographing device by the bracket assembly.
  • the connecting structure includes a first connecting member and a second connecting member, the first connecting member is electrically connected between the first driving member and the control board, and the second connecting member is connected to the Between the second driving member and the control board, the first connecting member is disposed separately from the second connecting member.
  • the pan/tilt head includes a photographing device
  • the connecting structure includes a first connecting member and a second connecting member that are separately disposed, the first connecting member electrically connecting the control board and the driving member,
  • the photographing device is coupled to the bracket assembly, and the second connector is coupled between the photographing device and the control panel.
  • the first connector is made of a flexible circuit board.
  • the second connecting member is made of a coaxial wire.
  • the bracket assembly includes a first bracket and a second bracket that are rotatably connected in sequence, and the driving component is connected between the first bracket and the second bracket, and the first bracket forms a limiting convex
  • the second connecting member is disposed through the limiting rib.
  • the second bracket includes a connecting portion and a rotating connecting portion formed by bending and extending from the connecting portion, the driving member is connected between the first bracket and the connecting portion, and the connecting portion is
  • the rotating connecting portion is a hollow structure, the connecting portion is in communication with the rotating connecting portion, and the second connecting member is disposed through the connecting portion and the rotating connecting portion.
  • the bracket assembly further includes a third bracket, the third bracket is rotatably coupled to the second bracket, the third bracket is convexly formed to form a limiting rib, and the second connecting member is disposed through a limiting rib of the third bracket.
  • the bracket assembly includes a second bracket and a third bracket that are rotatably connected, the driving component includes a second driving component and a third driving component, and the second driving component is configured to drive the second bracket to rotate,
  • the third bracket is connected between the second driving component and the third driving component
  • the connecting structure includes a second connecting component and a third connecting component, and the second connecting component is electrically connected to the first connecting component
  • the connecting structure comprises a first junction and a second junction.
  • the second connecting member and the third connecting member are connected together at the first junction, and the second connecting member and the third connecting member are connected at the second meeting, the first A confluence is disposed adjacent to the control panel, and the second junction is disposed adjacent to the second bracket.
  • the second connecting member and the third connecting member are bent to form a curved portion corresponding to the driving member between the first meeting portion and the second meeting portion.
  • the second connecting member from the first junction to the second junction is overlapped with the third connecting member.
  • the second connecting member of the second junction and the third connecting member are connected to the second bracket.
  • the second bracket includes a connecting portion and a rotating connecting portion formed by bending and extending from the connecting portion, the outer side wall of the connecting portion protrudes to form a boss, and the second connecting portion of the second joint
  • the third connecting member is coupled to the boss.
  • a through hole is formed in the rotating connecting portion, and the second connecting member extends from the second meeting portion and penetrates the through hole on the rotating connecting portion and the second driving member connection.
  • the function module further includes a photographing device, the photographing device is mounted on the third driving member, the connecting structure further includes the fourth connecting member, and the fourth connecting member is connected to the Between the camera device and the corresponding control module of the control board.
  • the fourth connecting member is connected to the second connecting member and the third connecting member at the first junction, and the fourth connecting member is at the second meeting and the second connecting portion The second connector and the third connector are connected together.
  • third connecting member and the fourth connecting member are bent between the second junction and the third bracket to form a curved portion.
  • connection member the third connection member and the fourth connection member of the first junction to the second junction are overlapped.
  • connection structure further includes a fourth junction, the fourth junction is disposed adjacent to the third bracket and the second driving member, and the third connecting member and the fourth connecting member are disposed at The fourth junction is connected together, and the third connector and the fourth connector extend from the second junction to the fourth junction.
  • the third bracket includes a first mounting portion and a second mounting portion connected to the first mounting portion, and the first mounting portion passes the second driving member and the second mounting portion
  • the brackets are connected to each other, and the third driving component is mounted on the second mounting portion.
  • third connecting member and the fourth connecting member of the second junction to the fourth junction are attached to the outer peripheral wall of the first mounting portion.
  • the second mounting portion penetrates through the through hole
  • the third connecting member extends from the fourth junction and passes through the through hole on the second mounting portion to Three drive parts are connected.
  • first mounting portion forms a table portion adjacent to the through hole of the second mounting portion, and the fourth meeting portion is disposed adjacent to the table portion.
  • the function module includes a photographing device mounted on the driving member, the driving member includes a body and a cover portion, the cover portion is mounted on the body, and the connecting structure is connected to Between the third driving member and the control board, and between the photographing device and the control board.
  • the cover portion protrudes from a guiding portion, the guiding portion protrudes to a side portion of the table portion, the guiding portion is spaced apart from the table portion and forms a gap, and the connecting structure is disposed through The gap.
  • the photographing device includes a base body and a guide plate, the guide plate is fixedly connected to one side of the base body, and the guide plate is spaced apart from the base body to form a connection structure capable of passing through the connection structure
  • the connecting structure is connected to the functional module through the channel.
  • the connecting structure includes at least two connecting members, each of which includes a main body portion and an end portion provided at an end portion of the main body portion.
  • main body portion is a coaxial line.
  • the main body portion is a flexible circuit board.
  • the tip is a flexible circuit board connector.
  • end is a coaxial connector.
  • control module of the driving member is integrated on the control board.
  • control module of the driving member is disposed on the driving member.
  • a drone includes a body and a pan/tilt as described above, the pan/tilt being mounted to the body.
  • the present invention provides a cloud platform and a drone having the same, the connection structure including a bending portion corresponding to the driving member, the bending portion being disposed on the driving member and the a free space of the bracket assembly for providing the connecting structure with a motion margin that rotates with the driving member, and the bending portion provides a motion margin to prevent the connecting structure from rotating along with the driving member
  • a tight condition occurs in the process, which in turn can reduce the resistance of the driving member when rotating around the respective axes, and also avoid the problem that the connecting structure is damaged due to the tension.
  • FIG. 1 is a schematic perspective view of a drone according to a first embodiment of the present invention.
  • FIG. 2 is a perspective view of a gimbal according to a first embodiment of the present invention.
  • FIG. 3 is another perspective view of the pan/tilt of FIG. 2.
  • FIG. 4 is a perspective view of the gimbal removal connection structure of FIG. 2.
  • Fig. 5 is a schematic diagram showing the functional modules of the unmanned aerial vehicle according to the first embodiment of the present invention.
  • Fig. 6 is a schematic view showing a connection structure of the pan/tilt of Fig. 2;
  • FIG. 7 is a schematic perspective view of a pan/tilt head according to a second embodiment of the present invention.
  • FIG. 8 is another perspective view of the pan/tilt of FIG. 7.
  • Figure 9 is a schematic illustration of the first connector of the pan/tilt of Figure 7.
  • Fig. 10 is a schematic diagram showing the functional modules of the unmanned aerial vehicle according to the second embodiment of the present invention.
  • a drone 400 includes a body 200 and a platform 100 mounted on the body 200 .
  • the drone 400 may include some necessary or auxiliary structures, such as a power source, a sensor, etc., for the sake of space saving, no further description is provided herein.
  • the drone 400 is an unmanned aerial vehicle.
  • the drone 400 may be an unmanned vehicle such as an unmanned ship or an unmanned vehicle.
  • the drone 400 is a quadrotor, ie, an aircraft having four rotor assemblies 404. It can be understood that the drone 400 can also be a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, etc., and even the drone 400 can be a single-rotor aircraft; in addition, in other embodiments, the The drone 400 can be a fixed wing aircraft, or a fixed wing-rotor hybrid aircraft.
  • the body 200 includes a body 201 and a stand 203 connected to the body 201.
  • the body 201 is a main supporting and receiving structure of the drone 400, for example, supporting or accommodating a rotor assembly 404, an antenna assembly (not shown), a sensor (not shown), and the like, and a circuit board (not shown) Structures or modules such as inertial measurer (IMU), flight control module (not shown), and sensor (not shown).
  • IMU inertial measurer
  • the body 201 may have different shapes, such as square, polygonal, streamlined, and other regular or irregular shapes.
  • the stand 203 provides support when the drone 400 is landing.
  • the stand 203 is fixedly connected with respect to the body 201; in another embodiment, the connection angle between the stand 203 and the body 201 can be adjusted; The angle of connection of a portion of the stand 203 relative to the other portion is adjustable.
  • the platform 100 includes a control board 500, a support base 10, a bracket assembly 30 connected to the support base 10, a function module 50 disposed on the bracket assembly 30, and a connection structure 70 (shown in FIG. 6). .
  • the control board 500 is disposed outside the support base 10 , the bracket assembly 30 , and the function module 50 .
  • the control board 500 is mounted on the body 200, and the control board 500 can adjust parameters such as steering, rotation speed, and the like of the platform 100.
  • the control board 500 includes a plurality of function control modules 503.
  • the plurality of control modules 503 includes a first control module 5031, a second control module 5033, a third control module 5035, and a fourth control module 5037, wherein the first control module 5031 is disposed adjacent to a side edge of the control board 500.
  • the fourth control module 5037 is disposed adjacent to the other side edge of the control board 500.
  • the second control module 5033 is disposed adjacent to the third control module 5035 and disposed between the first control module 5031 and the fourth control module 5037.
  • the second control module 5033 is adjacent to the first control module 5031, and the third control module 5035 is adjacent to the fourth control module 5037.
  • the support base 10 includes a seat body 11 and a damper ball 13 mounted on the base body 11.
  • the base 11 is substantially in the shape of a frame.
  • the base 11 is coupled to the body 201 for supporting the bracket assembly 30 and the functional module 50 disposed on the bracket assembly 30.
  • the damper ball 13 is coupled to the body 201.
  • the damper ball 13 is made of an elastic material to form an elastic connection between the body 201 and the seat body 11, thereby buffering the vibration from the body 201 received by the platform 100.
  • the vibration of the body 201 caused by the propeller operation, the air flow, the aircraft lifting, and the like.
  • an elastic member may also be disposed on the damper ball 13 to buffer the vibration from the body 201 received by the platform 100.
  • the bracket assembly 30 includes a first bracket 31 , a second bracket 33 , and a third bracket 35 .
  • the first bracket 31 is substantially perpendicular to one end of the base body 11.
  • the first bracket 31 has a substantially plate shape, and a through hole 313 is defined in the first bracket 31.
  • the second bracket 33 is rotatably coupled to the first bracket 31.
  • the second bracket 33 includes a connecting portion 331 and a rotating connecting portion 333 fixedly connected to the connecting portion 331 .
  • the connecting portion 331 has a substantially ring shape and is rotatably connected to the first bracket 31.
  • the outer side wall of the connecting portion 331 is convexly formed with a boss 337 (as shown in FIGS. 3 and 4).
  • the rotation connecting portion 333 is substantially in the shape of a bent piece, and is formed by bending and extending the edge of the connecting portion 331.
  • the through hole 339 is formed through the rotation connecting portion 333.
  • the through hole 339 is disposed adjacent to the boss 337.
  • the third bracket 35 is rotatably connected to the rotating connecting portion 333 , and includes a first mounting portion 351 and a second mounting portion 353 .
  • the first mounting portion 351 is rotatably coupled to the rotational connection portion 333.
  • the first mounting portion 351 has a substantially annular shape, and a land portion 357 is formed on an outer peripheral wall thereof (as shown in FIG. 4).
  • the second mounting portion 353 is formed by bending and extending one end of the first mounting portion 351, and a through hole 358 is formed in the upper portion of the first mounting portion 357 (as shown in FIG. 4).
  • the function module 50 includes a first driving member 51, a second driving member 53, a third driving member 55, and a photographing device 57.
  • the first driving member 51 is disposed at an end of the first bracket 31 away from the supporting base 10 and connected to the connecting portion 331 .
  • the second driving member 53 is mounted on the rotating connecting portion 333 .
  • the first driving unit 351 is connected to the first mounting portion 351, and the third driving unit 55 is mounted on the second mounting portion 353 and connected to the imaging device 57.
  • the first driving member 51, the second driving member 53, and the third driving member 55 are driving motors such as a brushless motor.
  • the first driving member 51 is mounted on the first bracket 31 and connected to the connecting portion 331 of the second bracket 33 for driving the second bracket 33 to rotate about the first axis ⁇ . (rotating in a pitch direction); the second driving member 53 is mounted on the rotating connecting portion 333 and connected to the first mounting portion 351 of the third bracket 35 for driving the first The three brackets 35 are rotated about the second axis ⁇ (rotating in the yaw direction).
  • the third driving member 55 is mounted on the second mounting portion 353 of the third bracket 35 for driving the photographing device 57 to rotate around the third axis ⁇ (rotating in a roll direction) .
  • the arrangement of the bracket assembly 30 from the innermost side to the outer side is a roll-pitch-yaw, and the innermost side is a side directly connected to the photographing device 57. It can be understood that the arrangement of the bracket assemblies 30 can also be in other arrangements.
  • the imaging device 57 is a digital camera.
  • the imaging device 57 is located below the second driving member 53.
  • the first driving member 51 has a first abutting portion 511, the first abutting portion 511 is disposed adjacent to the through hole 313, and the second driving member 53 has a second abutting portion. 531.
  • the second docking portion 531 is disposed adjacent to the through hole 339.
  • the third driving member 55 includes a body 551 , a cover portion 553 disposed on the body 551 , and a guiding portion 557 protruding from the cover portion 553 .
  • the body 551 has a third abutting portion 558.
  • the third abutting portion 558 is disposed adjacent to the through hole 358, and the guiding portion 557 is substantially in a sheet shape, and the guiding portion 557 is protruded from the cover portion 553 to a side portion of the table portion 357.
  • the guide portion 557 is spaced apart from the table portion 357 and forms a gap.
  • the imaging device 57 has a fourth docking portion 577.
  • the connection structure 70 includes a plurality of connectors 71.
  • Each of the connecting members 71 includes a main body portion 711 and a tip end 713 provided at both ends of the main body portion 711.
  • the plurality of connecting members 71 include a first connecting member 73, a second connecting member 75, a third connecting member 77, and a fourth connecting member 79.
  • One end 713 of the first connecting member 73 is coupled to the first control module 5031, and the other end 713 of the first connecting member 73 passes through the through hole 313 and is connected to the first interface
  • the end portion 713 of the second connecting member 75 is mated with the second control module 5033, and the other end 713 of the second connecting member 75 passes through the through hole 339 and
  • the second abutting portion 531 is matingly connected;
  • one end 713 of the third connecting member 77 is cooperatively coupled to the third control module 5035, and the other end 713 of the third connecting member 77 passes through the a through hole 358 connected to the third abutting portion 558;
  • one end 713 of the fourth connecting member 79 is matingly coupled to the fourth control module 5037, and the other end of the fourth connecting member 79 713 is connected to the fourth docking portion 577.
  • the connecting member 71 is a cable made of a flexible circuit board. It can be understood that the main body portion 711 of the connecting member 71 can be a coaxial line, and the end 713 of the connecting member 71 is connected to the flexible circuit board connector of the coaxial line. In other embodiments, the end portion Head 713 is a coaxial connector.
  • the second connecting member 75, the third connecting member 77, and the fourth connecting member 79 have a first junction 718 and a second junction 719, and the third connection
  • the member 77 and the fourth connector 79 further include a third junction 715 and a fourth junction 717.
  • the third junction 715 and the first junction 718 are disposed adjacent to the control panel 500.
  • the four junctions 717 are disposed adjacent to the table 357, and the second junction 719 is disposed adjacent to the bosses 337.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 meet at the first junction 718 and are connected together at the first junction 718, the second connection The member 75, the third connecting member 77 and the fourth connecting member 79 also meet at the second junction 719 and are connected together at the second junction 719.
  • the third The connecting member 77 is sandwiched between the second connecting member 75 and the fourth connecting member 79.
  • the third connecting member 77 and the fourth connecting member 79 meet at the third junction 715 and are connected together at the third junction 715, the third connecting member 77 and the fourth connection
  • the member 79 also meets at the fourth junction 717 and is joined together at the fourth junction 717, in the present embodiment, between the third junction 715 to the first junction 718, and Between the second junction 719 and the fourth junction 717, the third connecting member 77 and the fourth connecting member 79 are connected and disposed in a stacked manner.
  • the connecting member 71 of the fourth junction 717 is fixedly connected to the table portion 357, and the connecting member 71 of the second meeting portion 719 is The bosses 337 are fixedly connected.
  • the manner in which the connecting member 71 of the fourth junction 717 is fixedly connected to the table portion 357, and the manner in which the connecting member 71 of the second meeting portion 719 is fixedly connected to the boss 337 can be bonded, The card is connected and the fixing member is fixed.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 at the second junction 719 are supported and fixed by the boss 337.
  • the second connecting member 75 is bent and extended by the second joint 719 to pass through the through hole 339 and connected to the second butting portion 531.
  • the third connecting member 77 and the fourth connecting member 79 are bent and extended from the second joint 719, and are disposed around the rotating connecting portion 333 and partially attached to the first mounting portion 351. Side wall.
  • the connecting member 71 of the second junction 719 can be connected to other places of the second bracket 33, such as the rotating connection portion 333, such as the end of the second driving member 53 adjacent to the connecting portion 331
  • the connecting member 71 of the second junction 719 can be connected to a structure other than the table portion 357, for example, the second mounting portion 353 of the third bracket 35, or, as the third driving The cover portion 553 of the member 55 and the like.
  • the third connecting member 77 is fixed to the table portion 357 at the fourth meeting portion 717, and extends from the fourth meeting portion 717 into the through hole 358 to be connected with the third butting portion 558;
  • the fourth connecting member 79 extends from the fourth junction 717 , and is disposed in the gap and is attached to the guiding portion 557 .
  • the fourth connecting member 79 is from the guiding portion 557 . Further bending extends and is connected to the fourth docking portion 577.
  • the second connecting member 75, the third connecting member 77 and the fourth connecting member 79 are corresponding to the driving members (51, 53, 55) between the first junction 718 and the second junction 719
  • the curved portion 720 is bent in a U shape, and the curved portion 720 has a length and is disposed adjacent to the second bracket 33.
  • the third connecting member 77 and the fourth connecting member 79 reserve a certain length and bend the substantially U-shaped curved portion 720 between the second junction 719 and the first mounting portion 351.
  • the connecting structure 70 is provided with a motion margin that rotates with the drive member (51, 53, 55).
  • the movement margin provided by the curved portion 720 can avoid the tension of the connecting structure 70 during the rotation of the driving member (51, 53, 55), thereby reducing the driving member (51, 53). 55)
  • the resistance when rotating around the respective axes also avoids the problem that the connecting structure 70 is damaged due to the tension pull.
  • the length of the curved portion 720 is set according to actual needs, and only when the driving members (51, 53, 55) are rotated, the connecting members of the curved portion 720 are in a relaxed state without being tight. The situation is fine.
  • the connecting structure 70 reserves sufficient space for each axis of the gimbal 100 to avoid entanglement and friction between the connecting members 71 and other structures.
  • the connector 71 of the fourth junction 717 may not be connected to the second bracket 33 or other structure, and the connector 71 of the second junction 719 may not be connected to the third bracket 35 or Other structural connections.
  • the curved portion 720 is not limited to being curved in a U shape, and may also have other shapes such as an S shape.
  • the curved portion 720 is disposed outside the driving member (51, 53, 55) and between the bracket assembly 30 and the driving member (51, 53, 55).
  • the photographing device 57 includes a base 573 and a holding plate 575.
  • the base 573 is coupled to the third driving member 55.
  • the guiding plate 575 is fixedly connected to one side of the base 573, and the guiding plate 575 is spaced apart from the base 573 to form a passage through the fourth connecting member 79 (not shown). And guiding and positioning the fourth connecting member 79.
  • the fourth connecting member 79 is connected to the photographing device 57 through the passage.
  • the first axis ⁇ , the second axis ⁇ , and the third axis ⁇ are perpendicular to each other.
  • the photographing device 57 is mounted on the third driving member 55 for acquiring an image.
  • pan/tilt head 100 is a three-axis pan/tilt head, it is capable of adjusting the photographing unit 52 about a heading axis (first axis ⁇ ), a roll axis (second axis ⁇ ), and a pitch axis (third axis ⁇ ) Shooting angle and direction.
  • the first bracket 31 When assembled, the first bracket 31 is coupled to the support base 10, and the second bracket 33 is coupled to the first bracket 31 by the first driving member 51, and the third bracket 35 passes the The second driving member 53 is connected to the second bracket 33, and the imaging device 57 is mounted on the third bracket 35.
  • each connecting member 71 is disposed outside the driving members (51, 53, 55), and the connecting member 71 is bent when it is bent. a line space, and the connection structure 70 forms a curved curved portion 720 in the free space between the driving member (51, 53, 55) and the bracket assembly 30, thereby driving the brackets (31, 33, 35) at the driving member.
  • each motor (not shown) is separately provided with an electric control board (not shown), and the electric control board is disposed adjacent to its corresponding motor.
  • the electric control board and its corresponding motor are connected by a cable (not shown), and the three electric control boards are connected by a cable to supply power to the power supply.
  • the number of cables is large, and the wiring structure is complicated. In the process, it is easy to cause friction between cables and interfere with the movement of the drive member and other structures.
  • the control modules of the first driving member 51, the second driving member 53, and the third driving member 55 are integrated on the same control board 500, and the control board 500 is disposed on the support base 10, In addition to the bracket assembly 30 and the drive member, volume and weight can be reduced.
  • the third connecting member 77 and the fourth connecting member 79 are connected to the third junction 715 and the fourth junction 717, the second connecting member 75, the third connecting member 77 and the The fourth connecting member 79 is connected to the first junction 718 and the second junction 719, the connecting member 71 is at the third junction 715 to the first junction 718, the connection The members 71 are connected together at the fourth junction 717 to the second junction 719, thereby avoiding the entanglement and friction between the connecting members 71 and between the connecting members 71 and the functional modules 50. The phenomenon does not interfere with the work between the functional modules 50, and saves the wiring space.
  • the support base 10 can be omitted, and the first bracket 31 is fixedly connected to the body 200.
  • the connecting structure 70 includes at least one connecting member 71.
  • each connecting member 71 is connected between a functional module 50 and a control board 500, wherein at least two of the connecting members 71 meet and meet at least two Convergence, wherein at least two of the connectors 71 are connected together between at least two of the junctions.
  • a second embodiment of the present invention provides a drone (not shown).
  • the unmanned aerial vehicle includes a gimbal 600.
  • the gimbal 600 includes a control board 601 and a support base 602.
  • a bracket assembly 80 coupled to the support base 602, a functional module disposed on the bracket assembly 30, and a connection structure 90.
  • the control board 601 is disposed outside the support base 602, the bracket assembly 80, and the function module 87.
  • the bracket assembly 80 includes a first bracket 81, a second bracket 83, and a third bracket 85.
  • the function module 87 includes a first driving member 871, a second driving member 872 and a third driving member 873, and a photographing device 89.
  • the first bracket 81 is coupled to the support base 602.
  • a limiting rib 811 is formed on the first bracket 81.
  • the second bracket 83 includes a connecting portion 831 and a rotating connecting portion 833 formed by bending and extending the connecting portion 831 .
  • the connecting portion 831 has a substantially ring shape and is rotatably coupled to the first bracket 81.
  • the connecting portion 831 and the rotating connecting portion 833 are hollow bodies and communicate with each other.
  • the connecting portion 831 defines an inlet 8311 adjacent to the bottom of the first bracket 81 (refer to FIG. 7 ), the rotating connecting portion An outlet 8331 (see FIG. 7) is opened at one end of the connecting portion 831 to facilitate accommodation of the connecting cable.
  • a through hole 8335 is formed in the rotation connecting portion 833.
  • the third bracket 85 is rotatably connected to the rotating connecting portion 833 and includes a first mounting portion 851 and a second mounting portion 853.
  • the first mounting portion 851 is rotatably coupled to the rotational connection portion 833.
  • the second mounting portion 853 is formed by bending and extending one end of the first mounting portion 851.
  • a limiting rib 811 is protruded from an outer periphery of the first mounting portion 851 and the second mounting portion 853 .
  • the driving member includes a first driving member 871, a second driving member 872, and a third driving member 873.
  • the first driving member 871 is connected between the first bracket 81 and the connecting portion 831 for driving the second bracket 83 to rotate about a first axis, and the first axis is the pan/tilt 600 Heading axis.
  • the second driving member 872 is connected between the rotating connecting portion 835 and the first mounting portion 851 for driving the third bracket 85 to rotate about a second axis, wherein the second axis is the The roll axis of the pan/tilt 600.
  • the third driving member 873 is disposed on the second mounting portion 853. The second axis is perpendicular to the first axis.
  • the arrangement of the bracket assembly 80 from the innermost side to the outer side is a roll-pitch-yaw, and the innermost side is a side directly connected to the photographing device 89. It can be understood that the arrangement of the bracket assemblies 30 can also be in other arrangements.
  • the imaging device 89 is connected to the third driving member 873.
  • the third driving member 873 is configured to drive the photographing device 89 to rotate about a third axis, and the third axis is perpendicular to the first axis and the second axis.
  • the third axis is the pitch axis of the pan/tilt head 600.
  • the connecting structure 900 includes a first connecting member 901 and a second connecting member 902.
  • the first connector 901 includes a trunk 91, a first branch 92, a second branch 93, and a third branch 94.
  • the first branch 92, the second branch 93, and the third branch 94 is formed by the extension of the trunk 91.
  • One end of the trunk 91 away from the first branch 92 and the second branch 93 is electrically connected to the control board 601, and the first branch 92 is electrically connected to the first driving member 871, the second The branch 93 is electrically connected to the second driving member 872, and the third branch 94 is electrically connected to the third driving member 873.
  • a branch point extending from the first branch 92 on the trunk 91 is a first branch point 921, and a branch point extending from the second branch 93 and the third branch 94 on the trunk 91 is set. It is the second branch point 923.
  • the trunk 91 is bent from a portion of the first branch point 921 and the second branch point 923 to form a curved portion 920 having a substantially U-shaped structure.
  • the third branch 94 is bent between the first driving member 871 and the second driving member 872 to form a curved portion 920 having a substantially U-shaped structure.
  • the third branch 94 is on the first driving member 871.
  • a curved portion 920 between the second driving member 872 and the second driving member 872 is also located between the second bracket 83 and the third bracket 85.
  • the first connecting member 901 is made of a flexible circuit board.
  • the third branch 94 is partially attached to the outer circumference of the third bracket 85.
  • a curved portion 920 formed by bending a portion of the trunk 91 from the first branch point 921 and the second branch point 923, and the third branch 94 being in the first driving member and the second driving member
  • the curved portion 920 between the 872 is not disposed around the driving members (871, 872, 873), and the curved portion 920 is disposed between the driving members (871, 872, 873) and the respective brackets (81, 83, 85).
  • the bending portion 920 is configured to provide the first connecting member 901 with a motion margin rotating with the driving member (871, 872, 873), and the bending margin provided by the bending portion 920 can avoid the connecting structure.
  • the 900 appears to be tight during the rotation of the driving members (871, 872, 873), thereby reducing the resistance of the driving members (871, 872, 873) when rotating around the axes of the platform 600, and also avoiding
  • the first connecting member 901 has a problem of damage due to a tight pull.
  • the second connecting member 902 is electrically connected between the control board 601 and the photographing device 89.
  • the second connecting member 902 is disposed on the limiting rib 811 on the first bracket 81, the second bracket 83, and the limiting rib 811 of the third bracket 85 to avoid the first A connector 901.
  • the second connector 902 is a coaxial line to improve the efficiency of transmitting high frequency/high speed signals.
  • a first control module 875 for driving and controlling the first driving member 871 is disposed on the first driving member 871 and electrically connected to the first driving member 871.
  • a second control module 876 for driving and controlling the second driving member 872 is disposed on the second driving member 872 and electrically connected to the second driving member 872 for driving and controlling the third driving member 873.
  • the third control module 877 is disposed on the third driving member 873 and electrically connected to the third driving member 873.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Toys (AREA)

Abstract

一种云台(100)，包括支架组件(30)、功能模组(50)、控制板(500)以及连接结构(70)，功能模组(50)设置在支架组件(30)上，功能模组(50)包括驱动件(51、53、55)，控制板(500)设置于支架组件(30)及驱动件外，连接结构(70)将控制板(500)与驱动件电连接，连接结构(70)包括对应于驱动件的弯曲部(720)，弯曲部(720)设置于驱动件(51、53、55)外部并位于支架组件(30)及驱动件(51、53、55)之间，用于为连接结构(70)提供随驱动件(51、53、55)转动的运动余量。本发明还提供一种具有该云台(100)的无人机(400)。该云台（100）和无人机（400）能够避免连接结构(70)在随同驱动件(51、53、55)转动的过程中出现紧绷的情况，减少驱动件(51、53、55)在绕各轴转动时的阻力，避免连接结构(70)因紧绷拉扯出现损坏的问题。

Description

云台及具该云台的无人机 技术领域
本发明涉及云台技术领域，尤其涉及一种小型化的云台及具该云台的无人机。
背景技术
如今，无人机，如无人飞行器，被用于执行航拍、监测、勘探、搜救等任务。为了实现稳定拍摄的目的，无人机通常配置云台来搭载摄像机、照相机等模组，所述云台本身亦包括驱动件、控制板等模组，以上模组通常采用多个连接线缆进行电连接，以实现各个功能模组之间的信号连接。然而，用于连接驱动件及控制板的线缆通常绕设于所述驱动件的壳体内，由于走线空间小，造成驱动件带动支架旋转过程中受到较大的阻力，影响云台使用。
发明内容
有鉴于此，有必要提供一种避免上述问题的云台及具该云台的无人机。
一种云台，其包括支架组件、功能模组、控制板以及连接结构，所述功能模组设置在所述支架组件上，所述功能模组包括驱动件，所述控制板设置于所述支架组件及所述驱动件外，所述连接结构将所述控制板与所述驱动件电连接，所述连接结构包括对应于所述驱动件的弯曲部，所述弯曲部设置于所述驱动件外部并位于所述支架组件及所述驱动件之间，用于为所述连接结构提供随所述驱动件转动的运动余量。
进一步地，所述支架组件包括第一支架及与所述第一支架连接的第二支架，所述驱动件包括第一驱动件，所述第一驱动件连接于所述第一支架及所述第二支架之间，所述第一驱动件用于驱动所述第二支架绕第一轴线转动，所述连接结构电连接于所述第一驱动件及所述控制板之间，所述弯曲部位于所述第一驱动件的外部并邻近第一支架及/或所述第二支架设置。
进一步地，所述第一轴线为所述云台的航向轴。
进一步地，所述支架组件还包括第三支架，所述功能模组还包括第二驱动件，所述第二驱动件连接于所述第二支架及所述第三支架之间，所述第二驱动件用于驱动所述第三支架绕第二轴线转动，所述连接结构与所述第二驱动件电连接。
进一步地，所述第二轴线与所述第一轴线相垂直。
进一步地，所述第二轴线为所述云台的横滚轴。
进一步地，所述连接结构包括主干、第一分支及第二分支，所述第一分支、所述第二分支由所述主干延伸形成，所述主干远离所述第一分支及所述第二分支的一端与所述控制板电连接，所述第一分支电连接于所述第一驱动件，所述第二分支电连接所述第二驱动件。
进一步地，设所述第一分支于所述主干上延伸出去的分支点为第一分支点，设所述第二分支于所述主干上延伸出去的分支点为第二分支点，所述主干自所述第一分支点与所述第二分支点的部分弯曲形成弯曲部，所述弯曲部位于所述第一驱动件与所述第二驱动件之间。
进一步地，所述连接结构还包括亦由所述主干延伸形成的第三分支，所述功能模组还包括第三驱动件，所述第三驱动件连接于所述第三支架远离所述第二支架的一端，所述第三分支与所述第三驱动件电连接。
进一步地，所述第三分支于所述第一驱动件与所述第三驱动件之间弯曲形成弯曲部。
进一步地，所述第三分支部分贴设于所述第三支架的外周。
进一步地，所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述第三驱动件用于驱动所述拍摄装置绕第三轴线转动。
进一步地，所述第三轴线、所述第二轴线与所述第一轴线相互垂直。
进一步地，所述第三轴线为所述云台的俯仰轴。
进一步地，所述支架组件由最内侧至外侧的排列顺序为横滚-俯仰-航向，所述最内侧为所述支架组件与所述拍摄装置直接连接的一侧。
进一步地，所述连接结构包括第一连接件及第二连接件，所述第一连接件电连接于所述第一驱动件及所述控制板之间，所述第二连接件连接于所述第二驱动件与所述控制板之间，所述第一连接件与所述第二连接件分离设置。
进一步地，所述云台包括拍摄装置，所述连接结构包括分离设置的第一连接件及第二连接件，所述第一连接件将所述控制板与所述驱动件电连接，所述拍摄装置与所述支架组件连接，所述第二连接件连接于所述拍摄装置及所述控制板之间。
进一步地，所述第一连接件由柔性电路板制成。
进一步地，所述第二连接件由同轴线制成。
进一步地，所述支架组件包括依次转动连接的第一支架、第二支架，所述驱动件连接于所述第一支架与所述第二支架之间，所述第一支架上形成限位凸条，所述第二连接件穿设于所述限位凸条。
进一步地，所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述驱动件连接于所述第一支架与所述连接部之间，所述连接部与所述转动连接部为中空结构，所述连接部与所述转动连接部连通，所述第二连接件穿设于所述连接部与所述转动连接部。
进一步地，所述支架组件还包括第三支架，所述第三支架与所述第二支架转动连接，所述第三支架上凸设形成限位凸条，所述第二连接件穿设于所述第三支架的限位凸条。
进一步地，所述支架组件包括转动连接的第二支架及第三支架，所述驱动件包括第二驱动件及第三驱动件，所述第二驱动件用于驱动所述第二支架转动，所述第三支架连接于所述第二驱动件及所述第三驱动件之间，所述连接结构包括第二连接件及第三连接件，所述第二连接件电连接于所述第二驱动件与所述控制板之间，所述第三连接件电连接于所述第三驱动件与所述控制板之间，所述连接结构包括第一汇合处与第二汇合处，所述第二连接件与所述第三连接件在所述第一汇合处连接在一起，所述第二连接件与所述第三连接件在所述第二汇合处连接在一起，所述第一汇合处邻近所述控制板设置，所述第二汇合处邻近所述第二支架设置。
进一步地，所述第二连接件、所述第三连接件于所述第一汇合处与所述第二汇合处之间对应所述驱动件弯曲形成弯曲部。
进一步地，所述第一汇合处至所述第二汇合处的所述第二连接件与所述第三连接件连接交叠于一起。
进一步地，所述第二汇合处的第二连接件与所述第三连接件连接于所述第二支架上。
进一步地，所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述连接部的外侧壁凸设形成凸台，所述第二汇合处的第二连接件与所述第三连接件连接于所述凸台。
进一步地，所述转动连接部上贯通开设有通孔，所述第二连接件自所述第二汇合处延伸并穿设于所述转动连接部上的通孔进而与所述第二驱动件连接。
进一步地，所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述连接结构还包括所述第四连接件，所述第四连接件连接于所述拍摄装置与所述控制板的相应控制模块之间。
进一步地，所述第四连接件在所述第一汇合处与所述第二连接件、所述第三连接件连接于一起，所述第四连接件在所述第二汇合处与所述第二连接件、所述第三连接件连接于一起。
进一步地，所述第三连接件及所述第四连接件于所述第二汇合处至所述第三支架之间弯曲形成弯曲部。
进一步地，所述第一汇合处至所述第二汇合处的所述第二连接件、所述第三连接件及所述第四连接件连接交叠于一起。
进一步地，所述连接结构还包括第四汇合处，所述第四汇合处邻近所述第三支架及所述第二驱动件设置，所述第三连接件及所述第四连接件在所述第四汇合处连接于一起，所述第三连接件及所述第四连接件自所述第二汇合处延伸至所述第四汇合处。
进一步地，所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件连接于一起。
进一步地，所述第三支架包括第一装设部及与所述第一装设部连接的第二装设部，所述第一装设部通过所述第二驱动件与所述第二支架相接，所述第三驱动件装设于所述第二装设部上。
进一步地，所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件贴合于所述第一装设部的外周壁上。
进一步地，所述第二装设部上贯通开设通孔，所述第三连接件自所述第四汇合处延伸并穿设于所述第二装设部上的通孔以与所述第三驱动件连接。
进一步地，所述第一装设部邻近所述第二装设部的通孔形成台部，所述第四汇合处邻近所述台部设置。
进一步地，所述功能模组包括装设于所述驱动件的拍摄装置，所述驱动件包括本体及盖设部，所述盖设部装设于所述本体上，所述连接结构连接于所述第三驱动件与所述控制板之间，以及所述拍摄装置与所述控制板之间。
进一步地，所述盖设部凸设导向部，所述导向部凸伸至所述台部的侧部，所述导向部与所述台部间隔设置并形成间隙，所述连接结构穿设于所述间隙。
进一步地，所述拍摄装置包括基体及导持板，所述导持板与所述基体的一侧固定连接，且所述导持板与所述基体间隔设置，以形成能够通过所述连接结构的通道，所述连接结构通过所述通道与所述功能模组连接。
进一步地，所述连接结构至少包括两个连接件，每个连接件包括主体部及设于所述主体部的端部的端头。
进一步地，所述主体部为同轴线。
进一步地，所述主体部为柔性电路板。
进一步地，所述端头为柔性电路板连接器。
进一步地，所述端头为同轴线连接器。
进一步地，所述驱动件的控制模块集成于所述控制板上。
进一步地，所述驱动件的控制模块设置于所述驱动件上。
一种无人机，其包括机体及如上所述的云台，所述云台装设于所述机体。
相对于现有技术，本发明提供的云台及具该云台的无人机，所述连接结构包括对应于所述驱动件的弯曲部，所述弯曲部设置于所述驱动件及所述支架组件的闲余空间，用于为所述连接结构提供随所述驱动件转动的运动余量，所述弯曲部提供的运动余量，能够避免所述连接结构在随同所述驱动件转动的过程中出现紧绷的情况，进而能够减少所述驱动件在绕各轴转动时的阻力，也避免所述连接结构因紧绷拉扯出现损坏的问题。
 附图说明
图1是本发明第一实施方式的无人机的立体示意图。
图2是本发明第一实施方式的云台立体示意图。
图3是图2的云台的另一视角示意图。
图4是图2的云台去除连接结构后的立体示意图。
图5是本发明第一实施方式的无人机的功能模组示意图。
图6是图2的云台的连接结构的示意图。
图7是本发明第二实施方式提供的云台的立体示意图。
图8是图7的云台的另一视角示意图。
图9是图7的云台的第一连接件的示意图。
图10是本发明第二实施方式的无人机的功能模组示意图。
主要元件符号说明
无人机 400
机体 200
云台 100、600
旋翼组件 404
机身 201
脚架 203
控制板 500、601
控制模块 503
第一控制模块 5031、875
第二控制模块 5033、876
第三控制模块 5035、877
第四控制模块 5037
支撑座 10、602
座体 11
减振球 13
支架组件 30、80
第一支架 31、81
限位凸条 811
通孔 313、339、358
第二支架 33、83
连接部 331、831
入口 8311
转动连接部 333、833
出口 8331
凸台 337
第三支架 35、85
第一装设部 351、851
第二装设部 353、853
功能模组 50、87
第一驱动件 51、871
第一对接部 511
第二驱动件 53、872
第二对接部 531
第三驱动件 55、873
本体 551
盖设部 553
导向部 557
第三对接部 558
拍摄装置 57、89
基体 573
导持板 575
第四对接部 577
第一轴线 α
第二轴线 β
第三轴线 γ
连接结构 70、900
连接件 71
主体部 711
端头 713
弯曲部 720、920
第一连接件 73、901
第二连接件 75、902
第三连接件 77
第四连接件 79
第一汇合处 718
第二汇合处 719
第三汇合处 715
第四汇合处 717
主干 91
第一分支 92
第二分支 93
第三分支 94
第一分支点 921
第二分支点 923
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
请参阅图1与图2所示，本发明一实施方式的无人机400包括机体200、及装设于机体200上的云台100。当然，所述无人机400可以包括一些必要或者附属的结构，如电源、传感器等，为节省篇幅，在此不做赘述。本实施例中，所述无人机400为无人飞行器，于其他实施例中，所述无人机400可以为无人船、无人车等无人设备。
本实施方式中，所述无人机400为四旋翼飞行器，即具有四个旋翼组件404的飞行器。可以理解，所述无人机400也可以为六旋翼飞行器、八旋翼飞行器、十二旋翼飞行器等，甚至，所述无人机400可以为单旋翼飞行器；另外，在其他实施方式中，所述无人机400可以为固定翼飞行器，或者固定翼-旋翼混合的飞行器。
所述机体200包括机身201以及与所述机身201相连的脚架203。所述机身201为所述无人机400的主要支撑及收容结构，例如支撑或收容旋翼组件404、天线组件（图未示）、传感器（图未示）等，电路板（图未示）、惯性测量器（IMU）、飞控模块（图未示）、传感器（图未示）等结构或模组。依据所述无人机400的外形设计的不同，所述机身201可以具有不同的形状，例如，方形、多边形、流线形以及其他规则或者不规则的形状等。
所述脚架203为所述无人机400着陆时提供支撑。一实施方式中，所述脚架203相对于所述机身201固定连接；另一实施方式中，所述脚架203与所述机身201之间的连接角度可调整；再一实施方式中，所述脚架203的一部分相对于另一部分的连接角度可调整。
所述云台100包括控制板500、支撑座10、与所述支撑座10连接的支架组件30、设于所述支架组件30上的功能模组50及连接结构70（如图6所示）。所述控制板500设置于所述支撑座10、所述支架组件30及所述功能模组50外。
所述控制板500装设于所述机体200上，所述控制板500能够调整所述云台100的转向、转速等参数。本实施方式中，所述控制板500包括多个功能控制模块503。所述多个控制模块503包括第一控制模块5031、第二控制模块5033、第三控制模块5035及第四控制模块5037，其中所述第一控制模块5031邻近控制板500的一侧边缘设置，所述第四控制模块5037邻近所述控制板500的另一侧边缘设置。所述第二控制模块5033与所述第三控制模块5035邻近设置，且设置于第一控制模块5031和所述第四控制模块5037之间。所述第二控制模块5033邻近所述第一控制模块5031，而所述第三控制模块5035邻近所述第四控制模块5037。
所述支撑座10上包括座体11及装设于所述座体11上的减振球13。所述座体11大致呈框体状，所述座体11与所述机身201连接，用以支撑所述支架组件30及设于所述支架组件30上的功能模组50。所述减振球13与所述机身201连接。具体地，减振球13由弹性材料制成，以使所述机身201与所述座体11之间形成弹性连接，进而缓冲所述云台100受到的来自所述机身201的震动，例如螺旋桨运转、气流、飞行器升降等导致的所述机身201的震动。可以理解，所述减振球13上也可以设置弹性件，以缓冲所述云台100受到的来自所述机身201的震动。
请结合图3与图4所示，所述支架组件30包括第一支架31、第二支架33及第三支架35。所述第一支架31与所述座体11的一端大致垂直相接。所述第一支架31大致呈板状，其上开设有通孔313。所述第二支架33与所述第一支架31能够转动地连接。所述第二支架33包括连接部331及与所述连接部331固定连接的转动连接部333。所述连接部331大致呈环体状，其与所述第一支架31转动连接。所述连接部331的外侧壁凸设形成凸台337（如图3及图4所示）。所述转动连接部333大致呈弯折片体状，其由所述连接部331的边缘弯折延伸形成。所述转动连接部333上贯通开设通孔339。所述通孔339邻近所述凸台337设置。所述第三支架35与所述转动连接部333能够转动地连接，其包括第一装设部351及第二装设部353。所述第一装设部351与所述转动连接部333能够转动地连接。所述第一装设部351大致呈圆环状，其外周壁上凸设形成台部357（如图4所示）。所述第二装设部353由所述第一装设部351的一端弯折延伸形成，其上邻近所述台部357贯通开设通孔358（如图4所示）。
所述功能模组50包括第一驱动件51、第二驱动件53、第三驱动件55及拍摄装置57。所述第一驱动件51装设于所述第一支架31远离所述支撑座10的一端并与所述连接部331连接，所述第二驱动件53装设于所述转动连接部333上并与所述第一装设部351连接，所述第三驱动件55装设于所述第二装设部353上并与所述拍摄装置57连接。具体地，在本实施方式中，所述第一驱动件51、第二驱动件53及第三驱动件55为驱动电机，如无刷电机等。所述第一驱动件51装设于所述第一支架31上并与所述第二支架33的所述连接部331连接，用于驱动所述第二支架33绕所述第一轴线α转动（沿俯仰（pitch）方向转动）；所述第二驱动件53装设于所述转动连接部333上并与所述第三支架35的第一装设部351连接，用于驱动所述第三支架35绕所述第二轴线β转动(沿航向（yaw）方向转动）。所述第三驱动件55装设于所述第三支架35的第二装设部353，用于驱动所述拍摄装置57绕所述第三轴线γ转动(沿横滚（roll）方向转动）。因此，所述支架组件30由最内侧至外侧的排列顺序为横滚-俯仰-航向（roll-pitch-yaw），最内侧为与所述拍摄装置57直接连接的一侧。可以理解的是，所述支架组件30的排列方式还可以为其他排列方式。
所述拍摄装置57为数码相机。所述拍摄装置57位于所述第二驱动件53的下方。
请一并参阅图5所示，所述第一驱动件51具第一对接部511，所述第一对接部511邻近所述通孔313设置，所述第二驱动件53具第二对接部531，所述第二对接部531邻近所述通孔339设置。所述第三驱动件55包括本体551、盖设于所述本体551上的盖设部553及凸设于所述盖设部553上的导向部557。所述本体551具第三对接部558。所述第三对接部558邻近所述通孔358设置所述导向部557大致呈片体状，所述导向部557由所述盖设部553凸伸至所述台部357的侧部。所述导向部557与所述台部357间隔设置并形成间隙。所述拍摄装置57具第四对接部577。
所述连接结构70包括多个连接件71。每个连接件71包括主体部711及设于所述主体部711两端的端头713。所述多个连接件71包括第一连接件73、第二连接件75、第三连接件77及第四连接件79。所述第一连接件73的一个端头713与所述第一控制模块5031配合连接，所述第一连接件73的另一个端头713穿过所述通孔313并与所述第一对接部511配合连接；所述第二连接件75的一个端头713与所述第二控制模块5033配合连接，所述第二连接件75的另一个端头713穿过所述通孔339并与所述第二对接部531配合连接；所述第三连接件77的一个端头713与所述第三控制模块5035配合连接，所述第三连接件77的另一个端头713穿过所述通孔358，并与所述第三对接部558连接；所述第四连接件79的一个端头713与所述第四控制模块5037配合连接，所述第四连接件79的另一个端头713与所述第四对接部577连接。本实施方式中，所述连接件71为柔性电路板制成的线缆。可以理解，所述连接件71的主体部711可以为同轴线，所述连接件71的端头713与所述同轴线连接的柔性电路板连接器，于其它实施例中，所述端头713为同轴线连接器。
具体地，请结合参阅图6，所述第二连接件75、所述第三连接件77及所述第四连接件79具有第一汇合处718及第二汇合处719，所述第三连接件77及所述第四连接件79还包括第三汇合处715及第四汇合处717，所述第三汇合处715及所述第一汇合处718邻近所述控制板500设置，所述第四汇合处717邻近所述台部357设置，所述第二汇合处719邻近所述凸台337设置。
所述第二连接件75、所述第三连接件77及所述第四连接件79汇合于所述第一汇合处718并在所述第一汇合处718连接在一起，所述第二连接件75、所述第三连接件77及所述第四连接件79亦汇合于所述第二汇合处719并在所述第二汇合处719连接在一起，本实施例中，于所述第一汇合处718至所述第二汇合处719之间，所述第二连接件75、所述第三连接件77及所述第四连接件79连接设置于一起呈层叠设置，所述第三连接件77夹设于所述第二连接件75及所述第四连接件79之间。
所述第三连接件77及所述第四连接件79汇合于所述第三汇合处715并在所述第三汇合处715连接在一起，所述第三连接件77及所述第四连接件79亦汇合于所述第四汇合处717并在所述第四汇合处717连接在一起，本实施例中，于所述第三汇合处715至所述第一汇合处718之间，以及于所述第二汇合处719至所述第四汇合处717之间，所述第三连接件77及所述第四连接件79连接设置于一起呈层叠设置。
为避免使用过程中所述连接件71摇晃、松脱的问题，所述第四汇合处717的连接件71与台部357固定相接，所述第二汇合处719的连接件71与所述凸台337固定相接。所述第四汇合处717的连接件71与台部357固定相接的方式，以及所述第二汇合处719的连接件71与所述凸台337固定相接的方式，可以通过粘接、卡接、固定件固定的方式实现。
所述第二汇合处719处的第二连接件75、第三连接件77及第四连接件79由所述凸台337支撑固定。所述第二连接件75由所述第二汇合处719弯折延伸穿设于所述通孔339并与所述第二对接部531连接。所述第三连接件77及所述第四连接件79自所述第二汇合处719弯折延伸，绕设于所述转动连接部333，且部分贴合于所述第一装设部351的侧壁。
可以理解，所述第二汇合处719的连接件71能够连接于所述第二支架33的其他地方，如转动连接部333，如所述第二驱动件53邻近所述连接部331的端部；所述第二汇合处719的连接件71能够与所述台部357之外的结构连接，例如，所述第三支架35的第二装设部353上，或者，如所述第三驱动件55的盖设部553等。
所述第三连接件77于所述第四汇合处717与所述台部357固定，并自所述第四汇合处717延伸伸入所述通孔358与所述第三对接部558连接；所述第四连接件79自所述第四汇合处717延伸，其穿设于所述间隙并与所述导向部557贴合于一起，所述第四连接件79自所述导向部557处进一步弯折延伸并与所述第四对接部577连接。
所述第二连接件75、所述第三连接件77及所述第四连接件79于所述第一汇合处718与所述第二汇合处719之间对应驱动件（51、53、55）弯曲呈U形的弯曲部720，所述弯曲部720具一定长度并邻近所述第二支架33设置。所述第三连接件77及所述第四连接件79于所述第二汇合处719至所述第一装设部351之间预留一定长度且弯曲呈大致U形的弯曲部720，用于为所述连接结构70提供随驱动件（51、53、55）转动的运动余量。所述弯曲部720提供的运动余量，能够避免所述连接结构70在随同驱动件（51、53、55）转动的过程中出现紧绷的情况，进而能够减少所述驱动件（51、53、55）在绕各轴转动时的阻力，也避免所述连接结构70因紧绷拉扯出现损坏的问题。所述弯曲部720的长度依据实际所需进行设定，其仅需达到在驱动件（51、53、55）转动时，所述弯曲部720的各连接件处于松弛状态而不出现紧绷的情况即可。另外，所述连接结构70给所述云台100各轴线转动处均预留有足够空间，避免了所述连接件71之间，以及与其他结构之间的缠绕、摩擦现象，不会对所述第一驱动件51、所述第二驱动件53、所述第三驱动件55的工作造成干扰。可以理解，于其他实施例中，所述第四汇合处717的连接件71可不与第二支架33或其它结构连接，以及所述第二汇合处719的连接件71可不与第三支架35或其它结构连接。
可以理解，所述弯曲部720不限于弯曲呈U形，其也可以呈S形等其它形状。所述弯曲部720设置于所述驱动件（51、53、55）的外部并位于所述支架组件30及所述驱动件（51、53、55）之间。
进一步地，所述拍摄装置57包括基体573及导持板575。所述基体573连接于所述第三驱动件55上。所述导持板575与所述基体573的一侧固定连接，且所述导持板575与所述基体573间隔设置，以形成能够通过所述第四连接件79的通道（图未标），进而为所述第四连接件79进行导向及定位。所述第四连接件79通过所述通道与所述拍摄装置57连接。本实施方式中，所述第一轴线α、所述第二轴线β及所述第三轴线γ相互垂直。所述拍摄装置57装设于第三驱动件55上，用以获取图像。由于所述云台100为三轴云台，其能够绕航向轴（第一轴线α）、横滚轴（第二轴线β）、以及俯仰轴（第三轴线γ）调整所述拍摄单元52的拍摄角度及方向。
组装时，将所述第一支架31连接于所述支撑座10，所述第二支架33通过所述第一驱动件51与所述第一支架31连接，所述第三支架35通过所述第二驱动件53与所述第二支架33连接，将所述拍摄装置57装设于所述第三支架35上。将第一连接件73连接于所述第一驱动件51与所述控制板之间，将第二连接件75连接于所述第二驱动件53与所述控制板500之间，将所述第三连接件77连接于所述第三驱动件55及所述控制板500之间，将所述第四连接件79连接于所述拍摄装置57之间。
本发明提供的云台100及具云台100的无人机400，各连接件71设置于各驱动件（51、53、55）的外部，连接件71在弯曲绕设时因较大的走线空间，且连接结构70在驱动件（51、53、55）与支架组件30之间的闲余空间形成弯曲的弯曲部720，进而在所述驱动件驱动各支架（31、33、35）转动时提供运动余量，够避免所述连接结构70在随同所述驱动件转动的过程中出现紧绷的情况，进而能够减少所述驱动件（51、53、55）在绕各轴转动时的阻力，也避免所述连接结构70因紧绷拉扯出现损坏的问题。
另外，现有的三轴云台（图未示）中，通常每个电机（图未示）单独配一个电控板（图未示），所述电控板与其相应的电机相邻设置，所述电控板与其相应的电机通过线缆（图未示）连接，三个电控板之间再通过线缆连接以让电源进行供电，线缆的数目较多，布线结构复杂，在使用过程中的，容易造成线缆之间的摩擦，干扰驱动件及其他结构的运动。所述第一驱动件51、所述第二驱动件53、所述第三驱动件55的控制模块集成于同一控制板500上，且所述控制板500设于所述支撑座10、所述支架组件30及所述驱动件之外进而能够减小体积及重量。
进一步地，所述第三连接件77及所述第四连接件79汇接于第三汇合处715及第四汇合处717，所述第二连接件75、所述第三连接件77及所述第四连接件79汇接于所述第一汇合处718及所述第二汇合处719，所述连接件71于所述第三汇合处715至所述第一汇合处718，所述连接件71于所述第四汇合处717至所述第二汇合处719连接设置于一起，避免了所述连接件71之间以及所述连接件71与各功能模组50之间的缠绕、摩擦现象，不会干扰各功能模组50之间的工作，且节省了走线空间。
可以理解，所述支撑座10可以省略，所述第一支架31与所述机体200固定相接。
可以理解，所述连接结构70至少包括一个连接件71。
可以理解，所述连接结构70包括两个连接件71时，每个连接件71连接于一个功能模组50及控制板500之间，其中至少两个所述连接件71汇合相接于至少两个汇合处，所述其中至少两个连接件71于至少两个所述汇合处之间连接于一起。
本发明第二实施方式提供一种无人机（图未示），所述无人机包括云台600，请参阅图7及图8，所述云台600包括控制板601、支撑座602、与所述支撑座602连接的支架组件80、设于所述支架组件30上的功能模组，以及连接结构90。所述控制板601设置于所述支撑座602、所述支架组件80及所述功能模组87外。
所述支架组件80包括第一支架81、第二支架83及第三支架85。所述功能模组87包括第一驱动件871、第二驱动件872及第三驱动件873及拍摄装置89。所述第一支架81与所述支撑座602连接。所述第一支架81上形成限位凸条811。所述第二支架83包括连接部831及由所述连接部831延伸弯折形成的转动连接部833。所述连接部831大致呈环体状，其与所述第一支架81转动连接。所述连接部831与所述转动连接部833为中空体且相互连通，所述连接部831邻近所述第一支架81的底部开设入口8311（请参图7所示），所述转动连接部833远离所述连接部831的一端开设有出口8331（请参图7所示），以方便容纳连接线缆。所述转动连接部833上贯通开设通孔8335。所述第三支架85与所述转动连接部833转动连接，其包括第一装设部851及第二装设部853。所述第一装设部851与所述转动连接部833转动连接。所述第二装设部853由所述第一装设部851的一端弯折延伸形成。所述第一装设部851的外周缘及所述第二装设部853上凸设有限位凸条811。
所述驱动件包括第一驱动件871、第二驱动件872及第三驱动件873。所述第一驱动件871连接于所述第一支架81与所述连接部831之间，用于驱动所述第二支架83绕第一轴线转动，所述第一轴线为所述云台600的航向轴。所述第二驱动件872连接于所述转动连接部835与所述第一装设部851之间，用于驱动所述第三支架85绕第二轴线转动，所述第二轴线为所述云台600的横滚轴。所述第三驱动件873设于所述第二装设部853上。所述第二轴线与所述第一轴线相垂直。所述支架组件80由最内侧至外侧的排列顺序为横滚-俯仰-航向（roll-pitch-yaw），最内侧为与所述拍摄装置89直接连接的一侧。可以理解的是，所述支架组件30的排列方式还可以为其他排列方式。
所述拍摄装置89与所述第三驱动件873连接。所述第三驱动件873用于驱动所述拍摄装置89绕第三轴线转动，所述第三轴线与所述第一轴线及所述第二轴线相垂直。所述第三轴线为所述云台600的俯仰轴。
所述连接结构900包括第一连接件901及第二连接件902。请参阅图9，所述第一连接件901包括主干91、第一分支92、第二分支93及第三分支94，所述第一分支92、所述第二分支93及所述第三分支94由所述主干91延伸形成。所述主干91远离所述第一分支92及所述第二分支93的一端与所述控制板601电连接，所述第一分支92电连接于所述第一驱动件871，所述第二分支93电连接所述第二驱动件872，所述第三分支94电连接所述第三驱动件873。设所述第一分支92于所述主干91上延伸出去的分支点为第一分支点921，设所述第二分支93与所述第三分支94于所述主干91上延伸出去的分支点为第二分支点923。所述主干91自所述第一分支点921与所述第二分支点923的部分弯曲形成大致呈U形结构的弯曲部920。所述第三分支94于所述第一驱动件871与所述第二驱动件872之间弯曲形成大致呈U形结构的弯曲部920，所述第三分支94于所述第一驱动件871与所述第二驱动件872之间的弯曲部920亦位于所述第二支架83及第三支架85之间。本实施方式中，所述第一连接件901为柔性电路板制成。所述第三分支94部分贴设于所述第三支架85的外周。
所述主干91自所述第一分支点921与所述第二分支点923的部分弯曲形成的弯曲部920，及所述第三分支94于所述第一驱动件与所述第二驱动件872之间的弯曲部920未绕驱动件（871、872、873）设置，弯曲部920设置于驱动件（871、872、873）与各支架（81、83、85）之间。
所述弯曲部920，用于为所述第一连接件901提供随驱动件（871、872、873）转动的运动余量，所述弯曲部920提供的运动余量，能够避免所述连接结构900在随同驱动件（871、872、873）转动的过程中出现紧绷的情况，进而能够减少所述驱动件（871、872、873）在绕云台600各轴转动时的阻力，也避免所述第一连接件901因紧绷拉扯出现损坏的问题。
所述第二连接件902电连接于所述控制板601与所述拍摄装置89之间。所述第二连接件902穿设于所述第一支架81上的限位凸条811，所述第二支架83，及所述第三支架85的限位凸条811，以避让所述第一连接件901。本实施方式中，所述第二连接件902为同轴线，以提高传输高频/高速信号的效率。
进一步地，本实施方式中，请参阅图10所示，用于驱动控制第一驱动件871的第一控制模块875设于所述第一驱动件871上并与所述第一驱动件871电连接，用于驱动控制第二驱动件872的第二控制模块876设于所述第二驱动件872上并与所述第二驱动件872电连接，用于驱动控制所述第三驱动件873的第三控制模块877设于所述第三驱动件873上并与所述第三驱动件873电连接。
可以理解的是，本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (96)

  1. 一种云台，其包括支架组件、功能模组、控制板以及连接结构，所述功能模组设置在所述支架组件上，所述功能模组包括驱动件，所述控制板设置于所述支架组件及所述驱动件外，所述连接结构将所述控制板与所述驱动件电连接，其特征在于：所述连接结构包括对应于所述驱动件的弯曲部，所述弯曲部设置于所述驱动件外部并位于所述支架组件及所述驱动件之间，用于为所述连接结构提供随所述驱动件转动的运动余量。
  2. 如权利要求1所述的云台，其特征在于：所述支架组件包括第一支架及与所述第一支架连接的第二支架，所述驱动件包括第一驱动件，所述第一驱动件连接于所述第一支架及所述第二支架之间，所述第一驱动件用于驱动所述第二支架绕第一轴线转动，所述连接结构电连接于所述第一驱动件及所述控制板之间，所述弯曲部位于所述第一驱动件的外部并邻近第一支架及/或所述第二支架设置。
  3. 如权利要求2所述的云台，其特征在于：所述第一轴线为所述云台的航向轴。
  4. 如权利要求2所述的云台，其特征在于：所述支架组件还包括第三支架，所述功能模组还包括第二驱动件，所述第二驱动件连接于所述第二支架及所述第三支架之间，所述第二驱动件用于驱动所述第三支架绕第二轴线转动，所述连接结构与所述第二驱动件电连接。
  5. 如权利要求4所述的云台，其特征在于：所述第二轴线与所述第一轴线相垂直。
  6. 如权利要求4所述的云台，其特征在于：所述第二轴线为所述云台的横滚轴。
  7. 如权利要求4所述的云台，其特征在于：所述连接结构包括主干、第一分支及第二分支，所述第一分支、所述第二分支由所述主干延伸形成，所述主干远离所述第一分支及所述第二分支的一端与所述控制板电连接，所述第一分支电连接于所述第一驱动件，所述第二分支电连接所述第二驱动件。
  8. 如权利要求7所述的云台，其特征在于：设所述第一分支于所述主干上延伸出去的分支点为第一分支点，设所述第二分支于所述主干上延伸出去的分支点为第二分支点，所述主干自所述第一分支点与所述第二分支点的部分弯曲形成弯曲部，所述弯曲部位于所述第一驱动件与所述第二驱动件之间。
  9. 如权利要求7所述的云台，其特征在于：所述连接结构还包括亦由所述主干延伸形成的第三分支，所述功能模组还包括第三驱动件，所述第三驱动件连接于所述第三支架远离所述第二支架的一端，所述第三分支与所述第三驱动件电连接。
  10. 如权利要求9所述的云台，其特征在于：所述第三分支于所述第一驱动件与所述第二驱动件之间弯曲形成弯曲部。
  11. 如权利要求9所述的云台，其特征在于：所述第三分支部分贴设于所述第三支架的外周。
  12. 如权利要求9所述的云台，其特征在于：所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述第三驱动件用于驱动所述拍摄装置绕第三轴线转动。
  13. 如权利要求12所述的云台，其特征在于：所述第三轴线、所述第二轴线与所述第一轴线相互垂直。
  14. 如权利要求13所述的云台，其特征在于：所述第三轴线为所述云台的俯仰轴。
  15. 如权利要求12所述的云台，其特征在于：所述支架组件由最内侧至外侧的排列顺序为横滚-俯仰-航向，所述最内侧为所述支架组件与所述拍摄装置直接连接的一侧。
  16. 如权利要求4所述的云台，其特征在于：所述连接结构包括第一连接件及第二连接件，所述第一连接件电连接于所述第一驱动件及所述控制板之间，所述第一连接件弯曲形成一弯曲部并位于所述第二支架与所述第二驱动件之间，所述第二连接件弯曲形成另一弯曲部并位于所述第二支架与所述第二驱动件之间，所述第二连接件连接于所述第二驱动件与所述控制板之间，所述第一连接件与所述第二连接件分离设置。
  17. 如权利要求1所述的云台，其特征在于：所述云台包括拍摄装置，所述连接结构包括分离设置的第一连接件及第二连接件，所述第一连接件将所述控制板与所述驱动件电连接，所述拍摄装置与所述支架组件连接，所述第二连接件连接于所述拍摄装置及所述控制板之间。
  18. 如权利要求17所述的云台，其特征在于：所述第一连接件由柔性电路板制成。
  19. 如权利要求17所述的云台，其特征在于：所述第二连接件由同轴线制成。
  20. 如权利要求17所述的云台，其特征在于：所述支架组件包括依次转动连接的第一支架、第二支架，所述驱动件连接于所述第一支架与所述第二支架之间，所述第一支架上形成限位凸条，所述第二连接件穿设于所述限位凸条。
  21. 如权利要求20所述的云台，其特征在于：所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述驱动件连接于所述第一支架与所述连接部之间，所述连接部与所述转动连接部为中空结构，所述连接部与所述转动连接部连通，所述第二连接件穿设于所述连接部与所述转动连接部。
  22. 如权利要求21所述的云台，其特征在于：所述支架组件还包括第三支架，所述第三支架与所述第二支架转动连接，所述第三支架上凸设形成限位凸条，所述第二连接件穿设于所述第三支架的限位凸条。
  23. 如权利要求1所述的云台，其特征在于：所述支架组件包括转动连接的第二支架及第三支架，所述驱动件包括第二驱动件及第三驱动件，所述第二驱动件用于驱动所述第二支架转动，所述第三支架连接于所述第二驱动件及所述第三驱动件之间，所述连接结构包括第二连接件及第三连接件，所述第二连接件电连接于所述第二驱动件与所述控制板之间，所述第三连接件电连接于所述第三驱动件与所述控制板之间，所述连接结构包括第一汇合处与第二汇合处，所述第二连接件与所述第三连接件在所述第一汇合处连接在一起，所述第二连接件与所述第三连接件在所述第二汇合处连接在一起，所述第一汇合处邻近所述控制板设置，所述第二汇合处邻近所述第二支架设置。
  24. 如权利要求23所述的云台，其特征在于：所述第二连接件、所述第三连接件于所述第一汇合处与所述第二汇合处之间对应所述驱动件弯曲形成弯曲部。
  25. 如权利要求23所述的云台，其特征在于：所述第一汇合处至所述第二汇合处的所述第二连接件与所述第三连接件连接交叠于一起。
  26. 如权利要求23所述的云台，其特征在于：所述第二汇合处的第二连接件与所述第三连接件连接于所述第二支架上。
  27. 如权利要求26所述的云台，其特征在于：所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述连接部的外侧壁凸设形成凸台，所述第二汇合处的第二连接件与所述第三连接件连接于所述凸台。
  28. 如权利要求27所述的云台，其特征在于：所述转动连接部上贯通开设有通孔，所述第二连接件自所述第二汇合处延伸并穿设于所述转动连接部上的通孔进而与所述第二驱动件连接。
  29. 如权利要求23所述的云台，其特征在于：所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述连接结构还包括所述第四连接件，所述第四连接件连接于所述拍摄装置与所述控制板的相应控制模块之间。
  30. 如权利要求29所述的云台，其特征在于：所述第四连接件在所述第一汇合处与所述第二连接件、所述第三连接件连接于一起，所述第四连接件在所述第二汇合处与所述第二连接件、所述第三连接件连接于一起。
  31. 如权利要求30所述的云台，其特征在于：所述第三连接件及所述第四连接件于所述第二汇合处至所述第三支架之间弯曲形成弯曲部。
  32. 如权利要求30所述的云台，其特征在于：所述第一汇合处至所述第二汇合处的所述第二连接件、所述第三连接件及所述第四连接件连接交叠于一起。
  33. 如权利要求30所述的云台，其特征在于：所述连接结构还包括第四汇合处，所述第四汇合处邻近所述第三支架及所述第二驱动件设置，所述第三连接件及所述第四连接件在所述第四汇合处连接于一起，所述第三连接件及所述第四连接件自所述第二汇合处延伸至所述第四汇合处。
  34. 如权利要求33所述的云台，其特征在于：所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件连接于一起。
  35. 如权利要求33所述的云台，其特征在于：所述第三支架包括第一装设部及与所述第一装设部连接的第二装设部，所述第一装设部通过所述第二驱动件与所述第二支架相接，所述第三驱动件装设于所述第二装设部上。
  36. 如权利要求35所述的云台，其特征在于：所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件贴合于所述第一装设部的外周壁上。
  37. 如权利要求35所述的云台，其特征在于：所述第二装设部上贯通开设通孔，所述第三连接件自所述第四汇合处延伸并穿设于所述第二装设部上的通孔以与所述第三驱动件连接。
  38. 如权利要求35所述的云台，其特征在于：所述第一装设部邻近所述第二装设部的通孔形成台部，所述第四汇合处邻近所述台部设置。
  39. 如权利要求1所述的云台，其特征在于：所述功能模组包括装设于所述驱动件的拍摄装置，所述驱动件包括本体及盖设部，所述盖设部装设于所述本体上，所述连接结构连接于所述第三驱动件与所述控制板之间，以及所述拍摄装置与所述控制板之间。
  40. 如权利要求39所述的云台，其特征在于：所述盖设部凸设导向部，所述导向部凸伸至所述台部的侧部，所述导向部与所述台部间隔设置并形成间隙，所述连接结构穿设于所述间隙。
  41. 如权利要求39所述的云台，其特征在于：所述拍摄装置包括基体及导持板，所述导持板与所述基体的一侧固定连接，且所述导持板与所述基体间隔设置，以形成能够通过所述连接结构的通道，所述连接结构通过所述通道与所述功能模组连接。
  42. 如权利要求1所述的云台，其特征在于：所述连接结构至少包括两个连接件，每个连接件包括主体部及设于所述主体部的端部的端头。
  43. 如权利要求42所述的云台，其特征在于：所述主体部为同轴线。
  44. 如权利要求42所述的云台，其特征在于：所述主体部为柔性电路板。
  45. 如权利要求42所述的云台，其特征在于：所述端头为柔性电路板连接器。
  46. 如权利要求42所述的云台，其特征在于：所述端头为同轴线连接器。
  47. 如权利要求1所述的云台，其特征在于：所述驱动件的控制模块集成于所述控制板上。
  48. 如权利要求1所述的云台，其特征在于：所述驱动件的控制模块设置于所述驱动件上。
  49. 一种无人机，其包括机体及云台，所述云台装设于所述机体，所述云台包括支架组件、功能模组、控制板以及连接结构，所述支架组件与所述机体相接，所述功能模组设置在所述支架组件上，所述功能模组包括驱动件，所述控制板设置于所述支架组件及所述驱动件外，所述连接结构将所述控制板与所述驱动件电连接，其特征在于：所述连接结构包括对应于所述驱动件的弯曲部，所述弯曲部设置于所述驱动件外部并位于所述支架组件及所述驱动件之间，用于为所述连接结构提供随所述驱动件转动的运动余量。
  50. 如权利要求49所述的无人机，其特征在于：所述支架组件包括第一支架及与所述第一支架连接的第二支架，所述驱动件包括第一驱动件，所述第一驱动件连接于所述第一支架及所述第二支架之间，所述第一驱动件用于驱动所述第二支架绕第一轴线转动，所述连接结构电连接于所述第一驱动件及所述控制板之间，所述弯曲部位于所述第一驱动件的外部并邻近所述第一支架及/或所述第二支架设置。
  51. 如权利要求50所述的无人机，其特征在于：所述第一轴线为所述云台的航向轴。
  52. 如权利要求50所述的无人机，其特征在于：所述支架组件还包括第三支架，所述功能模组还包括第二驱动件，所述第二驱动件连接于所述第二支架及所述第三支架之间，所述第二驱动件用于驱动所述第三支架绕第二轴线转动，所述连接结构与所述第二驱动件电连接。
  53. 如权利要求52所述的无人机，其特征在于：所述第二轴线与所述第一轴线相垂直。
  54. 如权利要求52所述的无人机，其特征在于：所述第二轴线为所述云台的横滚轴。
  55. 如权利要求52所述的无人机，其特征在于：所述连接结构包括主干、第一分支及第二分支，所述第一分支、所述第二分支由所述主干延伸形成，所述主干远离所述第一分支及所述第二分支的一端与所述控制板电连接，所述第一分支电连接于所述第一驱动件，所述第二分支电连接所述第二驱动件。
  56. 如权利要求55所述的无人机，其特征在于：设所述第一分支于所述主干上延伸出去的分支点为第一分支点，设所述第二分支于所述主干上延伸出去的分支点为第二分支点，所述主干自所述第一分支点与所述第二分支点的部分弯曲形成弯曲部，所述弯曲部位于所述第一驱动件与所述第二驱动件之间。
  57. 如权利要求55所述的无人机，其特征在于：所述连接结构还包括亦由所述主干延伸形成的第三分支，所述功能模组还包括第三驱动件，所述第三驱动件连接于所述第三支架远离所述第二支架的一端，所述第三分支与所述第三驱动件电连接。
  58. 如权利要求57所述的无人机，其特征在于：所述第三分支于所述第一驱动件与所述第二驱动件之间弯曲形成弯曲部。
  59. 如权利要求57所述的无人机，其特征在于：所述第三分支部分贴设于所述第三支架的外周。
  60. 如权利要求55所述的无人机，其特征在于：所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述第三驱动件用于驱动所述拍摄装置绕第三轴线转动。
  61. 如权利要求60所述的无人机，其特征在于：所述第三轴线、所述第二轴线与所述第一轴线相互垂直。
  62. 如权利要求61所述的无人机，其特征在于：所述第三轴线为所述云台的俯仰轴。
  63. 如权利要求60所述的无人机，其特征在于：所述支架组件由最内侧至外侧的排列顺序为横滚-俯仰-航向，所述最内侧为所述支架组件与所述拍摄装置直接连接的一侧。
  64. 如权利要求52所述的无人机，其特征在于：所述连接结构包括第一连接件及第二连接件，所述第一连接件电连接于所述第一驱动件及所述控制板之间，所述第一连接件弯曲形成一弯曲部并位于所述第二支架与所述第二驱动件之间，所述第二连接件弯曲形成另一弯曲部并位于所述第二支架与所述第二驱动件之间，所述第二连接件连接于所述第二驱动件与所述控制板之间，所述第一连接件与所述第二连接件分离设置。
  65. 如权利要求49所述的无人机，其特征在于：所述云台包括拍摄装置，所述连接结构包括分离设置的第一连接件及第二连接件，所述第一连接件将所述控制板与所述驱动件电连接，所述拍摄装置与所述支架组件连接，所述第二连接件连接于所述拍摄装置及所述控制板之间。
  66. 如权利要求65所述的无人机，其特征在于：所述第一连接件由柔性电路板制成。
  67. 如权利要求65所述的无人机，其特征在于：所述第二连接件由同轴线制成。
  68. 如权利要求65所述的无人机，其特征在于：所述支架组件包括依次转动连接的第一支架、第二支架，所述驱动件连接于所述第一支架与所述第二支架之间，所述第一支架上形成限位凸条，所述第二连接件穿设于所述限位凸条。
  69. 如权利要求68所述的无人机，其特征在于：所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述驱动件连接于所述第一支架与所述连接部之间，所述连接部与所述转动连接部为中空结构，所述连接部与所述转动连接部连通，所述第二连接件穿设于所述连接部与所述转动连接部。
  70. 如权利要求69所述的无人机，其特征在于：所述支架组件还包括第三支架，所述第三支架与所述第二支架转动连接，所述第三支架上凸设形成限位凸条，所述第二连接件穿设于所述第三支架的限位凸条。
  71. 如权利要求49所述的无人机，其特征在于：所述支架组件包括转动连接的第二支架及第三支架，所述驱动件包括第二驱动件及第三驱动件，所述第二驱动件用于驱动所述第二支架转动，所述第三支架连接于所述第二驱动件及所述第三驱动件之间，所述连接结构包括第二连接件及第三连接件，所述第二连接件电连接于所述第二驱动件与所述控制板之间，所述第三连接件电连接于所述第三驱动件与所述控制板之间，所述连接结构包括第一汇合处与第二汇合处，所述第二连接件与所述第三连接件在所述第一汇合处连接在一起，所述第二连接件与所述第三连接件在所述第二汇合处连接在一起，所述第一汇合处邻近所述控制板设置，所述第二汇合处邻近所述第二支架设置。
  72. 如权利要求71所述的无人机，其特征在于：所述第二连接件、所述第三连接件于所述第一汇合处与所述第二汇合处之间对应所述驱动件弯曲形成弯曲部。
  73. 如权利要求71所述的无人机，其特征在于：所述第一汇合处至所述第二汇合处的所述第二连接件与所述第三连接件连接交叠于一起。
  74. 如权利要求71所述的无人机，其特征在于：所述第二汇合处的第二连接件与所述第三连接件连接于所述第二支架上。
  75. 如权利要求74所述的无人机，其特征在于：所述第二支架包括连接部及由所述连接部弯折延伸形成的转动连接部，所述连接部的外侧壁凸设形成凸台，所述第二汇合处的第二连接件与所述第三连接件连接于所述凸台。
  76. 如权利要求75所述的无人机，其特征在于：所述转动连接部上贯通开设有通孔，所述第二连接件自所述第二汇合处延伸并穿设于所述转动连接部上的通孔进而与所述第二驱动件连接。
  77. 如权利要求71所述的无人机，其特征在于：所述功能模组还包括拍摄装置，所述拍摄装置装设于所述第三驱动件上，所述连接结构还包括所述第四连接件，所述第四连接件连接于所述拍摄装置与所述控制板的相应控制模块之间。
  78. 如权利要求77所述的无人机，其特征在于：所述第四连接件在所述第一汇合处与所述第二连接件、所述第三连接件连接于一起，所述第四连接件在所述第二汇合处与所述第二连接件、所述第三连接件连接于一起。
  79. 如权利要求78所述的无人机，其特征在于：所述第三连接件及所述第四连接件于所述第二汇合处至所述第三支架之间弯曲形成弯曲部。
  80. 如权利要求78所述的无人机，其特征在于：所述第一汇合处至所述第二汇合处的所述第二连接件、所述第三连接件及所述第四连接件连接交叠于一起。
  81. 如权利要求78所述的无人机，其特征在于：所述连接结构还包括第四汇合处，所述第四汇合处邻近所述第三支架及所述第二驱动件设置，所述第三连接件及所述第四连接件在所述第四汇合处连接于一起，所述第三连接件及所述第四连接件自所述第二汇合处延伸至所述第四汇合处。
  82. 如权利要求81所述的无人机，其特征在于：所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件连接于一起。
  83. 如权利要求81所述的无人机，其特征在于：所述第三支架包括第一装设部及与所述第一装设部连接的第二装设部，所述第一装设部通过所述第二驱动件与所述第二支架相接，所述第三驱动件装设于所述第二装设部上。
  84. 如权利要求83所述的无人机，其特征在于：所述第二汇合处至所述第四汇合处的第三连接件及所述第四连接件贴合于所述第一装设部的外周壁上。
  85. 如权利要求83所述的无人机，其特征在于：所述第二装设部上贯通开设通孔，所述第三连接件自所述第四汇合处延伸并穿设于所述第二装设部上的通孔以与所述第三驱动件连接。
  86. 如权利要求83所述的无人机，其特征在于：所述第一装设部邻近所述第二装设部的通孔形成台部，所述第四汇合处邻近所述台部设置。
  87. 如权利要求49所述的无人机，其特征在于：所述功能模组包括装设于所述驱动件的拍摄装置，所述驱动件包括本体及盖设部，所述盖设部装设于所述本体上，所述连接结构连接于所述第三驱动件与所述控制板之间，以及所述拍摄装置与所述控制板之间。
  88. 如权利要求87所述的无人机，其特征在于：所述盖设部凸设导向部，所述导向部凸伸至所述台部的侧部，所述导向部与所述台部间隔设置并形成间隙，所述连接结构穿设于所述间隙。
  89. 如权利要求87所述的无人机，其特征在于：所述拍摄装置包括基体及导持板，所述导持板与所述基体的一侧固定连接，且所述导持板与所述基体间隔设置，以形成能够通过所述连接结构的通道，所述连接结构通过所述通道与所述功能模组连接。
  90. 如权利要求49所述的无人机，其特征在于：所述连接结构至少包括两个连接件，每个连接件包括主体部及设于所述主体部的端部的端头。
  91. 如权利要求90所述的无人机，其特征在于：所述主体部为同轴线。
  92. 如权利要求90所述的无人机，其特征在于：所述主体部为柔性电路板。
  93. 如权利要求90所述的无人机，其特征在于：所述端头为柔性电路板连接器。
  94. 如权利要求90所述的无人机，其特征在于：所述端头为同轴线连接器。
  95. 如权利要求49所述的无人机，其特征在于：所述驱动件的控制模块集成于所述控制板上。
  96. 如权利要求49所述的无人机，其特征在于：所述驱动件的控制模块设置于所述驱动件上。
PCT/CN2016/092426 2016-07-29 2016-07-29 云台及具该云台的无人机 Ceased WO2018018634A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202110041479.3A CN112623246A (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机
PCT/CN2016/092426 WO2018018634A1 (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机
CN201680012470.7A CN107624099B (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/092426 WO2018018634A1 (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机

Publications (1)

Publication Number Publication Date
WO2018018634A1 true WO2018018634A1 (zh) 2018-02-01

Family

ID=61015882

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/092426 Ceased WO2018018634A1 (zh) 2016-07-29 2016-07-29 云台及具该云台的无人机

Country Status (2)

Country Link
CN (2) CN112623246A (zh)
WO (1) WO2018018634A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109164833B (zh) * 2018-08-14 2023-03-24 北京和光飞翼机电科技有限公司 一种可进行自动调整的角度控制系统及其控制方法
CN208951620U (zh) * 2018-08-21 2019-06-07 深圳市大疆创新科技有限公司 云台减震结构、云台系统及无人飞行器

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203793655U (zh) * 2014-01-10 2014-08-27 广州极飞电子科技有限公司 无人机飞行器两轴无刷防抖增稳云台
CN204250379U (zh) * 2014-09-24 2015-04-08 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
KR101564380B1 (ko) * 2015-05-22 2015-10-29 엘아이지넥스원 주식회사 무인비행체
CN204879319U (zh) * 2015-08-03 2015-12-16 武汉智能鸟无人机有限公司 一种三轴式云台
CN105438492A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 一体式云台相机和无人机
US20160119546A1 (en) * 2013-10-08 2016-04-28 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN105539872A (zh) * 2016-01-29 2016-05-04 北京小米移动软件有限公司 无人飞行器云台及其承载支架
CN205396568U (zh) * 2016-03-03 2016-07-27 零度智控（北京）智能科技有限公司 一种云台

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007095950A1 (en) * 2006-02-21 2007-08-30 Stobbe Tech Holding A/S Remote controlled pan-tilt-angle device for supporting and exact positioning of optical equipment
CN203434577U (zh) * 2013-07-18 2014-02-12 扬州润沃科技有限公司 一种回转机构的内绕线装置
CN104781600B (zh) * 2014-04-04 2017-01-18 深圳市大疆创新科技有限公司 云台驱动装置及采用该驱动装置的云台组装体
CN204425121U (zh) * 2015-01-04 2015-06-24 广州虹天航空科技有限公司 电机模组及云台设备
CN204647758U (zh) * 2015-05-15 2015-09-16 深圳市大疆创新科技有限公司 云台
CN105270646B (zh) * 2015-11-16 2018-05-01 湖南云顶智能科技有限公司 用于无人机的云台装置
CN205320423U (zh) * 2016-01-26 2016-06-15 深圳市道通智能航空技术有限公司 一种云台走线结构及其云台

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160119546A1 (en) * 2013-10-08 2016-04-28 SZ DJI Technology Co., Ltd Apparatus and methods for stabilization and vibration reduction
CN203793655U (zh) * 2014-01-10 2014-08-27 广州极飞电子科技有限公司 无人机飞行器两轴无刷防抖增稳云台
CN204250379U (zh) * 2014-09-24 2015-04-08 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
KR101564380B1 (ko) * 2015-05-22 2015-10-29 엘아이지넥스원 주식회사 무인비행체
CN204879319U (zh) * 2015-08-03 2015-12-16 武汉智能鸟无人机有限公司 一种三轴式云台
CN105438492A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 一体式云台相机和无人机
CN105539872A (zh) * 2016-01-29 2016-05-04 北京小米移动软件有限公司 无人飞行器云台及其承载支架
CN205396568U (zh) * 2016-03-03 2016-07-27 零度智控（北京）智能科技有限公司 一种云台

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248940A (zh) * 2020-09-22 2022-03-29 苏州臻迪智能科技有限公司 云台减震机构及智能飞行器

Also Published As

Publication number Publication date
CN107624099A (zh) 2018-01-23
CN112623246A (zh) 2021-04-09
CN107624099B (zh) 2021-02-05

Similar Documents

Publication Publication Date Title
WO2017041466A1 (zh) 拍摄设备及无人机
WO2017143643A1 (zh) 无人飞行器的机架、无人飞行器及其使用方法
WO2017147764A1 (zh) 电源组件、无人飞行器及遥控移动装置
WO2017128050A1 (zh) 无人飞行器及多目成像系统
WO2017132813A1 (zh) 竖向增稳机构、云台装置及拍摄设备
WO2016045009A1 (zh) 云台及其使用的成像装置、以及无人机
WO2018018634A1 (zh) 云台及具该云台的无人机
WO2016106711A1 (zh) 电机、动力装置及使用该动力装置的飞行器
EP2763896A1 (en) A multi-rotor unmanned aerial vehicle
WO2013033924A1 (zh) 无人机用两轴云台、无人机用三轴云台以及多旋翼飞行器
WO2017035840A1 (zh) 云台、成像装置及无人飞行器
WO2017107128A1 (zh) 快拆结构、多旋翼无人飞行器、组件及旋翼组件
WO2017078254A1 (ko) 3축 조정 소형 짐벌
WO2016192018A1 (en) Uav having barometric sensor and method of isolating disposing barometric sensor within uav
WO2017155348A1 (ko) 수직 이착륙 비행체
WO2017177406A1 (zh) 桨夹、折叠桨、动力套装及无人机
WO2017031748A1 (zh) 云台、手柄云台、锁定结构及控制方法
WO2017219349A1 (zh) 云台组件及手持云台
WO2021137618A1 (en) Electronic device including magnetic structure
WO2017031697A1 (zh) 模式控制系统及方法，及使用其的手持云台、可移动平台
WO2017152406A1 (zh) 电连接组件、云台及无人机
WO2016183833A1 (zh) 主机结构总成及使用该主机结构总成的遥控移动装置
WO2017099389A1 (ko) 소형 카메라 짐벌 및 이를 구비한 전자 장치
WO2017128317A1 (zh) 无人飞行器及无人飞行器航拍方法
WO2018000274A1 (zh) 信号传输件、云台以及可移动装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16910214

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16910214

Country of ref document: EP

Kind code of ref document: A1