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WO2019173990A1 - 安装机构、起落架、机架以及无人机 - Google Patents

安装机构、起落架、机架以及无人机 Download PDF

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Publication number
WO2019173990A1
WO2019173990A1 PCT/CN2018/079054 CN2018079054W WO2019173990A1 WO 2019173990 A1 WO2019173990 A1 WO 2019173990A1 CN 2018079054 W CN2018079054 W CN 2018079054W WO 2019173990 A1 WO2019173990 A1 WO 2019173990A1
Authority
WO
WIPO (PCT)
Prior art keywords
bearing
mounting mechanism
support member
rotating portion
support
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/CN2018/079054
Other languages
English (en)
French (fr)
Inventor
刘彦辰
李玉
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 Technology Co Ltd
Original Assignee
SZ DJI 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 Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/079054 priority Critical patent/WO2019173990A1/zh
Priority to CN201880032271.1A priority patent/CN110621581A/zh
Publication of WO2019173990A1 publication Critical patent/WO2019173990A1/zh
Priority to US17/020,102 priority patent/US20210163130A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/06—Undercarriages fixed
    • 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
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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 a mounting mechanism, a landing gear, a frame and a drone, and belongs to the technical field of drones.
  • the tripod plays an extremely important mission in the safe take-off and landing process of the UAV, and is one of the important components of the UAV.
  • the drone manufacturing industry has developed rapidly and has been widely used in aerial photography, plant protection, surveying and mapping.
  • the existing drones In order to prevent the drone from colliding with the ground fixtures (such as trees, houses, etc.) during the flight, the existing drones generally set the tripods to be retractable.
  • this type of retractable tripod sometimes enters the shooting picture during the rotation of the gimbal.
  • some manufacturers have fixed the tripod on the gimbal, so that when the gimbal rotates, Synchronously rotate the stand to prevent the stand from entering the shooting picture.
  • such a tripod fixedly connected to the gimbal will affect the stability of the gimbal, resulting in a decline in shooting quality.
  • embodiments of the present invention provide a mounting mechanism, a landing gear, a rack, and a drone.
  • a mounting mechanism for mounting a tripod of a drone, the tripod being disposed below a center frame of the drone, and further disposed below the center frame
  • the mounting mechanism includes: a rotating portion and a driving portion; the rotating portion is for rotatably connecting with the center frame, and is for connecting with the stand; the driving portion is for The rotating portion is driven to rotate as the carrier rotates.
  • a landing gear for a drone comprising: a tripod and a mounting mechanism; the tripod being disposed below a center frame of the drone and below the center frame
  • a carrier for carrying a payload is further provided, the mounting mechanism comprising: a rotating portion and a driving portion; the rotating portion is configured to be rotatably connected to the center frame and connected to the stand; the driving portion is used for The rotating portion is driven to rotate as the carrier rotates.
  • a rack of a drone includes: a center frame, a tripod, and a mounting mechanism; the stand is disposed below the center frame, and the bottom of the center frame is further Provided with a carrier for carrying a payload; the mounting mechanism includes: a rotating portion and a driving portion; the rotating portion is for rotational connection with the center frame, and is connected to the stand; the driving portion is used for The rotating portion rotates when the carrier rotates.
  • a drone including: a center frame, a tripod, a mounting mechanism, and a pan/tilt; the stand and the pan/tilt are disposed under the center frame, and the pan/tilt head
  • the mounting mechanism includes: a rotating portion and a driving portion; the rotating portion is configured to be rotatably coupled to the center frame and coupled to the stand; the driving portion is used in the cloud The rotating portion is driven to rotate when the table rotates.
  • the stability of the pan-tilt can be improved by rotating the rotating portion that is rotatably connected to the center frame and fixed for the stand, and driven by the driving portion to rotate when the carrier rotates.
  • the rotation of the rotating part can also avoid the interference between the tripod and the payload carried on the carrier, and ensure the working quality of the payload.
  • FIG. 1 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic view of a mounting mechanism according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a mounting mechanism according to an embodiment of the present invention.
  • FIG. 4 is an exploded view of a driving part according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another mounting mechanism according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of still another mounting mechanism according to the embodiment, wherein the tripod has been mounted to the mounting mechanism;
  • Figure 7 is a schematic view showing the structure of the mounting mechanism of Figure 6 from another perspective;
  • Figure 8 is an exploded view of Figure 6, and the lower half of the stand has been cut;
  • Fig. 9 is an enlarged view of the support portion and the rotating portion of Fig. 8.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; may be directly connected, or may be indirectly connected through an intermediate medium, may be the internal communication of two elements or the interaction of two elements, unless explicitly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • FIG. 1 is a schematic structural diagram of a drone provided by the embodiment.
  • the drone 1 includes a center frame 10 which is a main body portion of the drone 1.
  • the center frame 10 generally includes a flight control system of the drone 1 to control the flight state of the drone 1, such as controlling the drone 1 to ascend, land, steer, and hover.
  • the flight control system can be a microprocessor, a microcontroller or an integrated circuit or the like.
  • the center frame 10 includes a top surface, a bottom surface, and a side surface between the top surface and the bottom surface. The top surface, the bottom surface, and the side surface are combined in a space for mounting the above flight control system and a battery for powering the drone 1.
  • a mounting cavity for mounting a battery may be recessed from the bottom surface of the center frame 10, and a battery cover may be detachably disposed at the opening of the mounting cavity.
  • a plurality of arms are generally evenly disposed around the center frame 10, and the arms can be symmetrical about the horizontal or vertical axis of the center frame 10.
  • FIG. 1 shows that four arms are symmetrically disposed about the horizontal axis and the longitudinal axis around the center frame 10.
  • the arms can be fixedly coupled to the center frame 10, or can be rotatably connected to the center frame 10, or
  • the arm can be designed to be foldable relative to the center frame 10 to reduce the space occupied by the drone 1 when in the stowed condition.
  • an end of the arm near the center frame 10 may be inserted from the side of the center frame 10 between the top surface and the bottom surface of the center frame 10 to increase the connection strength between the arm and the center frame 10.
  • the arm can be made into any suitable shape using any material in the prior art, for example, a metal (for example, iron or aluminum) or a non-metal (for example, a polymer plastic) can be used to form a rod-like structure.
  • a metal for example, iron or aluminum
  • a non-metal for example, a polymer plastic
  • the arm can be made into a hollow rod-like structure using a carbon fiber material, or can be made into a plate-like structure with a light-reducing hole (see Fig. 1). ).
  • One or more power assemblies 30 may be mounted at one end of the arm away from the center frame 10 to provide power to the UAV 1 for ascending, advancing, hovering, and rotating.
  • the power assembly 30 can include a propeller, a drive motor that drives the propeller to rotate, and an ESC that controls the operating parameters of the drive motor. It should be understood that when a plurality of power components 30 are disposed on the same arm of the drone 1, the power components 30 may be disposed on the arm at intervals along the extending direction of the arm, or may be as shown in FIG.
  • the two power assemblies 30 are arranged symmetrically on the ends of the arms.
  • a carrier for carrying a payload is mounted below the center frame 10 so that the drone 1 can implement certain auxiliary functions by the payload carried.
  • the carrier can be secured to the bottom surface of the center frame 10 either directly or through an adapter.
  • the carrier may be a platform 90 that allows the payload to rotate about one or more axes of rotation 712 to provide stability to the payload or to control the state of the payload to rotate and translate the payload. Wait.
  • the pan/tilt head 90 of the present embodiment includes, but is not limited to, a single-axis pan/tilt head, a two-axis pan/tilt head, a three-axis pan/tilt head, and the like.
  • the carrier may also be other structures for carrying objects, such as a gondola or a mechanical claw.
  • the payload may refer to any portion of the load or object supported by the platform 90.
  • the payload can be configured to perform no operations or functions.
  • the payload may be configured to perform a corresponding operation or function, also referred to as a functional payload.
  • the payload can include one or more sensors for surveying one or more targets.
  • the sensor collects information about the environment around the sensor. Any suitable sensor can be incorporated into the payload, such as imaging device 2 (eg, a visual imaging device including an image capture device and camera, an infrared imaging device, an ultraviolet imaging device, a thermal imaging device, etc.), an audio capture device (eg, , parabolic microphone), radio frequency (rf) sensor, magnetic sensor, ultrasonic sensor, etc.
  • imaging device 2 eg, a visual imaging device including an image capture device and camera, an infrared imaging device, an ultraviolet imaging device, a thermal imaging device, etc.
  • an audio capture device eg, , parabolic microphone
  • radio frequency (rf) sensor
  • the payload may comprise a single type of sensor, emitter and/or tool, may also comprise multiple types of sensors, emitters and/or tools, and may also include any number of sensors, emitters and or tools and combinations thereof , for example, a sensor array.
  • the carrier is a three-axis pan/tilt and the payload is the imaging device 2
  • the three-axis pan/tilt means that it can be respectively wound around a first axis (for example, a yaw axis (yaw axis)), a second axis (for example, a roll axis (roll axis)), and a third axis (for example, a pitch axis (pitch axis)).
  • a first axis for example, a yaw axis (yaw axis)
  • a second axis for example, a roll axis (roll axis)
  • a third axis for example, a pitch axis (pitch axis)
  • a plurality of tripods 50 are further disposed under the center frame 10 so as to be supported on the ground or other ground fixed crops when the drone 1 is under force, thereby avoiding the main structure of the center frame 10 of the drone 1 and the ground or the ground. Set the crop contact to protect the drone 1 .
  • the tripod 50 is made of a carbon fiber material to form a hollow rod-like structure, so as to reduce the weight of the drone 1 and improve the dynamic performance of the drone 1; of course, this embodiment does not exclude other lightweight materials. High strength or other materials to make the stand 50.
  • the carbon fiber material is used in the prior art to manufacture the foot frame 50, when the stand 50 is fixed to the platform 90, the imaging range of the imaging device 2 mounted on the platform 50 is prevented from entering the platform 50 (hereinafter referred to as the screen).
  • the screen the imaging range of the imaging device 2 mounted on the platform 50
  • some manufacturers fix the stand 50 on the platform 90 so that the stand 50 can also rotate synchronously when the pan head 90 rotates to ensure that the stand 50 does not appear in the screen of the image forming apparatus 2.
  • the pan/tilt head 90 of the drone 1 needs to simultaneously rotate the stand 50 while driving the imaging device 2 mounted thereon, although the quality of the stand 50 has been reduced by selecting materials.
  • the tripod 50 still affects the modality of the pan-tilt 90 itself, resulting in a decrease in the stability of the pan-tilt 90, which in turn affects the imaging quality of the imaging device 2, for example, sometimes the image of the imaging device 2 becomes blurred, and The stability of the gimbal 90 itself is lowered, which also causes a safety hazard of the imaging device 2 mounted thereon.
  • a mounting mechanism 70 for mounting the above-described stand 50 is provided below the center frame 10.
  • a part of the mounting mechanism 70 (hereinafter referred to as a rotating portion 71) is rotatably coupled to the center frame 10, that is, the rotating portion 71 is rotatable relative to the center frame 10, and the stand 50 is fixed to the rotating portion 71, thereby enabling The rotating portion 71 is rotated relative to the center frame 10 to adjust the position of each of the legs 50 with respect to the center frame 10, and then the frame 50 can be prevented from appearing on the image forming device 2 when the pan/tilt head 90 rotates the imaging device 2.
  • the pan/tilt head 90 does not need to rotate the tripod 50 when rotating, thereby improving the stability of the pan/tilt head 90, so that the imaging device 2 is The image quality is better.
  • the rotating portion 71 of the mounting mechanism 70 and the pan/tilt head 90 are both communicatively coupled to the flight control system, and the flight control system can issue control signals to the mounting mechanism 70 and the pan/tilt head 90 to control the yaw of the rotating portion 71 and the pan/tilt head 90.
  • the axis rotates.
  • the yaw axes of the control rotating portion 71 and the pan/tilt head 90 are synchronously rotated, that is, the rotation directions and the rotation speeds of the yaw axes of the rotating portion 71 and the pan/tilt head 90 are the same, so that the tripod when the pan/tilt head 90 rotates It is also possible to rotate in synchronization to prevent the stand 50 from entering the screen of the image forming apparatus 2 mounted on the platform 90.
  • the flight control system can also control the rotation axes of the rotating portion 71 and the pan/tilt 90 to rotate at different angles, and only the tripod 50 does not have to enter the screen of the imaging device 2 during the rotation of the pan/tilt head 90.
  • the yaw axes of the rotating portion 71 and the pan/tilt head 90 are controlled to rotate synchronously or respectively by different angles by the flight control system.
  • the frame 50 does not interfere with other payloads, such as sensing areas of the RF sensor.
  • the rotation control system controls the rotation of the rotating portion 71 and the pan/tilt head 90 in the above, in other embodiments, the rotating portion 71 and the cloud may be controlled by a remote controller or a ground station wirelessly connected to the drone 1 The rotation of the table 90.
  • the control of the rotating portion 71 and the pan/tilt head 90 by the remote controller may be directly controlled, or may be controlled indirectly through the flight control system.
  • FIG. 2 is a schematic view of the mounting mechanism provided by the embodiment.
  • the mounting mechanism 70 further includes a driving portion 73 for driving the rotating portion 71 to rotate when the pan/tilt head 90 rotates. It can be understood that the driving portion 73 can be used only for driving the rotation portion 71 to rotate, or can be used to simultaneously drive the rotation portion 71 and the pan head 90 to rotate.
  • the rotating portion 71 is also optionally provided with a supporting portion 75 fixedly coupled to the center frame 10.
  • the support portion 75 and the bottom surface of the center frame 10 may be fixed by bolts, screws, rivets, or the like, and the rotating portion 71 is coupled to the support portion 75 and rotatable relative to the support portion 75.
  • mounting mechanisms 70 are described below, but those skilled in the art will appreciate that these mounting mechanisms 70 are exemplary and are not intended to be particularly limiting, if one skilled in the art would have one or more of the following mounting mechanisms 70 Replacement or combination of components, or replacement or combination of one or more technical features are considered to be within the scope of the present invention.
  • FIG. 3 is a schematic structural view of a mounting mechanism according to an embodiment of the present invention
  • FIG. 4 is an exploded view of a driving portion 73 according to the embodiment.
  • the rotating portion 71 includes a rotating shaft 712 and a driven member that is drivingly coupled to the driving portion 73
  • the driven member includes, but is not limited to, a driven wheel or a driven gear 711.
  • the bottom end of the rotating shaft 712 is fixed to the follower, and the top end thereof is rotatably connected to the supporting portion 75.
  • the driving portion 73 may include a motor 731 and a transmission member that is drivingly coupled to the driven member through the transmission member, so that the motor 731 can drive the follower to rotate to adjust the position of the stand 50 fixed to the rotating shaft 712.
  • the transmission component can include a first transmission member mounted on the output shaft of the motor 731, and a second transmission member for drivingly coupling the first transmission member and the driven member.
  • the first transmission member may be a transmission wheel or a transmission gear 732
  • the second transmission member may be a transmission belt 733, a transmission chain or a transmission gear
  • the driven member may be a driven wheel or a driven gear 711.
  • the first transmission member is the transmission gear 732
  • the second transmission member is the transmission belt 733
  • the driven member is the driven gear 711.
  • the transmission gear 732 is mounted on the output shaft 731a of the motor 731, and the driven gear 711 and the rotating shaft 712 are The bottom end is fixed, and the transmission belt 733 is sleeved on the outer side of the transmission gear 732 and the driven gear 711 to transmit the torque of the motor 731 to the rotating shaft 712. It can be understood that the inner surface of the belt 733 can be provided with teeth matching the transmission gear 732 and the driven gear 711 to prevent the belt 733 from slipping and improve the stability of the transmission.
  • the motor 731 may be directly fixed to the center frame 10, or the driving portion 73 further includes a support base (refer to FIG. 4) fixedly coupled to the center frame 10, and the motor 731 is mounted on the support base.
  • the support base can include a motor mount 734 and a bearing support 735.
  • the motor 731 support base is fixedly connected to the center frame 10 (for example, the motor 731 support base is fixed to the side of the center frame 10), the motor 731 is mounted on the motor mount 734, and the bearing support base 735 is mounted on the motor 731 support base.
  • a second bearing 736 is mounted on the bearing support 735, and the output shaft 731a of the motor 731 is fixed to the transmission member through the second bearing 736 (for example, fixed to the transmission gear 732 described above). Based on the above, by providing the bearing support 735 and the second bearing 736, the rigidity of the transmission gear 732 can be improved, the deformation of the transmission gear 732 can be reduced, and the transmission belt 733 can be prevented from slipping during the transmission, thereby improving the reliability of the belt transmission.
  • the driving portion 73 further includes a motor protection cover 737 which is disposed outside the motor 731.
  • An LED module 738 for indicating a flight control state and/or a state of charge of the drone is optionally disposed on the motor protection cover 737, and can be alarmed when an abnormality occurs in the flight control state and/or the state of charge of the drone .
  • the LED module 738 of the driving portion 73 is in operation, the LED module 738 disposed on the motor protection cover 737 can display the flight control state of the drone to the user by lighting, changing color, or blinking.
  • the state of charge of course, if the flight control state and/or the state of charge of the drone is wrong, the color of the LED module 738 or the duration of the flashing may be used to alert the user.
  • the driving part 73 can be disposed at the rear of the drone to facilitate the user to observe the LED module 738.
  • the LED module 738 can be provided with an interface, which can be used to control the connection control line of the flight control parameters of the drone. .
  • the support portion 75 may be directly fixed to the bottom surface of the center frame 10 or integrally formed with the bottom surface of the center frame 10 by integral molding.
  • the support portion 75 may be a support block 751 or other structure described below, such as the first bearing 753.
  • the support block 751 as an example, it may be formed with a mating structure with the top end of the rotating shaft 712 so that the rotating shaft 712 can rotate relative to the supporting block 751.
  • the above-described mating structure is a threaded connection structure as shown in FIG. 3, that is, the top end of the rotating shaft 712 is screwed to the support block 751.
  • a mounting hole is formed in the supporting block 751, and an inner thread is formed on the inner wall of the mounting hole, and an external thread matching the inner thread is formed at the top end of the rotating shaft 712, so that the driving belt 733 drives the driven gear 711.
  • the tip end of the rotating shaft 712 fixedly coupled to the driven gear 711 can also be rotated in the mounting hole by the above-described screw fitting structure.
  • the mating structure may include one or more teeth formed on the top end of the rotating shaft 712, and one or more teeth formed on the supporting block 751 that mesh with one or more teeth formed at the tip end of the rotating shaft 712.
  • an upper gear can be mounted on the top end of the rotating shaft 712, and a mounting hole is formed in the supporting block 751, and a tooth having a closed loop shape and engaging with the upper gear of the top end of the rotating shaft 712 is formed on the inner wall of the mounting hole. Multiple teeth.
  • FIG. 5 is a schematic structural diagram of another mounting mechanism according to the embodiment.
  • the support portion 75 is a first bearing 753 fixed to the bottom surface of the center frame 10, and at least a portion of the rotating portion 71 is mounted in the first bearing 753, so that the rotating portion 71 can surround the The axis of the first bearing 753 is rotated to rotate the stand 50 fixedly coupled to the rotating portion 71, thereby preventing the stand 50 from entering the screen of the image forming apparatus 2.
  • the first bearing 753 may be a ball bearing fixed on the bottom surface of the center frame 10, and the rotating portion 71 includes a club and a follower, and the ball end of the club is received in the ball socket of the ball bearing.
  • the club can be rotated relative to the ball bearing, the other end of the club fixing the follower, and the club is also used to secure the stand 50.
  • the follower fixed to the other end of the club may be the driven wheel or the driven gear 711, so that when the driving portion 73 drives the follower to rotate, for example, the belt 733 acts as a follower of the driven member.
  • the ball head of the club fixed with the follower can be rotated in the ball and socket of the ball bearing, and the tripod 50 fixed on the club is also rotated by the club to avoid entering the pan/tilt.
  • the other end of the rotating portion 71 may be provided with a driving connection with the driving portion 73 by other means without providing a follower.
  • the driving unit 73 can use the driving unit 73 in the above embodiment, and details are not described herein. For details, refer to the content of the above embodiment.
  • the first bearing 753 can be a plain bearing or a rolling bearing that is secured to the underside of the center frame 10.
  • the sliding bearing or the rolling bearing may use a sliding bearing or a rolling bearing commonly used in the prior art, such as a ball bearing or a roller bearing.
  • the present embodiment also does not exclude the use of other structures having the same principle as the sliding bearing or the rolling bearing as the bearing of the present embodiment, for example, a structurally improved rolling bearing which will be described later.
  • the sliding bearing or the rolling bearing may be fixed to the bottom surface of the center frame 10 through the bearing housing, or a mounting hole may be formed in the bottom surface of the center frame 10, and then a sliding bearing or a rolling bearing may be installed in the mounting hole.
  • the rotating portion 71 may include a rotating shaft 712 whose top end is mounted in a sliding bearing or a rolling bearing, and a follower fixed to the bottom end of the rotating shaft 712 and drivingly connected to the driving portion 73, and the driven member may be The moving wheel or the driven gear 711.
  • the present embodiment also does not exclude the use of other structures having the same functions as the rotating shaft 712 and the follower as the rotating portion 71 of the present embodiment, for example, an improved rotating portion 71 which will be described later.
  • the driving unit 73 of the present embodiment can use the structure of the driving unit 73 in the above embodiment, and details are not described herein again. For details, refer to the content of the above embodiment.
  • the flight control system control drive unit 73 drives the rotation of the rotary unit 71 as an example, and briefly describes the operation of the mounting mechanism 70 to rotate the stand 50.
  • the driving portion 73 includes a motor 731, a transmission gear 732, and a transmission belt 733.
  • the rotating portion 71 includes a driven gear 711 and a rotating shaft 712.
  • the supporting portion 75 is a rolling bearing:
  • the flight control system sends a control signal to the motor 731 of the driving unit 73 according to information such as the rotational speed and the rotational direction of the yaw axis of the pan-tilt 90, and the motor 731 rotates according to the control signal, thereby driving the transmission gear 732 to rotate, and then is set in the
  • the transmission gear 732 and the transmission belt 733 fixed outside the driven gear 711 fixed at the bottom end of the rotating shaft 712 transmit the torque of the transmission gear 732 to the driven gear 711, so that the driven gear 711 drives the rotating shaft 712 fixed on the driven gear 711 at
  • the inside of the rolling bearing rotates to drive the stand 50 fixedly coupled to the rotating shaft 712 to rotate so that the stand 50 is located outside the screen of the image forming apparatus 2 mounted on the platform 90.
  • any of the rotating shafts 712 mentioned above may be designed as a hollow shaft, so that the adapter that connects the pan/tilt head 90 can be fixed to the bottom surface of the center frame 10 through the hollow shaft.
  • the rotating shaft 712 as a hollow shaft to pass the adapter of the platform 90 through the hollow shaft, on the one hand, the connecting member 60 of the pan/tilt head 90 can be protected, and on the other hand, the wind resistance in the flight of the drone 1 can be reduced. Moreover, from the visual point of view, the number of exposed parts is reduced, which further enhances the visual aesthetics.
  • the rotating portion 71 as a hollow structure in the axial direction, the adapter for connecting the carrier passes through the hollow structure, thereby not only protecting the adapter but also reducing the wind resistance and making The appearance of the drone 1 is more beautiful.
  • FIG. 6 is a schematic structural view of a mounting mechanism provided in the embodiment, wherein the tripod 50 has been mounted to the mounting mechanism;
  • FIG. 7 is a structural schematic view of the mounting mechanism of FIG. 6 at another viewing angle;
  • FIG. The exploded view of Figure 6 and the lower half of the stand has been truncated.
  • the mounting mechanism 70 includes a driving portion 73, a supporting portion 75, a rotating portion 71, a dust cover 77, and a dust jacket 79.
  • the structure of the driving unit 73 is the same as that of the foregoing embodiment. For details, refer to the description above, and details are not described herein again.
  • the support portion 75 includes an upper support member 7551a, a lower support member 7551b, an upper slide rail 7553a and a lower rail 7553b, and a ball 7552.
  • the rotating portion 71 includes an upper end cover 713a, a driven gear 711, and a lower end cover 713b.
  • the upper support member 7551a is disposed at the uppermost end for fixed connection with the bottom surface of the center frame 10.
  • An upper slide rail 7553a is disposed below the upper support member 7551a, and a ball 7552 is disposed between the upper support member 7551a and the upper slide rail 7553a, so that the upper slide rail 7553a is rotatable relative to the upper support member 7551a.
  • An upper end cover 713a is provided below the upper slide rail 7553a, and a lower slide rail 7553b is provided below the upper end cover 713a.
  • the upper end cap 713a is sandwiched between the upper rail 7553a and the lower rail 7553b.
  • a lower support member 7551b is disposed below the lower rail 7553b, and the lower support frame and the upper support member 7551a are fixedly coupled by bolts, screws, rivets, or the like.
  • a ball 7552 is disposed between the lower rail 7553b and the lower support 7551b, so that the lower rail 7553b can be rotated relative to the lower support 7551b, and since the upper end cover 713a is sandwiched between the upper rail 7553a and the lower rail 7553b, The upper rail 7553a, the upper end cover 713a, and the lower rail 7553b are integrally rotatable relative to the upper support member 7551a and the lower support member 7551b.
  • the upper support member 7551a and the lower support member 7551b as a whole can be regarded as rolling the outer ring of the first bearing 753, and the upper slide rail 7553a and the lower slide rail 7553b as a whole can be regarded as rolling.
  • the inner ring of the first bearing 753, that is, in some variations, the rolling first bearing 753 may include a support for fixing to the center frame 10 (for example, the upper support member 7551a or the lower support member 7551b) and for a slide rail that is in contact with the contact portion of the rotating portion 71 (for example, an upper slide rail 7553a that cooperates with the upper support member 7551a or a lower rail 7553b that cooperates with the lower support member 7551b), and a ball 7552 is disposed between the slide rail and the support member, thereby The rotating portion 71 that is tightly coupled to the slide rail is rotatable relative to the support member.
  • a support for fixing to the center frame 10 for example, the upper support member 7551a or the lower support member 7551b
  • a slide rail that is in contact with the contact portion of the rotating portion 71 for example, an upper slide rail 7553a that cooperates with the upper support member 7551a or a lower rail 7553b that cooperates with the lower support member 7551b
  • the slide rails may be of any shape, for example, the upper slide rail 7553a and the lower rail 7553b may each select a circular slide rail, a curved slide rail or a hollow annular slide rail.
  • the upper support member 7551a may be plural, and the plurality of upper support members 7551a are evenly disposed on the outer edge of the upper slide rail 7553a to increase the supporting force, so that the upper slide rail 7553a is further stable.
  • the lower support member 7551b may also be plural, and the plurality of lower support members 7551b are evenly disposed along the down rail 7553b.
  • FIGS. 8 and 9 a specific example in which four upper supports 7551a are uniformly disposed along the outer edges of the upper rails 7553a and four lower supports 7551b are provided along the outer edges of the lower rails 7553b is shown in FIGS. 8 and 9.
  • this embodiment does not exclude the upper support member 7551a and the lower support member 7551b from being formed in a ring shape.
  • a plurality of balls 7552 may be disposed between the upper support member 7551a and the upper slide rail 7553a.
  • two balls 7552 may be disposed between the upper support member 7551a and the upper slide rail 7553a, that is, when the upper support member 7551a is When there are multiple, two balls 7552 are disposed between each upper support member 7551a and the upper slide rail 7553a.
  • FIGS. 8 and 9 show four upper supports 7551a, and two balls 7552 are disposed between each of the upper supports 7551a and the upper rails 7553a.
  • the rotational resistance of the upper rail 7553a can be reduced by providing a plurality of balls 7552 between the upper support member 7551a and the upper rail 7553a.
  • a plurality of balls 7552 may be disposed between the lower support member 7551b and the lower rail 7553b.
  • two balls 7552 are provided between the four lower support members 7551b and the lower rails 7553b shown in FIGS. 8 and 9.
  • a dust cover 77 may be selectively disposed on the outer side of the upper rail 7553a and the lower rail 7553b to accommodate the upper rail 7553a and the lower rail 7553b in the dust cover 77, thereby avoiding The dust falls on the upper rail 7553a and the lower rail 7553b, and affects the rotation of the upper rail 7553a and the lower rail 7553b.
  • a mounting opening 771 is opened at the top end of the dustproof cover 77, and a portion of the upper support member 7551a and the lower support member 7551b for engaging the ball 7552 passes through the mounting opening.
  • the 771 extends into the dust cover 77. It can be understood that, in order to prevent the dust cover 77 from falling, the dust cover 77 can be directly fixed to the bottom surface of the center frame 10 by fasteners such as bolts or screws, or the dust cover 77 can be fixedly connected to the lower support member 7551b. Together.
  • the upper support member 7551a and the lower support member 7551b may be all accommodated in the prevention.
  • the dustproof cover 77 is directly fixed to the bottom surface of the center frame 10 by a fastener such as a bolt or a screw.
  • a plurality of positioning protrusions 773 are formed in the dustproof cover 77.
  • the lower support members 7551b may be spaced apart from the positioning protrusions 773 to reduce the shearing force of the screws when the lower support members 7551b are connected to the dustproof cover 77.
  • a positioning groove matching the positioning protrusion 773 may be formed on the lower surface of the upper end cover 713a.
  • a driven gear 711 that is drivingly coupled to the driving portion 73 is disposed below the upper end cover 713a.
  • the driven gear 711 may be replaced with a driven wheel as a driven connection with the driving portion 73.
  • the dust cover 77 is provided outside the slide rail, the driven wheel should be disposed below the dust cover 77 to facilitate the transmission connection with the drive portion 73.
  • a lower end cover 713b on which the stand 50 is mounted is disposed below the driven gear 711, and a dust jacket 79 as shown in FIGS. 8 and 9 is selectively interposed between the lower end cover 713b and the driven gear 711.
  • the upper end cover 713a, the driven gear 711, and the lower end cover 713b are fixedly coupled together by a fixing pin, a bolt or a rivet, etc., so that when the driving belt 733 of the driving portion 73 drives the driven gear 711 to rotate, the driven gear 711 is fixedly coupled.
  • the upper end cap 713a and the lower end cap 713b also rotate correspondingly.
  • the upper end cap 713a is rotated with respect to the upper support member 7551a and the lower support member 7551b, respectively, with the upper rail 7553a and the lower rail 7553b.
  • the driven gear 711 may be replaced by a driven wheel or other components.
  • the rotating portion 71 may have no lower end cap 713b, and at this time, the stand 50 may be fixed to the upper end cap 713a or the driven gear 711 (such as the lower end surface of the driven gear 711). That is, in the present embodiment, the rotating portion 71 may include an end cover and a follower.
  • the end cover may include only the upper end cover 713a, and may include both the upper end cover 713a and the lower end cover 713b; the follower may be a driven wheel or a driven gear 711.
  • the end cover is interposed between the upper rail 7553a and the lower rail 7553b, or is rotatably connected to the upper rail 7553a and/or the lower rail 7553b, the follower is fixed to the end cover, and the tripod 50 is fixed at The end cap is on.
  • the rotating portion 71 may further have no upper end cover 713a.
  • the stand 50 is fixed to the driven gear 711 or the intermediate member connected to the driven gear 711, and the slave is driven.
  • the gear 711 is fixed to the upper rail 7553a and/or the lower rail 7553b so as to be rotatable relative to the upper support 7551a and/or the lower support 7551b.
  • a mounting portion is formed on the lower end cover 713b, and the stand 50 is attached to the mounting portion via a connector 60.
  • the upper rail 7553a, the lower rail 7553b, the upper end cover 713a, the lower end cover 713b, and the driven gear 711 may be formed into a hollow structure, that is, the slide rail, the end cover, and the follower are disposed in a hollow structure. , for the adapter of the PTZ 90 to pass through.
  • the adapter can be included on the one hand, and the wind resistance in the flight of the drone 1 can be reduced on the other hand, and the number of exposed parts is visually reduced, which further enhances the visual appearance.
  • a landing gear for the drone that is, the mounting mechanism 70 and the stand 50 described above are also provided.
  • a rack of the drone that is, the landing gear including the above description, and the center frame 10 are provided, that is, the drone of the embodiment may include the rack and the rack Set the pan/tilt below the rack.

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Abstract

一种安装机构，用于安装无人机的脚架，所述脚架设置在所述无人机的中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体，所述安装机构包括：旋转部以及驱动部；所述旋转部用于与所述中心架转动连接，且用于与所述脚架连接；所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。通过设置安装机构来驱动脚架转动，可以避免影响载体的模态。本发明还提供一种无人机的起落架、机架以及无人机。

Description

安装机构、起落架、机架以及无人机 技术领域
本发明涉及一种安装机构、起落架、机架以及无人机，属于无人机技术领域。
背景技术
脚架作为无人机具有承力兼操纵性的附件装置，在无人机的安全起降过程中担负着极其重要的使命，是无人机的重要部件之一。
近几年，无人机制造业快速发展，在航拍、植保、测绘等领域得到广泛应用。为了避免无人机在飞行过程中脚架与地面定着物(例如树木、房屋等)发生磕碰，现有的无人机一般会将脚架设置成为收放式的。
但是，这种收放式脚架在云台转动过程中有时候会出现进入拍摄画面的问题，有鉴于此，有一些厂家将脚架固定在了云台上面，从而当云台转动的时候可以同步带动脚架转动以避免脚架进入拍摄画面。可是，在实际使用过程中，这种与云台固定连接的脚架会影响云台的稳定性，造成拍摄质量下降。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种安装机构、起落架、机架以及无人机。
根据本发明的一些实施例，提供一种安装机构，用于安装无人机的脚架，所述脚架设置在所述无人机的中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体，所述安装机构包括：旋转部以及驱动部；所述旋转部用于与所述中心架转动连接，且用于与所述脚架连接；所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
根据本发明的一些实施例，提供一种无人机的起落架，包括：脚架以及 安装机构；所述脚架设置在所述无人机的中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体，所述安装机构包括：旋转部以及驱动部；所述旋转部用于与所述中心架转动连接，且与所述脚架连接；所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
根据本发明的一些实施例，提供一种无人机的机架，包括：中心架、脚架以及安装机构；所述脚架设置在所述中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体；所述安装机构包括：旋转部以及驱动部；所述旋转部用于与所述中心架转动连接，且与所述脚架连接；所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
根据本发明的一些实施例，提供一种无人机，包括：中心架、脚架、安装机构以及云台；所述脚架和云台设置在所述中心架的下方、且所述云台用于搭载有效载荷；所述安装机构包括：旋转部以及驱动部；所述旋转部用于与所述中心架转动连接，且与所述脚架连接；所述驱动部用于在所述云台旋转时驱动所述旋转部旋转。
根据本发明实施例的技术方案，通过在设置与中心架转动连接、且用于与脚架固定的旋转部，并通过驱动部驱动其在载体转动的时候旋转，可以提高云台转动时的稳定性，同时通过旋转部的旋转还能避免脚架与载体上搭载的有效载荷干涉，保证有效载荷的工作质量。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明实施例提供的无人机的结构示意图；
图2为本发明实施例提供的安装机构的示意图；
图3为本发明实施例提供的一种安装机构的结构示意图；
图4为本发明实施例提供的一种驱动部的爆炸图；
图5为本发明实施例提供的另一种安装机构的结构示意图；
图6为本实施例提供的又一种安装机构的结构示意图，其中，脚架已经安装到了该安装机构上；
图7为图6中的安装机构在另一个视角下的结构示意图；
图8为图6的爆炸图，且脚架的下半部分已经被截去；
图9为图8中支撑部和旋转部的放大图。
图中：
1、无人机；          10、中心架；             30、动力组件；
50、脚架；           60、连接件；             70、安装机构；
71、旋转部；         711、从动齿轮；          712、转轴；
713a、上端盖；       713b、下端盖；           73、驱动部；
731、电机；          731a、输出轴；           732、传动齿轮；
733、传动带；        734、电机安装座；        735、轴承支撑座；
736、第二轴承；      737、电机保护盖；        738、LED模块；
75、支撑部；         751、支撑块；            753、第一轴承；
7551a、上支撑件；    7551b、下支撑件；        7552、滚珠；
7553a、上滑轨；      7553b、下滑轨；          77、防尘盖；
771、安装口；        773、定位凸起；          79、防尘套；
90、云台；           2、成像装置。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“顶”、“底”、“内”、“外”、等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示 或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
图1为本实施例提供的无人机的结构示意图。如图1所示，无人机1包括中心架10，其为无人机1的主体部分。中心架10一般包括有无人机1的飞行控制系统，以对无人机1的飞行状态进行控制，例如控制无人机1上升、降落、转向、悬停。具体来说，飞行控制系统可以是微处理器、微控制器或者集成电路等。中心架10包括顶面、底面以及位于顶面和底面之间的侧面，顶面、底面和侧面围合成的空间内用于安装上述飞行控制系统以及为无人机1供电的电池等。当然，在另一些实施方式中，也可以由中心架10的底面凹陷形成用于安装电池的安装腔，在该安装腔的开口处可拆卸的设置一个电池盖。
在中心架10的四周一般会均匀布置多个机臂，这些机臂可以关于中心架10的横轴或者纵轴对称。例如，图1中示出了在中心架10的四周关于横轴和纵轴对称设置有四个机臂，机臂可以固定连接在中心架10上， 也可以与中心架10转动连接，或者还可以将机臂设计成为能够相对于中心架10折叠以减少无人机1在收纳状态时所占用的空间。例如，机臂靠近中心架10的一端可以从中心架10的侧面插入到中心架10的顶面和底面之间，以提高机臂和中心架10的连接强度。应当理解，虽然上面描述了机臂的一端可以从中心架10的侧面插入到中心架10内，但其并不影响机臂和中心架10之间的固定连接或者转动连接等关系。机臂可以采用现有技术中的任意材料制作成任意合适的形状，例如可以使用金属(例如铁或者铝)或者非金属(例如高分子塑料)制作成为杆状结构。当然，为了降低无人机1的重量、提升无人机1的动力性能，机臂可以使用碳纤维材料制作成中空的杆状结构，或者制作成为开设有减重孔的板状结构(参阅图1)。
在机臂远离中心架10的一端可以安装一个或多个动力组件30，以为无人机1的上升、前进、悬停和转动等提供动力。动力组件30可以包括螺旋桨、驱动螺旋桨转动的驱动电机以及控制驱动电机工作参数的电调等。应当理解，当无人机1的同一个机臂上设置有多个动力组件30时，这些动力组件30可以沿机臂的延伸方向间隔设置在机臂上，也可以如图1所示的将两个动力组件30按照上下对称式的布置在机臂的端部。
在中心架10的下方安装有用于搭载有效载荷的载体，以使无人机1可以通过搭载的有效载荷来实现某些辅助功能。具体来说，载体可以直接或者通过转接件与中心架10的底面固定。在本实施例中，载体可以是允许有效载荷绕一条或多条旋转轴712线进行旋转的云台90，以为有效载荷提供稳定性或者用于控制有效载荷的状态，以使有效载荷旋转、平移等。本实施例的云台90包括但不限于单轴云台、双轴云台和三轴云台等。当然，载体也可以是其他用于搭载物体的结构，例如吊篮或者机械爪等。
在本实施例中，有效载荷可以是指由云台90支撑的载荷或物体的任何部分。有效载荷可以被配置为不执行任何操作或功能。或者，有效载荷可以是被配置成用于执行相应的操作或功能，也称为功能性有效载荷。例如，有效载荷可以包括用于勘测一个或多个目标的一个或多个传感器。该传感器可以收集关于传感器周围环境的信息。可以将任何适合的传感器结 合到有效载荷中，例如成像装置2(例如包括图像捕捉装置和相机在内的视觉成像装置、红外线成像装置、紫外线成像装置、热成像装置等)、音频捕捉装置(例如，抛物线麦克风)、射频(rf)传感器、磁传感器、超声波传感器等。其中，有效载荷可以包括单一类型的传感器、发射体和/或工具，也可以包括多种类型的传感器、发射体和/或工具，还可以包括任何数量的传感器、发射体和或工具以及其组合，例如传感器阵列。
在以下的实施例中将以载体为三轴云台、有效载荷为成像装置2为例进行说明。其中，三轴云台是指可以分别绕第一轴(例如偏航轴(yaw轴))、第二轴(例如横滚轴(roll轴))以及第三轴(例如俯仰轴(pitch轴))旋转。当三轴云台绕偏航轴旋转时，由三轴云台支撑的成像装置2也同步绕偏航轴旋转。
在中心架10的下方还设置有多个脚架50，以便在无人机1着力时支撑在地面或者其他地面定作物上，从而避免无人机1的中心架10等主体结构与地面或者地面定作物接触，以保护无人机1。一般来讲，脚架50会使用碳纤维材料制作成为空心的杆状结构，以降低无人机1的重量，提升无人机1的动力性能；当然，本实施例也不排除使用其他重量轻、强度高或者其他材料来制作脚架50。
虽然现有技术中采用了碳纤维材料来制作脚架50，但是当将脚架50固定在云台90上以避免脚架50进入云台90上所搭载的成像装置2的成像范围(以下简称画面)内，有些厂家将脚架50固定在了云台90上，以便使云台90转动的时候脚架50也能够同步旋转来保证脚架50不会出现在成像装置2的画面内。但是，这种无人机1的云台90在带动搭载在其上的成像装置2转动的同时还需要同时带动脚架50转动，虽然脚架50的质量已经通过选择材料的方式有所降低，但是脚架50依然会影响云台90自身的模态，造成云台90的稳定性降低，进而影响成像装置2的成像质量，例如，某些时候成像装置2的画面会变得模糊，而且由于云台90自身稳定性降低，从而也会造成搭载在其上的成像装置2的安全隐患。
有鉴于此，在本实施例中，在中心架10的下方还设置有安装机构70，用于安装上述脚架50。该安装机构70的一部分(下称旋转部71)与中心 架10转动连接，也即该旋转部71能够相对于中心架10旋转，脚架50则固定在该旋转部71上，从而能够在该旋转部71的带动下相对于中心架10旋转，以调整各脚架50相对于中心架10的位置，继而可以避免当云台90带动成像装置2旋转时脚架50出现在成像装置2的画面中，而且由于脚架50固定在安装机构70的旋转部71上，所以云台90在旋转时也就不需要再带动脚架50旋转，提高了云台90的稳定性，使得成像装置2的成像质量更好。
具体在控制时，安装机构70的旋转部71和云台90均与飞控系统通信连接，飞控系统能够向安装机构70和云台90发出控制信号控制旋转部71和云台90的偏航轴旋转。例如，控制旋转部71和云台90的偏航轴同步旋转，也即，旋转部71和云台90的偏航轴的旋转方向和旋转速度相同，从而使得在云台90转动的时候脚架50也能够同步进行旋转，以避免脚架50进入云台90上搭载的成像装置2的画面以内。当然，飞控系统也可以控制旋转部71和云台90的偏航轴各旋转不同的角度，只需要脚架50在云台90转动的过程中始终没有进入成像装置2的画面以内即可。可以理解的，当云台90上搭载的是其他有效载荷时，例如其他传感器时，通过飞控系统控制旋转部71和云台90的偏航轴同步旋转或者分别旋转不同角度，也可使得脚架50与其他有效载荷不发生干涉，例如不遮挡射频传感器的感应区域等。此外，虽然以上仅介绍了飞控系统控制旋转部71和云台90的转动，在其他一些实施方式中，也可以通过与无人机1无线连接的遥控器或者地面站控制旋转部71和云台90的转动。当然，遥控器对旋转部71和云台90的控制可以是直接控制，或者也可以是间接通过飞控系统进行控制。
图2为本实施例提供的安装机构的示意图。如图2所示，为了驱动旋转部71相对于中心架10转动以调整固定在旋转部71上的脚架50与中心架10的相对位置，使得脚架50不会进入云台90上搭载的成像装置2的画面内，安装机构70还包括有驱动部73，该驱动部73用于在云台90旋转时驱动该旋转部71旋转。可以理解，驱动部73可以仅用于驱动旋转部71旋转，也可以同时用于驱动旋转部71和云台90旋转。此外，为了支撑 驱动部73并实现旋转部71与中心架10的可转动连接，旋转部71还可选地设置有与中心架10固定连接的支撑部75。具体的，支撑部75与中心架10的底面可以通过螺栓、螺钉或者铆钉等固定，旋转部71与该支撑部75连接、且可相对于支撑部75转动。
以下介绍几种安装机构70，但本领域技术人员应该理解，这些安装机构70均是示例性的，并不是对本发明的具体限制，如果本领域技术人员将下述安装机构70中的一个或者多个部件进行替换或者组合、或者将一个或者多个技术特征进行替换或者组合等均应视为在本发明的保护范围以内。
图3为本实施例提供的一种安装机构的结构示意图，图4为本实施例提供的一种驱动部73的爆炸图。如图3和图4所示，在本实施例中，旋转部71包括转轴712以及与驱动部73传动连接的从动件，该从动件包括但不限于是从动轮或从动齿轮711。转轴712的底端与从动件固定、其顶端与支撑部75转动连接。驱动部73可以包括电机731以及传动部件，电机731通过传动部件与从动件传动连接，从而电机731可以带动从动件旋转以调整固定在转轴712上的脚架50的位置。
继续参照图3和图4，传动部件可以包括安装在电机731输出轴上的第一传动件，以及用于将第一传动件和从动件传动连接的第二传动件。例如，第一传动件可以是传动轮或者传动齿轮732，第二传动件可以是传动带733、传动链条或者传动齿轮，从动件可以是从动轮或者从动齿轮711。以第一传动件为传动齿轮732、第二传动件为传动带733、从动件为从动齿轮711为例，传动齿轮732安装在电机731的输出轴731a上，从动齿轮711与转轴712的底端固定，传动带733套设在传动齿轮732和从动齿轮711的外侧，以将电机731的扭矩传递给转轴712。可以理解，传动带733的内表面可以设置与传动齿轮732和从动齿轮711匹配的齿，以避免传动带733打滑，提高传动的稳定性。
在本实施例中，电机731可以直接固定在中心架10上，或者该驱动部73还包括有与中心架10固定连接的支撑座(参照图4)，电机731则安装在该支撑座上。例如，在一些实施方式中，支撑座可以包括电机安装 座734及轴承支撑座735。其中，电机731支撑座与中心架10固定连接(例如将电机731支撑座固定在中心架10的侧面)，电机731安装在该电机安装座734上，轴承支撑座735安装在电机731支撑座的下方，在轴承支撑座735上安装有第二轴承736，电机731的输出轴731a穿过该第二轴承736与传动部件固定(例如与上述传动齿轮732固定)。基于上述，通过设置轴承支撑座735和第二轴承736，可以提高传动齿轮732的刚度，减少传动齿轮732的变形，避免传动过程中传动带733打滑，从而提高皮带传动的可靠性。
可选地，如图4所示，为了保护驱动部73的电机731，该驱动部73还包括电机保护盖737，其盖设在电机731的外侧。在电机保护盖737上可选地设置有用于指示无人机的飞控状态和/或电量状态的LED模块738，并可以在无人机的飞控状态和/或电量状态发生异常时进行报警。举例来说，当驱动部73的LED模块738开设工作时，设置在电机保护盖737上的LED模块738可以通过点亮、改变颜色或者闪烁等方式向用户显示无人机的飞控状态和/或电量状态，当然，如果无人机的飞控状态和/或电量状态出现错误，也可以通过LED模块738灯光的颜色或者闪烁时长等来向用户报警。
其中，驱动部73可以设于无人机的后方，便于用户观察LED模块738，同时，LED模块738上可以设有接口，该接口可以用于控制无人机的飞控参数的连接调参线。
在本实施例中，支撑部75可以直接固定在中心架10的底面或者与中心架10的底面通过一体成型的方式形成一体件。具体的，支撑部75可以是支撑块751或者下文所描述的其他结构，例如第一轴承753。以支撑块751为例，其可以与转轴712的顶端形成有配合结构，使得转轴712能够相对于支撑块751转动。
例如，上述配合结构为如图3所示的螺纹连接结构，也即，转轴712的顶端与支撑块751螺纹连接。具体来说，在支撑块751上开设有安装孔，该安装孔的内壁上形成有内螺纹，在转轴712顶端形成的有与该内螺纹匹配的外螺纹，从而当传动带733带动从动齿轮711转动时，与从动齿轮711 固定连接的转轴712的顶端也能够通过上述螺纹配合结构而在安装孔内转动。
又如，上述配合结构可以包括在转轴712顶端形成的一个或者多个齿，以及在支撑块751上形成的一个或者多个与转轴712顶端形成的一个或者多个齿啮合的齿。具体来说，可以在转轴712的顶端安装一个上齿轮，并在支撑块751上开设一安装孔，在安装孔的内壁上形成呈闭合环状、且与转轴712顶端的上齿轮上的齿啮合的多个齿。
图5为本实施例提供的另一种安装机构的结构示意图。如图5所示，在本实施例中，支撑部75为与中心架10底面固定的第一轴承753，旋转部71至少有一部分安装在第一轴承753内，从而旋转部71可以绕着该第一轴承753的轴线转动，以使与旋转部71固定连接的脚架50转动，进而避免脚架50进入成像装置2的画面内。
在一些实施方式中，第一轴承753可以是固定在中心架10底面上的球轴承，旋转部71则包括球杆以及从动件，该球杆的球头端容纳在球轴承的球窝内，从而球杆可以相对于球轴承转动，球杆的另一端固定该从动件，并且球杆还用于固定脚架50。在本实施例中，固定在球杆另一端的从动件可以是从动轮或者从动齿轮711，从而当驱动部73驱动该从动件转动时，例如通过传动带733带动作为从动件的从动齿轮711转动时，与从动件固定的球杆的球头就可以在球轴承的球窝内转动，进而固定在球杆上的脚架50也就跟随球杆转动，以避免进入云台90上搭载的成像装置2的画面内。当然，旋转部71的另一端也可以不设置从动件，而通过其他方式实现与驱动部73的传动连接。在本实施方式中，驱动部73可以使用上述实施例中的驱动部73，在此不再赘述，具体请参见以上实施例的内容。
在另一些实施方式中，第一轴承753可以是固定在中心架10底面上的滑动轴承或者滚动轴承。在本实施例中，滑动轴承或者滚动轴承可以使用现有技术中通常使用的滑动轴承或者滚动轴承，例如滚珠轴承或者滚柱轴承。当然，本实施方式也不排除使用与滑动轴承或者滚动轴承原理相同的其他结构作为本实施例的轴承，例如将在下文中描述到的一种经过结构改进后的滚动轴承。在安装时，滑动轴承或者滚动轴承可以通过轴承座与 中心架10的底面固定，或者在中心架10的底面开设安装孔，然后将滑动轴承或者滚动轴承安装在该安装孔内。
在本实施方式中，旋转部71可以包括顶端安装在滑动轴承或者滚动轴承内的转轴712，以及与转轴712的底端固定并与驱动部73传动连接的从动件，该从动件可以是从动轮或者从动齿轮711。当然，本实施方式也不排除使用与转轴712和从动件具有相同功能的其他结构作为本实施方式的旋转部71，例如将在下文中描述到的一种经过改进的旋转部71。需要说明的是，本实施方式的驱动部73可以使用上述实施例中的驱动部73结构，在此不再赘述，具体请参见上述实施例的内容。
以下以飞控系统控制驱动部73驱动旋转部71旋转为例，简要介绍安装机构70带动脚架50转动的工作过。其中，驱动部73包括电机731、传动齿轮732、传动带733，旋转部71包括从动齿轮711和转轴712，支撑部75为滚动轴承：
飞控系统根据云台90偏航轴需要转动的转动速度和转动方向等信息向驱动部73的电机731发出控制信号，电机731根据该控制信号旋转，从而驱动传动齿轮732旋转，继而套设在传动齿轮732和固定在转轴712底端的从动齿轮711外的传动带733将传动齿轮732的扭矩传递给从动齿轮711，以使从动齿轮711带动固定在该从动齿轮711上的转轴712在滚动轴承内转动，进而带动与转轴712固定连接的脚架50转动，以使脚架50位于云台90上搭载的成像装置2的画面以外。
可选地，在上文中提到的任一转轴712均可以设计成为中空轴，从而连接云台90的转接件可以穿过该中空轴与中心架10的底面固定。通过将转轴712设计成中空轴，以便将云台90的转接件穿过该中空轴，一方面可以保护云台90的连接件60，另一方面可以减少无人机1飞行中的风阻，而且从视觉上来看，外露的部件数量减少了，也就进一步提升了视觉上的美观。基于上述可知，通过将旋转部71设计成为沿轴向的中空结构，用于连接载体的转接件穿过该中空结构，不仅可以对转接件起到保护作用，还能够减小风阻并使得无人机1的外观视觉显得更美观。
图6为本实施例提供的有一种安装机构的结构示意图，其中，脚架50 已经安装到了该安装机构上；图7为图6中的安装机构在另一个视角下的结构示意图；图8为图6的爆炸图，且脚架的下半部分已经被截去。如图6至图8所示，安装机构70包括：驱动部73、支撑部75、旋转部71、防尘盖77和防尘套79。其中，驱动部73的结构与上述实施例的结构相同，具体请参见上文的描述，在此不再赘述。支撑部75包括：上支撑件7551a、下支撑件7551b、上滑轨7553a和下滑轨7553b、以及滚珠7552。旋转部71则包括上端盖713a、从动齿轮711及下端盖713b。
为了描述方便，以下按照从上到下的顺序对图8中除驱动部73以外的部件分别进行描述。
图9为图8中支撑部和旋转部的放大图，请一并参照图8和图9，在本实施例中，上支撑件7551a设置在最上端，用于与中心架10的底面固定连接。在上支撑件7551a的下方设置上滑轨7553a，且该上支撑件7551a和上滑轨7553a之间设置有滚珠7552，从而上滑轨7553a能够相对于上支撑件7551a转动。在上滑轨7553a的下方设置上端盖713a，在上端盖713a的下方则设置下滑轨7553b。也即，上端盖713a夹持在上滑轨7553a和下滑轨7553b之间。在下滑轨7553b的下方设置下支撑件7551b，该下支撑架与上支撑件7551a通过螺栓、螺钉或者铆钉等固定连接。在下滑轨7553b和下支撑件7551b之间设置有滚珠7552，从而下滑轨7553b可以相对于下支撑件7551b转动，并且，由于上端盖713a夹持在上滑轨7553a和下滑轨7553b之间，所以，上滑轨7553a、上端盖713a和下滑轨7553b整体可以相对于上支撑件7551a和下支撑件7551b转动。
换句话说，在本实施例中，上支撑件7551a和下支撑件7551b整体上可以看成是滚动第一轴承753的外圈，而上滑轨7553a和下滑轨7553b整体上可以看成是滚动第一轴承753的内圈，也即，在一些变形例中，滚动第一轴承753可以包括用于与中心架10固定的支撑件(例如上支撑件7551a或者下支撑件7551b)以及用于与旋转部71的接触位置抵持的滑轨(例如与上支撑件7551a配合的上滑轨7553a或者与下支撑件7551b配合的下滑轨7553b)，在滑轨和支撑件之间设置滚珠7552，从而与滑轨紧连接的旋转部71可以相对于支撑件转动。
滑轨可以是任意形状，例如上滑轨7553a和下滑轨7553b均可以选择圆形滑轨、弧形滑轨或者是中空的环形滑轨。
继续参照图8和图9，可选地，上支撑件7551a可以是多个，这多个上支撑件7551a均匀设置在上滑轨7553a的外边沿，以增加支撑力，使得上滑轨7553a更加稳定。同理的，下支撑件7551b也可以是多个，并且这多个下支撑件7551b沿着下滑轨7553b均匀设置。例如，图8和图9中示出了沿着上滑轨7553a的外边沿均匀设置四个上支撑件7551a、以及沿着下滑轨7553b的外边沿均匀设置四个下支撑件7551b的具体示例。当然，本实施例也不排除将上支撑件7551a和下支撑件7551b做成环形。
进一步，在上支撑件7551a与上滑轨7553a之间可以设置多个滚珠7552，例如，上支撑件7551a与上滑轨7553a之间可以设置两个滚珠7552，也即，当上支撑件7551a为多个时，每个上支撑件7551a与上滑轨7553a之间均设置两个滚珠7552。比如，图8和图9就示出了四个上支撑件7551a，并且每个上支撑件7551a与上滑轨7553a之间均设置有两个滚珠7552。通过在上支撑件7551a和上滑轨7553a之间设置多个滚珠7552可以减少上滑轨7553a的转动阻力。同理的，下支撑件7551b和下滑轨7553b之间也可以设置多个滚珠7552。例如，图8和图9中示出的四个下支撑件7551b和下滑轨7553b之间各设置有两个滚珠7552。
继续参考图8和图9，在上滑轨7553a和下滑轨7553b的外侧还可以选择性的设置防尘盖77，以便将上滑轨7553a、下滑轨7553b容纳在该防尘盖77内，避免灰尘落入到上滑轨7553a和下滑轨7553b上后影响上滑轨7553a和下滑轨7553b的转动。
进一步，为了与上支撑件7551a和下支撑件7551b配合，在防尘盖77的顶端开设有安装口771，上支撑件7551a和下支撑件7551b用于与滚珠7552配合的部分穿过该安装口771伸入到该防尘盖77内。可以理解，为了避免防尘盖77掉落，防尘盖77可以直接通过螺栓或者螺钉等紧固件固定在中心架10的底面，或者，也可以将防尘盖77与下支撑件7551b固定连接在一起。此外，虽然本实施方式中，上支撑件7551a和下支撑件7551b的一部分位于防尘盖77的外面，但在另外一些示例中，也可以将上支撑 件7551a和下支撑件7551b全部容纳在防尘盖77内，此时，该防尘盖77直接通过螺栓或者螺钉等紧固件固定在中心架10的底面。进一步，在防尘盖77内形成有多个定位凸起773，下支撑件7551b可以与定位凸起773间隔排列，以减小下支撑件7551b与防尘盖77连接时的螺丝受到剪切力，甚者，在上端盖713a的下表面可以形成有与该定位凸起773相匹配的定位凹槽。
继续参考图8和图9，在上端盖713a的下方设置与驱动部73传动连接的从动齿轮711，当然，也可以使用从动轮替换该从动齿轮711作为与驱动部73传动连接的从动件。此外，假如在滑轨外设置有上述防尘盖77，则从动轮应该设置在上述防尘盖77的下方，以方便与驱动部73的传动连接。
在从动齿轮711的下方设置安装有脚架50的下端盖713b，并且在下端盖713b和从动齿轮711之间选择性的夹设有如图8和图9中示出的防尘套79。上端盖713a、从动齿轮711和下端盖713b通过固定销、螺栓或者铆钉等固定连接在一起，从而当驱动部73的传动带733带动从动齿轮711转动时，与该从动齿轮711固定连接的上端盖713a和下端盖713b也相应的转动。具体来说，是上端盖713a带着上滑轨7553a和下滑轨7553b分别相对于上支撑件7551a和下支撑件7551b转动。当然，在本实施方式中，从动齿轮711也可以由从动轮或者其他部件来代替。
应当理解，旋转部71的上端盖713a和下端盖713b、以及夹设在下端盖713b和从动齿轮711之间的防尘套79并不是必须具备的结构。例如，在一些变形例中，旋转部71可以没有下端盖713b，此时，脚架50可以固定在上端盖713a或从动齿轮711(如从动齿轮711的下端面)上。也即，在本实施方式中，旋转部71可以包括端盖以及从动件。其中，端盖可以仅包括上端盖713a，也可以既包括上端盖713a又包括下端盖713b；从动件可以是从动轮或者从动齿轮711。具体来说，端盖夹设在上滑轨7553a和下滑轨7553b之间、或者与上滑轨7553a和/或下滑轨7553b转动连接，从动件与该端盖固定，脚架50则固定在该端盖上。
又如，在另一些变形例中，旋转部71还可以进一步的没有上端盖713a， 此时，脚架50固定在从动齿轮711或与从动齿轮711连接的中间件上，并且该从动齿轮711与上滑轨7553a和/或下滑轨7553b固定，从而可以相对于上支撑件7551a和/或下支撑件7551b转动。
继续参照图8，在下端盖713b上形成有安装部，脚架50通过连接件60安装在该安装部上。
另外需要说明一点，上滑轨7553a、下滑轨7553b、上端盖713a、下端盖713b和从动齿轮711可以做成中空结构，也即，将滑轨、端盖和从动件设置成中空的结构，以供云台90的转接件穿过。通过这样设置，一方面可以包括转接件，另一方面可以减少无人机1飞行中的风阻，而且从视觉上来看，外露的部件数量减少了，也就进一步提升了视觉上的美观。
进一步的，在本实施例中，还提供了一种无人机的起落架，即包括有上述说明的安装机构70和脚架50。再进一步的，在本实施例中，还提供了一种无人机的机架，即包括有上述说明的起落架以及中心架10，也即本实施例的无人机可以包括上述机架以及设置在该机架下方的云台。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (126)

  1. 一种安装机构，用于安装无人机的脚架，所述脚架设置在所述无人机的中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体，其特征在于，所述安装机构包括：
    旋转部以及驱动部；
    所述旋转部用于与所述中心架转动连接，且用于与所述脚架连接；
    所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
  2. 根据权利要求1所述的安装机构，其特征在于，所述载体为云台。
  3. 根据权利要求1或2所述的安装机构，其特征在于，所述有效载荷为成像装置。
  4. 根据权利要求1至3中任一项所述的安装机构，其特征在于，所述旋转部为沿轴向的中空结构，用于连接所述载体和中心架的转接件穿过所述中空结构。
  5. 根据权利要求1至4中任一项所述的安装机构，其特征在于，所述安装机构还包括支撑部，所述支撑部用于与所述中心架固定连接，所述旋转部与所述支撑部转动连接。
  6. 根据权利要求5所述的安装机构，其特征在于，所述支撑部为第一轴承，所述旋转部至少有一部分安装在所述第一轴承内，以使所述旋转部可绕所述第一轴承的轴线转动。
  7. 根据权利要求6所述的安装机构，其特征在于，所述第一轴承为滚动轴承，所述滚动轴承包括：支撑件、滚珠和滑轨；
    所述支撑件用于与所述中心架固定；
    所述滚珠设置在所述支撑件和滑轨之间；
    所述滑轨用于与所述旋转部的接触位置抵持。
  8. 根据权利要求7所述的安装机构，其特征在于，所述支撑件包括上支撑件和下支撑件，所述滑轨包括：上滑轨和下滑轨；
    所述上支撑件和所述上滑轨之间以及所述下支撑件和所述下滑轨之间均设置有所述滚珠；
    所述旋转部的一部分夹设在所述上滑轨和下滑轨之间。
  9. 根据权利要求8所述的安装机构，其特征在于，所述上支撑件为多个 且均匀设置在所述上滑轨的外边沿；和/或，
    所述下支撑件为多个且均匀设置在所述下滑轨的外边沿。
  10. 根据权利要求8或9所述的安装机构，其特征在于，所述上支撑件与所述上滑轨之间设置有多个滚珠，和/或，所述下支撑件与所述下滑轨之间设置有多个滚珠。
  11. 根据权利要求7至10中任一项所述的安装机构，其特征在于，所述旋转部包括从动件，所述从动件与所述驱动部传动连接、且所述从动件与所述支撑部转动连接。
  12. 根据权利要求11所述的安装机构，其特征在于，所述旋转部还包括端盖，所述端盖与所述从动件固定、且与所述支撑部转动连接，所述端盖还用于固定所述脚架。
  13. 根据权利要求12所述的安装机构，其特征在于，所述端盖包括上端盖和下端盖，所述从动件与所述上端盖和下端盖固定、且所述从动件设置在所述上端盖和下端盖之间，所述上端盖与所述支撑部转动连接，所述下端盖用于固定所述脚架。
  14. 根据权利要求13所述的安装机构，其特征在于，所述安装机构还包括防尘套，所述防尘套夹设在所述从动件和所述下端盖之间。
  15. 根据权利要求12所述的安装机构，其特征在于，所述滑轨、端盖和从动件为中空结构，用于供连接所述载体和中心架的转接件穿过。
  16. 根据权利要求7至15中任一项所述的安装机构，其特征在于，所述安装机构还包括防尘盖，所述滑轨容纳在所述防尘盖内。
  17. 根据权利要求16所述的安装机构，其特征在于，所述防尘盖与所述支撑件固定。
  18. 根据权利要求16或17所述的安装机构，其特征在于，所述防尘盖的顶端开设有安装口，所述支撑件用于与所述滚珠配合的部分穿过所述安装口伸入到所述防尘盖内。
  19. 根据权利要求16至18中任一项所述的安装机构，其特征在于，所述防尘盖内形成有多个定位凸起。
  20. 根据权利要求11所述的安装机构，其特征在于，所述旋转部还包括转轴；
    所述转轴的底端与所述从动件固定，所述转轴的顶端用于与所述支撑部转动连接。
  21. 根据权利要求20所述的安装机构，其特征在于，所述转轴的顶端与所述支撑部螺纹连接；或者，
    所述转轴的顶端形成有一个或者多个齿，用于与所述支撑部上形成的一个或多个齿啮合。
  22. 根据权利要求20或21所述的安装机构，其特征在于，所述转轴为空心轴。
  23. 根据权利要求6所述的安装机构，其特征在于，所述第一轴承为球轴承，所述旋转部包括球杆，所述球杆的球头端容纳在所述球轴承的球窝内，所述球杆的另一端所述驱动部传动连接，且所述球杆还用于与所述脚架固定。
  24. 根据权利要求6至23任一项所述的安装机构，其特征在于，所述支撑部与所述中心架为一体成型的一体件。
  25. 根据权利要求1至24中任一项所述的安装机构，其特征在于，所述驱动部包括电机以及传动部件，所述电机通过传动部件与所述旋转部传动连接。
  26. 根据权利要求25所述的安装机构，其特征在于，所述传动部件包括传动齿轮以及传动带，所述传动齿轮与所述电机的输出轴固定，所述传动齿轮通过传动带与所述旋转部传动连接。
  27. 根据权利要求26所述的安装机构，其特征在于，所述驱动部还包括支撑座，所述支撑座用于固定在所述中心架上，所述电机安装在所述支撑座上。
  28. 根据权利要求27所述的安装机构，其特征在于，所述支撑座包括：电机安装座及轴承支撑座，所述轴承支撑座上安装有第二轴承，所述电机安装在所述电机安装座上、且所述电机的输出轴穿过所述第二轴承与所述传动齿轮固定。
  29. 根据权利要求25至28中任一项所述的安装机构，其特征在于，所述驱动部还包括电机保护盖，所述电机保护盖盖设在所述电机的外侧。
  30. 根据权利要求29所述的安装机构，其特征在于，所述电机保护盖上还设置有LED模块，所述LED模块用于指示所述无人机的飞控状态和/或电量 状态。
  31. 根据权利要求25至30中任一项所述的安装机构，其特征在于，所述载体为云台，所述电机还用于驱动所述云台的偏航轴。
  32. 一种无人机的起落架，其特征在于，包括：脚架以及安装机构；
    所述脚架设置在所述无人机的中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体；
    所述安装机构包括：旋转部以及驱动部；
    所述旋转部用于与所述中心架转动连接，且与所述脚架连接；
    所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
  33. 根据权利要求32所述的起落架，其特征在于，所述载体为云台。
  34. 根据权利要求32或33所述的起落架，其特征在于，所述有效载荷为成像装置。
  35. 根据权利要求32至34中任一项所述的起落架，其特征在于，所述旋转部为沿轴向的中空结构，用于连接所述载体和中心架的转接件穿过所述中空结构。
  36. 根据权利要求32至35中任一项所述的起落架，其特征在于，所述安装机构还包括支撑部，所述支撑部用于与所述中心架固定连接，所述旋转部与所述支撑部转动连接。
  37. 根据权利要求36所述的起落架，其特征在于，所述支撑部为第一轴承，所述旋转部至少有一部分安装在所述第一轴承内，以使所述旋转部可绕所述第一轴承的轴线转动。
  38. 根据权利要求37所述的起落架，其特征在于，所述第一轴承为滚动轴承，所述滚动轴承包括：支撑件、滚珠和滑轨；
    所述支撑件用于与所述中心架固定；
    所述滚珠设置在所述支撑件和滑轨之间；
    所述滑轨用于与所述旋转部的接触位置抵持。
  39. 根据权利要求38所述的起落架，其特征在于，所述支撑件包括上支撑件和下支撑件，所述滑轨包括：上滑轨和下滑轨；
    所述上支撑件和所述上滑轨之间以及所述下支撑件和所述下滑轨之间均设置有所述滚珠；
    所述旋转部的一部分夹设在所述上滑轨和下滑轨之间。
  40. 根据权利要求39所述的起落架，其特征在于，所述上支撑件为多个且均匀设置在所述上滑轨的外边沿；和/或，
    所述下支撑件为多个且均匀设置在所述下滑轨的外边沿。
  41. 根据权利要求39或40所述的起落架，其特征在于，所述上支撑件与所述上滑轨之间设置有多个滚珠，和/或，所述下支撑件与所述下滑轨之间设置有多个滚珠。
  42. 根据权利要求38至41中任一项所述的起落架，其特征在于，所述旋转部包括从动件，所述从动件与所述驱动部传动连接、且所述从动件与所述支撑部转动连接。
  43. 根据权利要求42所述的起落架，其特征在于，所述旋转部还包括端盖，所述端盖与所述从动件固定、且与所述支撑部转动连接，所述端盖还用于固定所述脚架。
  44. 根据权利要求43所述的起落架，其特征在于，所述端盖包括上端盖和下端盖，所述从动件与所述上端盖和下端盖固定、且所述从动件设置在所述上端盖和下端盖之间，所述上端盖与所述支撑部转动连接，所述下端盖用于固定所述脚架。
  45. 根据权利要求44所述的起落架，其特征在于，所述安装机构还包括防尘套，所述防尘套夹设在所述从动件和所述下端盖之间。
  46. 根据权利要求43所述的起落架，其特征在于，所述滑轨、端盖和从动件为中空结构，用于供连接所述载体和中心架的转接件穿过。
  47. 根据权利要求38至46中任一项所述的起落架，其特征在于，所述安装机构还包括防尘盖，所述滑轨容纳在所述防尘盖内。
  48. 根据权利要求47所述的起落架，其特征在于，所述防尘盖与所述支撑件固定。
  49. 根据权利要求47或48所述的起落架，其特征在于，所述防尘盖的顶端开设有安装口，所述支撑件用于与所述滚珠配合的部分穿过所述安装口伸入到所述防尘盖内。
  50. 根据权利要求47至49中任一项所述的起落架，其特征在于，所述防尘盖内形成有多个定位凸起。
  51. 根据权利要求42所述的起落架，其特征在于，所述旋转部还包括转轴；
    所述转轴的底端与所述从动件固定，所述转轴的顶端用于与所述支撑部转动连接。
  52. 根据权利要求51所述的起落架，其特征在于，所述转轴的顶端与所述支撑部螺纹连接；或者，
    所述转轴的顶端形成有一个或者多个齿，用于与所述支撑部上形成的一个或多个齿啮合。
  53. 根据权利要求51或52所述的起落架，其特征在于，所述转轴为空心轴。
  54. 根据权利要求37所述的起落架，其特征在于，所述第一轴承为球轴承，所述旋转部包括球杆，所述球杆的球头端容纳在所述球轴承的球窝内，所述球杆的另一端所述驱动部传动连接，且所述球杆还用于与所述脚架固定。
  55. 根据权利要求37至54任一项所述的起落架，其特征在于，所述支撑部与所述中心架为一体成型的一体件。
  56. 根据权利要求32至55中任一项所述的起落架，其特征在于，所述驱动部包括电机以及传动部件，所述电机通过传动部件与所述旋转部传动连接。
  57. 根据权利要求56所述的起落架，其特征在于，所述传动部件包括传动齿轮以及传动带，所述传动齿轮与所述电机的输出轴固定，所述传动齿轮通过传动带与所述旋转部传动连接。
  58. 根据权利要求57所述的起落架，其特征在于，所述驱动部还包括支撑座，所述支撑座用于固定在所述中心架上，所述电机安装在所述支撑座上。
  59. 根据权利要求58所述的起落架，其特征在于，所述支撑座包括：电机安装座及轴承支撑座，所述轴承支撑座上安装有第二轴承，所述电机安装在所述电机安装座上、且所述电机的输出轴穿过所述第二轴承与所述传动齿轮固定。
  60. 根据权利要求56至59中任一项所述的起落架，其特征在于，所述驱动部还包括电机保护盖，所述电机保护盖盖设在所述电机的外侧。
  61. 根据权利要求60所述的起落架，其特征在于，所述电机保护盖上还 设置有LED模块，所述LED模块用于指示所述无人机的飞控状态和/或电量状态。
  62. 根据权利要求56至61中任一项所述的起落架，其特征在于，所述载体为云台，所述电机还用于驱动所述云台的偏航轴。
  63. 根据权利要求32至62任一项所述的起落架，其特征在于，所述脚架为碳纤维脚架。
  64. 一种无人机的机架，其特征在于，包括：中心架、脚架以及安装机构；
    所述脚架设置在所述中心架的下方、且所述中心架的下方还设置有用于搭载有效载荷的载体；
    所述安装机构包括：旋转部以及驱动部；
    所述旋转部用于与所述中心架转动连接，且与所述脚架连接；
    所述驱动部用于在所述载体旋转时驱动所述旋转部旋转。
  65. 根据权利要求64所述的机架，其特征在于，所述载体为云台。
  66. 根据权利要求64或65所述的机架，其特征在于，所述有效载荷为成像装置。
  67. 根据权利要求64至66中任一项所述的机架，其特征在于，所述旋转部为沿轴向的中空结构，用于连接所述载体和中心架的转接件穿过所述中空结构。
  68. 根据权利要求64至67中任一项所述的机架，其特征在于，所述安装机构还包括支撑部，所述支撑部用于与所述中心架固定连接，所述旋转部与所述支撑部转动连接。
  69. 根据权利要求68所述的机架，其特征在于，所述支撑部为第一轴承，所述旋转部至少有一部分安装在所述第一轴承内，以使所述旋转部可绕所述第一轴承的轴线转动。
  70. 根据权利要求69所述的机架，其特征在于，所述第一轴承为滚动轴承，所述滚动轴承包括：支撑件、滚珠和滑轨；
    所述支撑件用于与所述中心架固定；
    所述滚珠设置在所述支撑件和滑轨之间；
    所述滑轨用于与所述旋转部的接触位置抵持。
  71. 根据权利要求70所述的机架，其特征在于，所述支撑件包括上支撑件和下支撑件，所述滑轨包括：上滑轨和下滑轨；
    所述上支撑件和所述上滑轨之间以及所述下支撑件和所述下滑轨之间均设置有所述滚珠；
    所述旋转部的一部分夹设在所述上滑轨和下滑轨之间。
  72. 根据权利要求71所述的机架，其特征在于，所述上支撑件为多个且均匀设置在所述上滑轨的外边沿；和/或，
    所述下支撑件为多个且均匀设置在所述下滑轨的外边沿。
  73. 根据权利要求71或72所述的机架，其特征在于，所述上支撑件与所述上滑轨之间设置有多个滚珠，和/或，所述下支撑件与所述下滑轨之间设置有多个滚珠。
  74. 根据权利要求70至73中任一项所述的机架，其特征在于，所述旋转部包括从动件，所述从动件与所述驱动部传动连接、且所述从动件与所述支撑部转动连接。
  75. 根据权利要求74所述的机架，其特征在于，所述旋转部还包括端盖，所述端盖与所述从动件固定、且与所述支撑部转动连接，所述端盖还用于固定所述脚架。
  76. 根据权利要求75所述的机架，其特征在于，所述端盖包括上端盖和下端盖，所述从动件与所述上端盖和下端盖固定、且所述从动件设置在所述上端盖和下端盖之间，所述上端盖与所述支撑部转动连接，所述下端盖用于固定所述脚架。
  77. 根据权利要求76所述的机架，其特征在于，所述安装机构还包括防尘套，所述防尘套夹设在所述从动件和所述下端盖之间。
  78. 根据权利要求75所述的机架，其特征在于，所述滑轨、端盖和从动件为中空结构，用于供连接所述载体和中心架的转接件穿过。
  79. 根据权利要求70至78中任一项所述的机架，其特征在于，所述安装机构还包括防尘盖，所述滑轨容纳在所述防尘盖内。
  80. 根据权利要求79所述的机架，其特征在于，所述防尘盖与所述支撑件固定。
  81. 根据权利要求79或80所述的机架，其特征在于，所述防尘盖的顶 端开设有安装口，所述支撑件用于与所述滚珠配合的部分穿过所述安装口伸入到所述防尘盖内。
  82. 根据权利要求79至81中任一项所述的机架，其特征在于，所述防尘盖内形成有多个定位凸起。
  83. 根据权利要求74所述的机架，其特征在于，所述旋转部还包括转轴；
    所述转轴的底端与所述从动件固定，所述转轴的顶端用于与所述支撑部转动连接。
  84. 根据权利要求83所述的机架，其特征在于，所述转轴的顶端与所述支撑部螺纹连接；或者，
    所述转轴的顶端形成有一个或者多个齿，用于与所述支撑部上形成的一个或多个齿啮合。
  85. 根据权利要求83或84所述的机架，其特征在于，所述转轴为空心轴。
  86. 根据权利要求69所述的机架，其特征在于，所述第一轴承为球轴承，所述旋转部包括球杆，所述球杆的球头端容纳在所述球轴承的球窝内，所述球杆的另一端所述驱动部传动连接，且所述球杆还用于与所述脚架固定。
  87. 根据权利要求69至86任一项所述的机架，其特征在于，所述支撑部与所述中心架为一体成型的一体件。
  88. 根据权利要求64至87中任一项所述的机架，其特征在于，所述驱动部包括电机以及传动部件，所述电机通过传动部件与所述旋转部传动连接。
  89. 根据权利要求88所述的机架，其特征在于，所述传动部件包括传动齿轮以及传动带，所述传动齿轮与所述电机的输出轴固定，所述传动齿轮通过传动带与所述旋转部传动连接。
  90. 根据权利要求89所述的机架，其特征在于，所述驱动部还包括支撑座，所述支撑座用于固定在所述中心架上，所述电机安装在所述支撑座上。
  91. 根据权利要求90所述的机架，其特征在于，所述支撑座包括：电机安装座及轴承支撑座，所述轴承支撑座上安装有第二轴承，所述电机安装在所述电机安装座上、且所述电机的输出轴穿过所述第二轴承与所述传动齿轮固定。
  92. 根据权利要求88至91中任一项所述的机架，其特征在于，所述驱 动部还包括电机保护盖，所述电机保护盖盖设在所述电机的外侧。
  93. 根据权利要求92所述的机架，其特征在于，所述电机保护盖上还设置有LED模块，所述LED模块用于指示所述无人机的飞控状态和/或电量状态。
  94. 根据权利要求88至93中任一项所述的机架，其特征在于，所述载体为云台，所述电机还用于驱动所述云台的偏航轴。
  95. 根据权利要求64至94任一项所述的机架，其特征在于，所述脚架为碳纤维脚架。
  96. 一种无人机，其特征在于，包括：中心架、脚架、安装机构以及云台；
    所述脚架和云台设置在所述中心架的下方、且所述云台用于搭载有效载荷；
    所述安装机构包括：旋转部以及驱动部；
    所述旋转部用于与所述中心架转动连接，且与所述脚架连接；
    所述驱动部用于在所述云台旋转时驱动所述旋转部旋转。
  97. 根据权利要求96所述的无人机，其特征在于，所述有效载荷为成像装置。
  98. 根据权利要求96或97所述的无人机，其特征在于，所述旋转部为沿轴向的中空结构，用于连接所述云台和中心架的转接件穿过所述中空结构。
  99. 根据权利要求96至98中任一项所述的无人机，其特征在于，所述安装机构还包括支撑部，所述支撑部用于与所述中心架固定连接，所述旋转部与所述支撑部转动连接。
  100. 根据权利要求99所述的无人机，其特征在于，所述支撑部为第一轴承，所述旋转部至少有一部分安装在所述第一轴承内，以使所述旋转部可绕所述第一轴承的轴线转动。
  101. 根据权利要求100所述的无人机，其特征在于，所述第一轴承为滚动轴承，所述滚动轴承包括：支撑件、滚珠和滑轨；
    所述支撑件用于与所述中心架固定；
    所述滚珠设置在所述支撑件和滑轨之间；
    所述滑轨用于与所述旋转部的接触位置抵持。
  102. 根据权利要求101所述的无人机，其特征在于，所述支撑件包括上 支撑件和下支撑件，所述滑轨包括：上滑轨和下滑轨；
    所述上支撑件和所述上滑轨之间以及所述下支撑件和所述下滑轨之间均设置有所述滚珠；
    所述旋转部的一部分夹设在所述上滑轨和下滑轨之间。
  103. 根据权利要求102所述的无人机，其特征在于，所述上支撑件为多个且均匀设置在所述上滑轨的外边沿；和/或，
    所述下支撑件为多个且均匀设置在所述下滑轨的外边沿。
  104. 根据权利要求102或103所述的无人机，其特征在于，所述上支撑件与所述上滑轨之间设置有多个滚珠，和/或，所述下支撑件与所述下滑轨之间设置有多个滚珠。
  105. 根据权利要求101至104中任一项所述的无人机，其特征在于，所述旋转部包括从动件，所述从动件与所述驱动部传动连接、且所述从动件与所述支撑部转动连接。
  106. 根据权利要求105所述的无人机，其特征在于，所述旋转部还包括端盖，所述端盖与所述从动件固定、且与所述支撑部转动连接，所述端盖还用于固定所述脚架。
  107. 根据权利要求106所述的无人机，其特征在于，所述端盖包括上端盖和下端盖，所述从动件与所述上端盖和下端盖固定、且所述从动件设置在所述上端盖和下端盖之间，所述上端盖与所述支撑部转动连接，所述下端盖用于固定所述脚架。
  108. 根据权利要求107所述的无人机，其特征在于，所述安装机构还包括防尘套，所述防尘套夹设在所述从动件和所述下端盖之间。
  109. 根据权利要求106所述的无人机，其特征在于，所述滑轨、端盖和从动件为中空结构，用于供连接所述云台和中心架的转接件穿过。
  110. 根据权利要求101至109中任一项所述的无人机，其特征在于，所述安装机构还包括防尘盖，所述滑轨容纳在所述防尘盖内。
  111. 根据权利要求110所述的无人机，其特征在于，所述防尘盖与所述支撑件固定。
  112. 根据权利要求110或111所述的无人机，其特征在于，所述防尘盖的顶端开设有安装口，所述支撑件用于与所述滚珠配合的部分穿过所述安装 口伸入到所述防尘盖内。
  113. 根据权利要求110至112中任一项所述的无人机，其特征在于，所述防尘盖内形成有多个定位凸起。
  114. 根据权利要求105所述的无人机，其特征在于，所述旋转部还包括转轴；
    所述转轴的底端与所述从动件固定，所述转轴的顶端用于与所述支撑部转动连接。
  115. 根据权利要求114所述的无人机，其特征在于，所述转轴的顶端与所述支撑部螺纹连接；或者，
    所述转轴的顶端形成有一个或者多个齿，用于与所述支撑部上形成的一个或多个齿啮合。
  116. 根据权利要求114或115所述的无人机，其特征在于，所述转轴为空心轴。
  117. 根据权利要求100所述的无人机，其特征在于，所述第一轴承为球轴承，所述旋转部包括球杆，所述球杆的球头端容纳在所述球轴承的球窝内，所述球杆的另一端所述驱动部传动连接，且所述球杆还用于与所述脚架固定。
  118. 根据权利要求100至117任一项所述的无人机，其特征在于，所述支撑部与所述中心架为一体成型的一体件。
  119. 根据权利要求96至118中任一项所述的无人机，其特征在于，所述驱动部包括电机以及传动部件，所述电机通过传动部件与所述旋转部传动连接。
  120. 根据权利要求119所述的无人机，其特征在于，所述传动部件包括传动齿轮以及传动带，所述传动齿轮与所述电机的输出轴固定，所述传动齿轮通过传动带与所述旋转部传动连接。
  121. 根据权利要求120所述的无人机，其特征在于，所述驱动部还包括支撑座，所述支撑座用于固定在所述中心架上，所述电机安装在所述支撑座上。
  122. 根据权利要求121所述的无人机，其特征在于，所述支撑座包括：电机安装座及轴承支撑座，所述轴承支撑座上安装有第二轴承，所述电机安装在所述电机安装座上、且所述电机的输出轴穿过所述第二轴承与所述传动 齿轮固定。
  123. 根据权利要求119至122中任一项所述的无人机，其特征在于，所述驱动部还包括电机保护盖，所述电机保护盖盖设在所述电机的外侧。
  124. 根据权利要求124所述的无人机，其特征在于，所述电机保护盖上还设置有LED模块，所述LED模块用于指示所述无人机的飞控状态和/或电量状态。
  125. 根据权利要求119至124中任一项所述的无人机，其特征在于，所述电机还用于驱动所述云台的偏航轴。
  126. 根据权利要求96至125任一项所述的无人机，其特征在于，所述脚架为碳纤维脚架。
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