CN107719685B - Cloud platform, shooting subassembly and unmanned vehicles - Google Patents

Cloud platform, shooting subassembly and unmanned vehicles Download PDF

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Publication number
CN107719685B
CN107719685B CN201711041677.XA CN201711041677A CN107719685B CN 107719685 B CN107719685 B CN 107719685B CN 201711041677 A CN201711041677 A CN 201711041677A CN 107719685 B CN107719685 B CN 107719685B
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China
Prior art keywords
shaft
motor assembly
rotating
transmission line
mounting
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CN201711041677.XA
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CN107719685A (en
Inventor
余春
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to CN201711041677.XA priority Critical patent/CN107719685B/en
Publication of CN107719685A publication Critical patent/CN107719685A/en
Priority to PCT/CN2018/086067 priority patent/WO2019056766A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

The invention relates to the technical field of aircrafts, and provides a cloud deck, a shooting device and an unmanned aerial vehicle. The cloud platform includes pitch axis motor element, connects the hub arm, course axle motor element and transmission line. The pitch shaft motor assembly comprises a first rotating shaft; one end of the connecting shaft arm is connected with the pitching shaft motor assembly, the other end of the connecting shaft arm, which is far away from the pitching shaft motor assembly, is connected with the course shaft motor assembly, and the pitching shaft motor assembly is used for driving the connecting shaft arm and the course shaft motor assembly to rotate around a pitching shaft; the transmission line part sets up in pitch axis motor element and connecting shaft arm, and the first pivot is located to the duplex winding, and the transmission line is required to satisfy around establishing the number of turns of first pivot: n is more than or equal to 1 and less than or equal to 3, wherein n is the number of turns of the transmission line around the first rotating shaft. In the holder, the transmission line is partially arranged in the pitching shaft motor assembly and wound on the first rotating shaft, and the number of winding turns of the transmission line on the first rotating shaft is more than or equal to 1 and less than or equal to 3, so that the structure of the holder is more compact.

Description

Cloud platform, shooting subassembly and unmanned vehicles
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of aircrafts, in particular to a cloud deck, a shooting assembly with the cloud deck and an unmanned aerial vehicle with the shooting assembly.
[ background of the invention ]
An Unmanned Aerial Vehicle (UAV) is a new concept equipment in rapid development, and has the advantages of flexibility, quick response, unmanned operation and low operation requirement. The unmanned aerial vehicle can realize the functions of real-time image transmission and high-risk area detection by carrying various sensors or camera equipment, and is a powerful supplement for satellite remote sensing and traditional aerial remote sensing. At present, the application range of unmanned aircrafts is widened to three fields of military affairs, scientific research and civil use, and the unmanned aircrafts are particularly widely applied to the fields of electric power communication, meteorology, agriculture, oceans, exploration, photography, disaster prevention and reduction, crop yield estimation, drug control and smuggling, border patrol, public security and counter terrorism and the like.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems: because the functions required by the holder are more and more, the volume and the weight of the holder are larger.
[ summary of the invention ]
In order to solve the technical problem, embodiments of the present invention provide a compact tripod head, a shooting assembly with the tripod head, and an unmanned aerial vehicle with the shooting assembly.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a head, comprising:
a pitch axis motor assembly comprising a first shaft;
a connecting shaft arm;
the device comprises a pitching shaft motor assembly, a connecting shaft arm, a pitching shaft motor assembly and a pitching shaft motor assembly, wherein one end of the connecting shaft arm is connected with the pitching shaft motor assembly, the other end of the connecting shaft arm, which is far away from the pitching shaft motor assembly, is connected with the pitching shaft motor assembly, and the pitching shaft motor assembly is used for driving the connecting shaft arm and the pitching shaft motor assembly to rotate around a pitching shaft;
the transmission line, transmission line part set up in pitch axis motor element with in the connecting shaft arm, the duplex winding is located first pivot, the transmission line is around establishing the number of turns of establishing of first pivot needs to satisfy: n is more than or equal to 1 and less than or equal to 3, wherein n is the number of turns of the transmission line around the first rotating shaft.
Optionally, the transmission line is wound around the first rotating shaft for one turn.
Optionally, the transmission line is a micro coaxial line.
Optionally, the pitch shaft motor assembly includes a first fixing portion, a first rotating portion and the first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, the first rotating shaft is fixedly mounted on the first rotating portion, and the first rotating shaft is disposed along the pitch shaft;
one end of the connecting shaft arm is mounted on the first rotating part;
the transmission line part is arranged in the first fixing part.
Optionally, the connecting shaft arm is provided with an accommodating cavity;
the transmission line penetrates through the accommodating cavity;
the circuit board is arranged in the containing cavity and is respectively electrically connected with the pitching shaft motor assembly, the course shaft motor assembly and the transmission line.
Optionally, the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, one end of the first connecting portion is sleeved on the first rotating portion, and one end of the second connecting portion is connected to the heading shaft motor assembly;
the second connecting part is provided with the accommodating cavity.
Optionally, the cradle head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted on the first fixing portion;
the mounting shaft arm is provided with a wiring channel, and one end of the transmission line penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
Optionally, the transmission line includes a first connection portion, a pitch axis winding portion, a second connection portion, and a third connection portion;
the first connecting line part is arranged in a wiring channel of the mounting shaft arm, one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part;
the pitching axis winding part is arranged in the first fixing part and wound around the first rotating shaft, the number of turns of the pitching axis winding part wound around the first rotating shaft is one, and one end, far away from the first connecting line part, of the pitching axis winding part is connected with the second connecting line part and the third connecting line part;
the second connecting part is arranged in the second connecting part, and one end of the second connecting part, which is far away from the pitching axis winding part, is connected with the circuit board;
the third connecting portion is disposed in the second connecting portion.
Optionally, the cradle head comprises a mount comprising a shock absorbing plate and a shock absorbing element;
one end of the shock absorption element is mounted on the shock absorption plate, and the other end of the shock absorption element is used for being mounted on the unmanned aerial vehicle;
and one end of the mounting shaft arm, which is far away from the first fixing part, is mounted on the damping plate.
Optionally, the shock absorbing element comprises a first mounting end, a second mounting end and a connecting column;
the connecting columns are bent, at least three connecting columns are connected between the first mounting end part and the second mounting end part, and the connecting columns are approximately encircled to form an oval shape;
the first installation end portion is fixedly installed on the damping plate, and the second installation end portion is used for being installed on the unmanned aerial vehicle.
Optionally, the connecting shaft arm is "L" shaped, and one end of the first connecting portion is perpendicularly connected to one end of the second connecting portion.
Optionally, the heading axis motor assembly includes a second fixed portion, a second rotating portion and a second rotating shaft, the second rotating shaft is movably mounted on the second fixed portion, and the second rotating shaft is fixedly mounted on the second rotating portion;
one end of the second connecting part, which is far away from the first connecting part, is sleeved on the second fixing part;
the second rotating part is used for connecting the camera device.
Optionally, the connecting shaft arm is provided with an accommodating cavity;
the transmission line penetrates through the accommodating cavity;
the circuit board is arranged in the containing cavity and is respectively electrically connected with the pitching shaft motor assembly, the course shaft motor assembly and the transmission line.
Optionally, the cradle head comprises a mounting shaft arm and a mounting seat;
one end of the mounting shaft arm is fixedly mounted on the pitching shaft motor component, and the other end of the mounting shaft arm is fixedly mounted on the mounting seat;
the mounting seat is used for being mounted on the unmanned aerial vehicle.
In order to solve the technical problem, the embodiment of the invention also adopts the following technical scheme:
the shooting assembly comprises a camera device and the holder, wherein the course shaft motor assembly is connected with the camera device.
Optionally, the pan/tilt head comprises a roll axis motor assembly;
the camera device comprises a lens, a lens seat and a shell;
the camera lens is fixed in the lens mount, the cross roller motor assembly install in the casing, the cross roller motor assembly with the lens mount is connected, the cross roller motor assembly can drive the camera lens with the lens mount for the casing rotates around the cross roller.
Optionally, the transverse roller motor assembly includes a third fixing portion, a third rotating portion and a third rotating shaft, the third rotating shaft is movably mounted on the third fixing portion, and the third rotating shaft is fixedly mounted on the third rotating portion;
the third fixing part is fixedly arranged on the shell;
the lens mount is sleeved on the third rotating portion, and the third rotating portion can drive the lens mount and the lens to rotate relative to the shell.
In order to solve the technical problem, the embodiment of the invention also adopts the following technical scheme:
a head, comprising:
a pitch axis motor assembly comprising a first shaft;
the pitch shaft motor assembly is rotatably connected with the roll shaft motor assembly, and the pitch shaft motor assembly is used for driving the roll shaft motor assembly to rotate around a pitch shaft;
the transmission line, transmission line part set up in the pitch axis motor element, the duplex winding is located first pivot, the transmission line is around establishing the number of turns that establish of first pivot needs to satisfy: n is more than or equal to 1 and less than or equal to 3, wherein n is the number of turns of the transmission line around the first rotating shaft.
Optionally, the transmission line is wound around the first rotating shaft for one turn.
Optionally, the transmission line is a micro coaxial line.
Optionally, the pitch shaft motor assembly includes a first fixing portion, a first rotating portion and a first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, the first rotating shaft is fixedly mounted on the first rotating portion, and the first rotating shaft is disposed along the pitch shaft;
the transmission line part is arranged in the first fixing part.
Optionally, the holder includes a connecting shaft arm, one end of the connecting shaft arm is connected to the first rotating portion, and the other end of the connecting shaft arm away from the first rotating portion is rotatably connected to the roll motor assembly.
Optionally, the connecting shaft arm is provided with an accommodating cavity;
the transmission line penetrates through the accommodating cavity;
the circuit board is arranged in the accommodating cavity and is respectively electrically connected with the pitching shaft motor assembly, the transverse rolling shaft motor assembly and the transmission line.
Optionally, the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, one end of the first connecting portion is sleeved on the first rotating portion, and one end of the second connecting portion is rotatably connected to the roll motor assembly;
the second connecting part is provided with the accommodating cavity.
Optionally, the cradle head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted on the first fixing portion;
the mounting shaft arm is provided with a wiring channel, and one end of the transmission line penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
Optionally, the transmission line includes a first connection portion, a pitch axis winding portion, a second connection portion, and a third connection portion;
the first connecting line part is arranged in a wiring channel of the mounting shaft arm, one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part;
the pitching axis winding part is arranged in the first fixing part and wound around the first rotating shaft, the number of turns of the pitching axis winding part wound around the first rotating shaft is one, and one end, far away from the first connecting line part, of the pitching axis winding part is connected with the second connecting line part and the third connecting line part;
the second connecting part is arranged in the second connecting part, and one end of the second connecting part, which is far away from the pitching axis winding part, is connected with the circuit board;
the third connecting portion is disposed in the second connecting portion.
Optionally, the pan/tilt head includes a connecting shaft arm, one end of the connecting shaft arm is connected to the pitch shaft motor assembly, and the other end of the connecting shaft arm is rotatably connected to the roll shaft motor assembly;
the connecting shaft arm is provided with an accommodating cavity;
the transmission line penetrates through the accommodating cavity;
the circuit board is arranged in the accommodating cavity and is respectively electrically connected with the pitching shaft motor assembly, the transverse rolling shaft motor assembly and the transmission line.
Optionally, the cradle head comprises a mounting shaft arm and a mounting seat;
one end of the mounting shaft arm is fixedly mounted on the pitching shaft motor component, and the other end of the mounting shaft arm is fixedly mounted on the mounting seat;
the mounting seat is used for being mounted on the unmanned aerial vehicle.
In order to solve the technical problem, the embodiment of the invention also adopts the following technical scheme:
a shooting assembly comprises a camera device and the cloud platform, wherein the horizontal roller motor assembly is connected with the camera device, and the pitching shaft motor assembly is used for driving the camera device and the horizontal roller motor assembly to rotate around a pitching shaft.
Optionally, the image capturing apparatus includes a lens, a lens mount, and a housing;
the camera lens is fixed in the lens mount, the cross roller motor assembly is installed in the shell, the cross roller motor assembly is connected with the lens mount and can drive the camera lens and the lens mount to rotate around a cross roller relative to the shell.
Optionally, the transverse roller motor assembly includes a third fixing portion, a third rotating portion and a third rotating shaft, the third rotating shaft is movably mounted on the third fixing portion, and the third rotating shaft is fixedly mounted on the third rotating portion;
the third fixing part is fixedly arranged on the shell;
the lens mount is sleeved on the third rotating portion, and the third rotating portion can drive the lens mount and the lens to rotate relative to the shell.
Optionally, the transmission line portion is wound around the lens mount and electrically connected to a sensor of the image pickup device.
Optionally, the number of turns of the transmission line around the lens mount is one.
Optionally, the pitch shaft motor assembly includes a first fixing portion, a first rotating portion and a first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, the first rotating shaft is fixedly mounted on the first rotating portion, and the first rotating shaft is disposed along the pitch shaft;
the transmission line part is arranged in the first fixing part.
Optionally, the holder comprises a connecting shaft arm and a heading shaft motor assembly, one end of the connecting shaft arm is connected with the first rotating part, and the other end of the connecting shaft arm, which is far away from the first rotating part, is connected with the heading shaft motor assembly;
the course shaft motor assembly is connected with the shell and used for driving the camera device and the transverse rolling shaft motor assembly to rotate around a course shaft;
the pitching shaft motor assembly is used for driving the connecting shaft arm, the course shaft motor assembly, the camera device and the roll shaft motor assembly to rotate around the pitching shaft.
Optionally, the connecting shaft arm is provided with an accommodating cavity;
the transmission line penetrates through the accommodating cavity;
the circuit board is arranged in the accommodating cavity and is respectively electrically connected with the pitching shaft motor assembly, the transverse rolling shaft motor assembly and the transmission line.
Optionally, the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, one end of the first connecting portion is sleeved on the first rotating portion, and one end of the second connecting portion is rotatably connected to the roll motor assembly;
the second connecting part is provided with the accommodating cavity.
Optionally, the cradle head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted on the first fixing portion;
the mounting shaft arm is provided with a wiring channel, and one end of the transmission line penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
Optionally, the transmission line includes a first connecting line portion, a pitch axis winding portion, a second connecting line portion, a third connecting line portion, and a roll axis winding portion;
the first connecting line part is arranged in a wiring channel of the mounting shaft arm, one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part;
the pitching axis winding part is arranged in the first fixing part and wound around the first rotating shaft, the number of turns of the pitching axis winding part wound around the first rotating shaft is one, and one end, far away from the first connecting line part, of the pitching axis winding part is connected with the second connecting line part and the third connecting line part;
the second connecting part is arranged in the second connecting part, and one end of the second connecting part, which is far away from the pitching axis winding part, is connected with the circuit board;
the third connecting part is arranged in the second connecting part, and one end of the third connecting part, which is far away from the pitching axis winding part, is connected with one end of the roll axis winding part;
the transverse rolling shaft winding part is arranged in the shell and wound on the lens mount.
Optionally, the transmission line comprises a sensor wire portion;
one end of the transverse roller winding part, which is far away from the third connecting line part, is connected with the sensor connecting line part;
the sensor connecting part is arranged in the shell and electrically connected with a sensor of the camera device.
Optionally, the heading axis motor assembly includes a second fixed portion, a second rotating portion and a second rotating shaft, the second rotating shaft is movably mounted on the second fixed portion, and the second rotating shaft is fixedly mounted on the second rotating portion;
one end of the connecting shaft arm, which is far away from the first rotating part, is sleeved on the second fixing part;
the second rotating portion is connected to the housing.
In order to solve the technical problem, the embodiment of the invention also adopts the following technical scheme:
an unmanned vehicles, includes the shooting subassembly above.
Compared with the prior art, in the cradle head, the shooting assembly and the unmanned aerial vehicle provided by the embodiment of the invention, the transmission line is partially arranged in the pitching shaft motor assembly and wound around the first rotating shaft, the number of winding turns of the transmission line around the first rotating shaft is 1-3, and the structure of the cradle head is more compact.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a perspective view of a camera module according to an embodiment of the present invention;
FIG. 2 is a perspective view of the camera assembly shown in FIG. 1 from another angle;
FIG. 3 is a perspective view of a further angle of the camera assembly shown in FIG. 1;
FIG. 4 is an exploded view of the camera assembly shown in FIG. 1;
FIG. 5 is a perspective view of the camera assembly shown in FIG. 1 with some components omitted;
FIG. 6 is a perspective view of the mounting shaft arm, the connecting shaft arm, the transmission line, the lens and the lens mount of the photographing assembly shown in FIG. 1;
FIG. 7 is an exploded view of the camera and third motor assembly of the camera assembly shown in FIG. 1;
FIG. 8 is an exploded view of another angle of the camera and third motor assembly of the camera assembly shown in FIG. 1;
fig. 9 is a perspective view of a transmission line, a lens and a lens mount of the photographing assembly shown in fig. 1.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "electrically connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a camera module 300 according to an embodiment of the present invention includes a holder 100 and an image capturing device 200, wherein the holder 100 carries the image capturing device 200 to fix the image capturing device 200, or to optionally adjust an attitude of the image capturing device 200 (e.g., to change a height, an inclination angle, and/or a direction of the image capturing device 200), and to stably maintain the image capturing device 200 at a set attitude. The image capturing device 200 may be an image capturing device, such as a camera, a video camera, a lens, or other portable electronic devices with a capturing function, such as a mobile phone, a tablet computer, or the like, and it is understood that the image capturing device may also be a sensor. The cradle head 100 can be used as an auxiliary device for photographing, monitoring and sampling, and can be applied to, but not limited to, a handheld photographing device, an unmanned aerial vehicle, an unmanned ship, an unmanned vehicle and the like. For example, the cradle head 100 may be mounted with the image capturing apparatus and mounted on an unmanned aerial vehicle to perform aerial work. Alternatively, the pan/tilt head 100 may also carry the image capturing apparatus 200 and be mounted on a handle as a handheld image capturing device to perform operations such as capturing images and recording images, and allow a user to manually operate the pan/tilt head 100 to control the capturing angle of the image capturing apparatus 200.
The present invention will be described in detail below by taking the camera device 200 as an example of a camera and applying the pan/tilt head 100 to an unmanned aerial vehicle.
Referring to fig. 2 to 4, the cradle head 100 includes a mounting base 10, a mounting shaft arm 20, a first motor assembly 30, a connecting shaft arm 40, a second motor assembly 50, a third motor assembly 60 and a transmission line 70. The mounting base 10 is used for mounting the cradle head 100 to the unmanned aerial vehicle. The first motor assembly 30 is mounted to the mounting base 10 through the mounting shaft arm 20. The second motor assembly 50 is mounted to the first motor assembly 30 via the connecting shaft arm 40. The third motor assembly 60 is mounted on the second motor assembly 50, and the third motor assembly 60 is used for mounting the camera device 200. The transmission line 70 is disposed in the mounting shaft arm 20, the connecting shaft arm 40, and the image pickup device 200, and is configured to transmit a control signal to the image pickup device 200.
The first motor assembly 30 is used for driving the connecting shaft arm 40, the second motor assembly 50, the third motor assembly 60 and the camera device 200 to rotate around a first rotation axis P.
The second motor assembly 50 is used for driving the third motor assembly 60 and the camera device 200 to rotate around a second rotation axis Y.
The third motor assembly 60 is used for driving the camera device 200 to rotate around a third rotation axis R.
The first rotation axis P is perpendicular to the second rotation axis Y and the third rotation axis R, and the second rotation axis Y is perpendicular to the third rotation axis R. In this embodiment, the first rotation axis P is a pitch axis, the second rotation axis Y is a course axis, and the third rotation axis R is a roll axis.
The mount 10 includes a shock absorbing plate 102 and a shock absorbing member 104. The shock absorbing plate 102 is a generally rectangular frame including a hollowed-out area 1020. The shock absorbing plate 102 may be made of an elastic material, for example, a plastic material. The four shock absorbing elements 104 are respectively installed at four corners of the shock absorbing plate 102, one end of each shock absorbing element 104 is fixedly installed on the shock absorbing plate 102, and the other end of each shock absorbing element 104 is used for being fixedly installed on the unmanned aerial vehicle. The shock absorbing member 104 includes a first mounting end 1042, a second mounting end 1044, and a connecting post 1046. The connecting columns 1046 are curved, the three connecting columns 1046 are connected between the first mounting end 1042 and the second mounting end 1044, and the three connecting columns 1046 are uniformly distributed and approximately form an ellipse in an enclosing manner. The connecting column 1046 is made of an elastic material, such as a plastic material or a metal material. The first mounting end 1042 is fixedly mounted to the damping plate 102, and the second mounting end 1044 is configured to be fixedly mounted to the UAV. The connecting columns 1046 are curved, the three connecting columns 1046 are connected between the first mounting end 1042 and the second mounting end 1044, the three connecting columns 1046 are uniformly distributed and approximately form an oval shape in an enclosing manner, and vibration generated by the unmanned aerial vehicle in the flight process can be effectively reduced and transferred to the holder 100.
It is understood that in some other embodiments, the number and distribution of the shock absorbing elements 104 may vary according to actual needs, for example, the number of the shock absorbing elements 104 may be 8, four corners of the shock absorbing plate 102 are respectively provided with 4 shock absorbing elements 104, and the middle of four sides of the shock absorbing plate 102 is provided with the remaining 4 shock absorbing elements 104. The shape of the damping plate 102 is not limited to a rectangle and may be changed according to actual requirements, for example, the damping plate 102 may be a circular plate. Alternatively, the shock absorbing member 104 may be omitted and the shock absorbing plate 102 may be directly mounted to the UAV.
It is understood that in some other embodiments, the number of the connecting columns 1046 may be increased according to actual requirements, and it is only required to be at least three, for example, the number of the connecting columns 1046 is 4, and 4 connecting columns 1046 are uniformly distributed, substantially enclosed to form an oval shape, and connected between the first mounting end 1042 and the second mounting end 1044.
One end of the mounting shaft arm 20 is fixedly mounted to the damping plate 102, and the other end is fixedly mounted to the first motor assembly 30. The mounting shaft arm 20 includes a routing channel for the transmission line 70. In this embodiment, one end of the mounting shaft arm 20 is perpendicularly connected to one end of the damper plate 102.
The first motor assembly 30 includes a first fixing portion 302, a first rotating portion 304 and a first rotating shaft 306, wherein the first rotating shaft 306 is movably mounted on the first fixing portion 302, and the first rotating shaft 306 is fixedly mounted on the first rotating portion 304. The first rotating shaft 306 is disposed along the first rotating axis P and is rotatable with the first rotating portion 304 about the first rotating axis P relative to the fixed portion 302. The first fixing portion 302 is fixedly attached to the mounting shaft arm 20, and the first rotating portion 304 is fixedly attached to the connecting shaft arm 40. In the present embodiment, the first motor assembly 30 is a pitch axis motor assembly. The first rotation axis 306 and the first rotation axis P are both parallel to the damper plate 102. One end of the mounting shaft arm 20 is fixed to the first fixing portion 302.
One end of the connecting shaft arm 40 is fixedly attached to the first rotating portion 304, and the other end is fixedly attached to the second motor unit 50. The connecting shaft arm 40 is substantially "L" shaped and includes a first connecting portion 402 and a second connecting portion 404, and one end of the first connecting portion 402 is perpendicularly connected to one end of the second connecting portion 404. The first connecting portion 402 is fixedly sleeved on the first rotating portion 304, and an end of the second connecting portion 404 far away from the first connecting portion 402 is fixedly mounted on the second motor element 50. The second connecting portion 404 is shaped like a flat plate and is parallel to the damper plate 102, the first rotation shaft 306 and the first rotation axis P.
Referring to fig. 5 and fig. 6, the second connecting portion 404 is a hollow body and has a receiving cavity 4042, and the receiving cavity 4042 is used for allowing the transmission line 70 to pass through. A circuit board 4044 is disposed in the accommodating cavity 4042, and the circuit board 4044 is electrically connected to the first motor assembly 30, the second motor assembly 50, and the third motor assembly 60. The control units of the first motor assembly 30, the second motor assembly 50 and the third motor assembly 60 are integrated on the circuit board 4044, a plurality of connectors are arranged on the circuit board 4044, and the circuit board 4044 is connected with the first motor assembly 30, the second motor assembly 50 and the third motor assembly 60 through the plurality of connectors. The circuit board 4044 is disposed in the connecting shaft arm 40, so that the cradle head 100 has a compact structure and the volume of the cradle head 100 is reduced.
It is understood that in some other embodiments, the connecting shaft arm 40 is not limited to the "L" shape, and may have other shapes, for example, the connecting shaft arm 40 is a linear hollow rod shape, and one end of the connecting shaft arm is fixedly mounted to the first rotating part 304, and the other end of the connecting shaft arm is fixedly mounted to the second motor assembly 50.
Referring to fig. 4, the second motor assembly 50 includes a second fixing portion 502, a second rotating portion 504 and a second rotating shaft 506, wherein the second rotating shaft 506 is movably mounted on the second fixing portion 502, and the second rotating shaft 506 is fixedly mounted on the second rotating portion 504. The second rotating shaft 506 is disposed along the second rotating axis Y and is rotatable together with the second rotating portion 504 about the second rotating axis R relative to the second fixing portion 502. The second fixing portion 502 is fixedly mounted on an end of the second connecting portion 404 away from the first connecting portion 402, and the second rotating portion 504 is fixedly mounted on the image pickup apparatus 200. In this embodiment, the second motor assembly 50 is a heading axis motor assembly. The second rotating shaft 506 and the second rotating axis Y are perpendicular to the damping plate 102, the first rotating shaft 306, the first rotating axis P and the second connecting portion 404. An end of the second connecting portion 404 away from the first connecting portion 402 is sleeved on the second fixing portion 502.
Referring to fig. 7 and 8, the third motor assembly 60 includes a third fixed portion 602, a third rotating portion 604 and a third rotating shaft 606, wherein the third rotating shaft 606 is movably mounted on the third fixed portion 602, and the third rotating shaft 606 is fixedly mounted on the third rotating portion 604. The third shaft 606 is disposed along the third rotation axis R and can rotate together with the third rotating portion 604 around the third rotation axis R relative to the third fixing portion 602. The third fixing portion 602 is fixedly attached to the image pickup apparatus 200. In this embodiment, the third motor assembly 60 is a roll motor assembly.
The image pickup apparatus 200 includes a lens 210, a lens holder 220, and a housing 230. The lens 210 is fixed on the lens mount 220, the lens 210 is fixedly connected with the third rotating portion 604, and the third fixing portion 602 is fixedly mounted on the housing 230. The lens 210, the lens holder 220 and the third motor element 60 are all accommodated in the housing 230.
The optical axis of the lens 210 coincides with the third rotation axis R. When the traverse roller motor assembly 60 works, the third rotating portion 604 only drives the lens 210 and the lens mount 220 to rotate, and the housing 220 is stationary, so that the workload of the traverse roller motor assembly 60 is small, the traverse roller motor assembly 60 with smaller power and size can be adopted, and the volume of the holder 100 can be further reduced.
The housing 230 has an opening 2300, and the second rotating portion 504 is inserted into the opening 2300 and is fixedly connected to the housing 230. The second rotating portion 504 is used for driving the lens 210, the lens holder 220, the housing 230 and the third motor assembly 60 to rotate around the second rotation axis Y.
Referring to fig. 9, the transmission line 70 penetrates the mounting shaft arm 20 to connect the shaft arm 40 and the camera device 200 (see fig. 4 and 5). The transmission line 70 includes a first wire connection 700, a pitch axis winding 701, a second wire connection 702, a third wire connection 704, a roll axis winding 706, and a sensor wire connection 708.
The first connecting line part 700 is disposed in the routing channel of the mounting shaft arm 20, and one end of the first connecting line part is used to be electrically connected to a control module in the fuselage of the unmanned aerial vehicle, and the other end of the first connecting line part is electrically connected to one end of the pitching shaft winding part 701.
The pitch axis winding part 701 is disposed in the first fixing part 302 and surrounds the first rotating shaft 306 (see fig. 3). The number of turns of the winding of the pitch axis winding part 701 around the first rotating shaft 306 is 1, the pitch axis winding part 701 and the first rotating shaft 306 are arranged at an interval, and when the first rotating shaft 306 rotates, the pitch axis winding part 701 does not rotate along with the first rotating shaft 306. An end of the pitch axis winding portion 701 away from the first connection portion 700 connects the second connection portion 702 and the third connection portion 704. The pitch axis winding part 701 is disposed in the first fixing part 302 and wound around the first rotating shaft 306, and does not affect the rotation of the first rotating shaft 306.
It is understood that in some other embodiments, the number of turns of the pitch axis winding part 701 around the first rotation shaft 306 may be less than or equal to 3, for example, 2 or 3, and when the number of turns of the pitch axis winding part 701 around the first rotation shaft 306 is 2 or 3, the flexibility of the rotation of the first rotation shaft 306 may not be limited by the length of the pitch axis winding part 701 during the rotation of the first rotation shaft 306 relative to the first fixing part 302 from an initial state to a maximum limit angle in a first direction or during the rotation to a maximum limit angle in a direction opposite to the first direction; meanwhile, the pitch axis winding part 701 is not broken by the rotation of the first rotation shaft 306, and is not piled up in the first rotation shaft 306 or wound. When the number of turns of the pitch axis winding part 701 around the first rotating shaft 306 is more than 3, the length of the pitch axis winding part 701 is too long, which may cause the volume of the first fixing part 302 to be too large.
The second connecting portion 702 is disposed in the connecting shaft arm 40 and located at the intersection of the first connecting portion 402 and the second connecting portion 404. One end of the second connecting line part 702 far away from the pitch axis winding part 701 is connected with the circuit board 4044, and is used for receiving a control signal from a control module in the unmanned aerial vehicle body through the first connecting line part 700 and the pitch axis winding part 701.
The third connecting portion 704 is disposed in the second connecting portion 404. An end of the third connecting line portion 704 remote from the pitch axis winding portion 701 is connected to an end of the roll axis winding portion 706.
The traverse shaft winding portion 706 is disposed in the camera housing 230 and wound around the lens mount 220 inside the camera device 200, and the number of windings of the traverse shaft winding portion 706 wound around the lens mount 220 is one. An end of the roll bobbin 706 remote from the third wire 704 is connected to the sensor wire 708.
The sensor connecting portion 708 is provided in the housing 230 and electrically connected to the sensor of the image pickup device 200.
The first connecting portion 700 is disposed in the routing channel of the mounting shaft arm 20, the pitching axis winding portion 701 is disposed in the first fixing portion 302 and wound around the first rotating shaft 306, the second connecting portion 702 is disposed in the connecting shaft arm 40, the third connecting portion 704 is disposed in the second connecting portion 404, the traverse shaft winding portion 706 is disposed in the camera device 200 and wound around the lens mount 220 inside the camera device 200, and the sensor connecting portion 708 is disposed in the camera device 200, so that the transmission line 70 is entirely disposed inside the pan/tilt head 100, and the space occupied by the transmission line 70 in the pan/tilt head 100 can be reduced, thereby making the structure of the pan/tilt head 100 more compact.
In the present embodiment, the transmission line 70 is a micro coaxial cable. It is understood that in some other embodiments, the transmission line 70 may be a Flexible Printed Circuit Board (FPCB) bus, and may also be a transmission line made of the same material or different materials, such as a single-core line or other types of signal lines and combinations of multiple signal lines.
It is understood that in some other embodiments, the second motor assembly 50 may be omitted, the connecting shaft arm 40 is connected to the third fixing portion 602 through the housing 230, the first motor assembly 30 is configured to drive the connecting shaft arm 40, the third motor assembly 60 and the camera device 200 to rotate around the first rotation axis P, and the third motor assembly 60 is configured to drive the lens 210 and the lens holder 220 to rotate around the third rotation axis R.
It will be appreciated that in some other embodiments, the third motor assembly 60 may be omitted, the first motor assembly 30 is used to drive the connecting shaft arm 40, the second motor assembly 50 and the camera device 200 to rotate about the first rotation axis P, and the second motor assembly 60 is used to drive the camera device 200 to rotate about the second rotation axis Y.
Compared with the prior art, in the cradle head 100 and the shooting assembly 300 according to the embodiment of the present invention, the pitch axis motor assembly 30 is mounted on the mounting base 10 and serves as a first motor assembly for connecting an unmanned aerial vehicle, so that the structure of the cradle head 100 is compact, and the miniaturization of the cradle head 100 is facilitated.
Meanwhile, one end of the connecting shaft arm 40 is connected with the pitch shaft motor assembly 30, the other end of the connecting shaft arm 40, which is far away from the pitch shaft motor assembly 30, is connected with the course shaft motor assembly 50, and the circuit board 4044 is arranged in the accommodating cavity 4042 of the connecting shaft arm 40, so that the structure of the cradle head 100 is more compact.
In addition, the traverse roller motor assembly 60 is disposed in the housing 230 and only drives the lens 210 and the lens holder 220 in the image capturing device 200 to rotate, so that the workload of the traverse roller motor assembly 60 is small, the traverse roller motor assembly 60 with smaller power and size can be adopted, and the volume of the pan/tilt head 100 can be further reduced.
Moreover, the transmission line 70 penetrates through the mounting shaft arm 20, and connects the shaft arm 40 and the camera device 200, so that the space occupied by the transmission line 70 in the tripod head 100 can be reduced, and the volume of the tripod head 100 is smaller.
Another embodiment of the present invention further provides an unmanned aerial vehicle, which includes the camera assembly 300 provided in the above embodiment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (40)

1. A head (100) for carrying an image pick-up device (200), said image pick-up device (200) comprising a lens (210), a lens holder (220) and a housing (230), said lens (210), lens holder (220) being housed inside said housing (230), characterized in that it comprises:
a pitch axis motor assembly (30), the pitch axis motor assembly (30) comprising a first shaft (306);
the connecting shaft arm (40), the connecting shaft arm (40) is provided with an accommodating cavity (4042), and the accommodating cavity (4042) is provided with a circuit board (4044);
the device comprises a course shaft motor assembly (50), one end of a connecting shaft arm (40) is connected with the pitching shaft motor assembly (30), the other end, far away from the pitching shaft motor assembly (30), of the connecting shaft arm (40) is connected with the course shaft motor assembly (50), and the pitching shaft motor assembly (30) is used for driving the connecting shaft arm (40) and the course shaft motor assembly (50) to rotate around a pitching shaft;
the transverse roller motor assembly (60) comprises a third fixing portion (602), a third rotating portion (604) and a third rotating shaft (606), the third rotating shaft (606) is movably mounted on the third fixing portion (602), the third rotating shaft (606) is fixedly mounted on the third rotating portion (604), the third fixing portion (602) is fixedly mounted on the housing (230), the lens holder (220) is sleeved on the third rotating portion (604), the third rotating portion (604) can drive the lens holder (220) and the lens (210) to rotate relative to the housing (230), the circuit board (4044) is respectively electrically connected with the pitching shaft motor assembly (30), and the course shaft motor assembly (50) and the transverse roller motor assembly (60) are electrically connected; transmission line (70), transmission line (70) part set up in pitch axis motor element (30) with in connecting shaft arm (40), the duplex winding is located first pivot (306), transmission line (70) are around establishing the number of turns that need satisfy around establishing first pivot (306): n is more than or equal to 1 and less than or equal to 3, wherein n is transmission line (70) are around establishing the number of turns around establishing of first pivot (306), transmission line (70) pass holding chamber (4042), and with circuit board (4044) electricity is connected, transmission line (70) deviate from the one end of pitch axle motor element (30) is equipped with roll axle winding part (706), roll axle winding part (706) set up in casing (230), the duplex winding is located lens seat (220).
2. The head (100) according to claim 1, wherein said transmission line (70) is wound around said first rotation axis (306) for a number of turns.
3. Head (100) according to claim 1 or 2, wherein said transmission line (70) is a micro coaxial cable.
4. A head (100) according to claim 1, wherein said pitch axis motor assembly (30) comprises a first fixed portion (302), a first rotating portion (304) and said first rotating shaft (306), said first rotating shaft (306) being movably mounted to said first fixed portion (302), said first rotating shaft (306) being fixedly mounted to said first rotating portion (304), said first rotating shaft (306) being arranged along said pitch axis;
one end of the connecting shaft arm (40) is attached to the first rotating section (304);
the transmission line (70) is partially disposed within the first stationary portion (302).
5. The head (100) according to claim 1, wherein the connecting shaft arm (40) comprises a first connecting portion (402) and a second connecting portion (404) connected to the first connecting portion (402), wherein one end of the first connecting portion (402) is sleeved on the first rotating portion (304), and one end of the second connecting portion (404) is connected to the course shaft motor assembly (50);
the second connecting portion (404) is provided with the accommodating cavity (4042).
6. A head (100) according to claim 4, comprising a mounting shaft arm (20), one end of said mounting shaft arm (20) being fixedly mounted to said first fixed portion (302);
a wiring channel is formed in the mounting shaft arm (20), and one end of the transmission line (70) penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
7. A head (100) according to claim 6, wherein said transmission line (70) comprises a first connection portion (700), a pitch axis winding portion (701), a second connection portion (702) and a third connection portion (704);
the first connecting line part (700) is arranged in a routing channel of the mounting shaft arm (20), one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part (701);
the pitching axis winding part (701) is arranged in the first fixing part (302) and winds around the first rotating shaft (306), the number of turns of the pitching axis winding part (701) winding around the first rotating shaft (306) is one, and one end, far away from the first connecting part (700), of the pitching axis winding part (701) is connected with the second connecting wire part (702) and the third connecting wire part (704);
the second connecting part (702) is arranged in the second connecting part (404), and one end of the second connecting part, which is far away from the pitch axis winding part (701), is connected with the circuit board (4044);
the third connecting portion (704) is provided in the second connecting portion (404).
8. A head (100) according to claim 6, comprising a mounting seat (10), said mounting seat (10) comprising a damping plate (102) and a damping element (104);
one end of the shock absorption element (104) is installed on the shock absorption plate (102), and the other end of the shock absorption element is used for being installed on an unmanned aerial vehicle;
one end of the mounting shaft arm (20) far away from the first fixing part (302) is mounted on the damping plate (102).
9. A head (100) according to claim 8, wherein said shock-absorbing element (104) comprises a first mounting end (1042), a second mounting end (1044) and a connecting column (1046);
the connecting columns (1046) are bent, at least three connecting columns (1046) are connected between the first mounting end portion (1042) and the second mounting end portion (1044), and the at least three connecting columns (1046) are approximately encircled to form an oval;
the first mounting end (1042) is fixedly mounted to the damper plate (102), and the second mounting end (1044) is configured to be mounted to the UAV.
10. A head (100) according to claim 5, wherein said connecting shaft arm (40) is "L" -shaped, one end of said first connecting portion (402) being perpendicularly connected to one end of said second connecting portion (404).
11. The head (100) according to claim 5, wherein said heading axis motor assembly (50) comprises a second fixed portion (502), a second rotating portion (504) and a second rotating shaft (506), said second rotating shaft (506) being movably mounted to said second fixed portion (502), said second rotating shaft (506) being fixedly mounted to said second rotating portion (504);
one end of the second connecting part (404) far away from the first connecting part (402) is sleeved on the second fixing part (502);
the second rotating part (504) is used for connecting the camera device (200).
12. A head (100) according to claim 1, comprising a mounting shaft arm (20) and a mounting seat (10);
one end of the mounting shaft arm (20) is fixedly mounted on the pitching shaft motor assembly (30), and the other end of the mounting shaft arm is fixedly mounted on the mounting base (10);
the mounting seat (10) is used for being mounted on the unmanned aerial vehicle.
13. A camera assembly (300) characterized by comprising a camera device (200) and a pan-tilt head (100) according to any one of claims 1-12, said course axis motor assembly (50) being connected to said camera device (200).
14. The camera assembly (300) of claim 13, wherein the pan/tilt head (100) includes a roll axis motor assembly (60);
the camera device (200) comprises a lens (210), a lens seat (220) and a shell (230);
lens (210) are fixed in lens mount (220), cross roller motor element (60) install in casing (230), cross roller motor element (60) with lens mount (220) are connected, cross roller motor element (60) can drive lens (210) with lens mount (220) for casing (230) rotate around the cross roller.
15. The camera assembly (300) of claim 14, wherein the traverse shaft motor assembly (60) comprises a third fixed portion (602), a third rotating portion (604), and a third rotating shaft (606), the third rotating shaft (606) is movably mounted to the third fixed portion (602), and the third rotating shaft (606) is fixedly mounted to the third rotating portion (604);
the third fixing part (602) is fixedly mounted on the housing (230);
the lens mount (220) is sleeved on the third rotating portion (604), and the third rotating portion (604) can drive the lens mount (220) and the lens (210) to rotate relative to the housing (230).
16. A head (100) for carrying an image pick-up device (200), said image pick-up device (200) comprising a lens (210), a lens holder (220) and a housing (230), said lens (210), lens holder (220) being housed inside said housing (230), characterized in that it comprises:
a pitch axis motor assembly (30), the pitch axis motor assembly (30) comprising a first shaft (306);
the connecting shaft arm (40), the connecting shaft arm (40) is provided with an accommodating cavity (4042), and the accommodating cavity (4042) is provided with a circuit board (4044);
roll shaft motor element (60), pitch axle motor element (30) with roll shaft motor element (60) rotatable coupling, pitch axle motor element (30) are used for the drive roll shaft motor element (60) rotate around the pitch axle, roll shaft motor element (60) include third fixed part (602), third rotation portion (604) and third pivot (606), third pivot (606) movable mounting in third fixed part (602), third pivot (606) fixed mounting in third rotation portion (604), third fixed part (602) fixed mounting in casing (230), lens mount (220) cover is located third rotation portion (604), third rotation portion (604) can drive lens mount (220) with lens (210) for casing (230) rotate, the circuit board (4044) is electrically connected with the pitch shaft motor assembly (30) and the roll shaft motor assembly (60) respectively;
transmission line (70), transmission line (70) part set up in pitch axis motor element (30), and the duplex winding is located first pivot (306), transmission line (70) are around establishing the number of turns of first pivot (306) need satisfy: n is more than or equal to 1 and less than or equal to 3, wherein n is transmission line (70) are around establishing the number of turns around establishing of first pivot (306), transmission line (70) pass holding chamber (4042), and with circuit board (4044) electricity is connected, transmission line (70) deviate from the one end of pitch axle motor element (30) is equipped with roll axle winding part (706), roll axle winding part (706) set up in casing (230), the duplex winding is located lens seat (220).
17. A head (100) according to claim 16, wherein said transmission line (70) is wound around said first rotation axis (306) for a number of turns.
18. A head (100) according to claim 16, wherein said transmission line (70) is a micro coaxial cable.
19. A head (100) according to any one of claims 16 to 18, wherein said pitch axis motor assembly (30) comprises a first fixed portion (302), a first rotating portion (304) and a first rotating shaft (306), said first rotating shaft (306) being movably mounted to said first fixed portion (302), said first rotating shaft (306) being fixedly mounted to said first rotating portion (304), said first rotating shaft (306) being arranged along said pitch axis;
the transmission line (70) is partially disposed within the first stationary portion (302).
20. A head (100) according to claim 19, comprising a connecting shaft arm (40), one end of said connecting shaft arm (40) being connected to said first rotation portion (304), the other end of said connecting shaft arm (40), remote from said first rotation portion (304), being rotatably connected to said traverse shaft motor assembly (60).
21. A head (100) according to claim 20, wherein said connecting shaft arm (40) is provided with a housing cavity (4042);
the transmission line (70) passes through the accommodating cavity (4042);
a circuit board (4044) is arranged in the accommodating cavity (4042), the circuit board (4044) is respectively connected with the pitch shaft motor assembly (30), and the traverse shaft motor assembly (60) is electrically connected with the transmission line (70).
22. A head (100) according to claim 21, wherein said connecting shaft arm (40) comprises a first connecting portion (402) and a second connecting portion (404) connected to said first connecting portion (402), one end of said first connecting portion (402) being mounted on said first rotating portion (304), one end of said second connecting portion (404) being rotatably connected to said roll motor assembly (60);
the second connecting portion (404) is provided with the accommodating cavity (4042).
23. A head (100) according to claim 22, comprising a mounting shaft arm (20), one end of said mounting shaft arm (20) being fixedly mounted to said first fixed portion (302);
a wiring channel is formed in the mounting shaft arm (20), and one end of the transmission line (70) penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
24. A head (100) according to claim 23, wherein said transmission line (70) comprises a first connection portion (700), a pitch axis winding portion (701), a second connection portion (702) and a third connection portion (704);
the first connecting line part (700) is arranged in a routing channel of the mounting shaft arm (20), one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part (701);
the pitching axis winding part (701) is arranged in the first fixing part (302) and winds around the first rotating shaft (306), the number of turns of the pitching axis winding part (701) winding around the first rotating shaft (306) is one, and one end, far away from the first connecting part (700), of the pitching axis winding part (701) is connected with the second connecting wire part (702) and the third connecting wire part (704);
the second connecting part (702) is arranged in the second connecting part (404), and one end of the second connecting part, which is far away from the pitch axis winding part (701), is connected with the circuit board (4044);
the third connecting portion (704) is provided in the second connecting portion (404).
25. A head (100) according to claim 16, comprising a connecting shaft arm (40), said connecting shaft arm (40) being connected at one end to said pitch shaft motor assembly (30) and at the other end being rotatably connected to said roll shaft motor assembly (60);
the connecting shaft arm (40) is provided with an accommodating cavity (4042);
the transmission line (70) passes through the accommodating cavity (4042);
a circuit board (4044) is arranged in the accommodating cavity (4042), the circuit board (4044) is respectively connected with the pitch shaft motor assembly (30), and the traverse shaft motor assembly (60) is electrically connected with the transmission line (70).
26. A head (100) according to claim 16, comprising a mounting shaft arm (20) and a mounting seat (10);
one end of the mounting shaft arm (20) is fixedly mounted on the pitching shaft motor assembly (30), and the other end of the mounting shaft arm is fixedly mounted on the mounting base (10);
the mounting seat (10) is used for being mounted on the unmanned aerial vehicle.
27. A camera assembly (300) comprising a camera device (200) and a head (100) according to claim 18, wherein the roll motor assembly (60) is coupled to the camera device (200), and wherein the pitch motor assembly (30) is configured to drive the camera device (200) and the roll motor assembly (60) to rotate about the pitch axis.
28. The camera assembly (300) of claim 27, wherein the camera device (200) includes a lens (210), a lens mount (220), and a housing (230);
lens (210) are fixed in lens mount (220), cross roller motor subassembly (60) install in casing (230), cross roller motor subassembly (60) with lens mount (220) are connected, can drive lens (210) with lens mount (220) are for casing (230) rotate around the cross roller.
29. The camera assembly (300) of claim 28, wherein the traverse shaft motor assembly (60) comprises a third fixed portion (602), a third rotating portion (604), and a third rotating shaft (606), the third rotating shaft (606) is movably mounted to the third fixed portion (602), and the third rotating shaft (606) is fixedly mounted to the third rotating portion (604);
the third fixing part (602) is fixedly mounted on the housing (230);
the lens mount (220) is sleeved on the third rotating portion (604), and the third rotating portion (604) can drive the lens mount (220) and the lens (210) to rotate relative to the housing (230).
30. The camera assembly (300) of claim 28 or 29, wherein the transmission line (70) is partially wound around the lens holder (220) and electrically connected to a sensor of the camera device (200).
31. The camera assembly (300) of claim 30, wherein the transmission line (70) is wound around the lens mount (220) for one turn.
32. The camera assembly (300) of claim 28 or 29, wherein the tilt motor assembly (30) comprises a first fixed portion (302), a first rotating portion (304), and a first rotating shaft (306), wherein the first rotating shaft (306) is movably mounted to the first fixed portion (302), the first rotating shaft (306) is fixedly mounted to the first rotating portion (304), and the first rotating shaft (306) is disposed along the tilt axis;
the transmission line (70) is partially disposed within the first stationary portion (302).
33. The camera assembly (300) of claim 32, wherein the pan/tilt head (100) comprises a connecting shaft arm (40) and a heading shaft motor assembly (50), one end of the connecting shaft arm (40) is connected with the first rotating part (304), and the other end of the connecting shaft arm (40) far away from the first rotating part (304) is connected with the heading shaft motor assembly (50);
the heading shaft motor assembly (50) is connected with the shell (230) and is used for driving the camera device (200) and the transverse shaft motor assembly (60) to rotate around a navigation shaft;
the pitching shaft motor assembly (30) is used for driving the connecting shaft arm (40), the course shaft motor assembly (50), the camera device (200) and the rolling shaft motor assembly (60) to rotate around the pitching shaft.
34. The camera assembly (300) of claim 33, wherein the connecting shaft arm (40) defines a receiving cavity (4042);
the transmission line (70) passes through the accommodating cavity (4042);
a circuit board (4044) is arranged in the accommodating cavity (4042), the circuit board (4044) is respectively connected with the pitch shaft motor assembly (30), and the traverse shaft motor assembly (60) is electrically connected with the transmission line (70).
35. The camera assembly (300) of claim 34, wherein the connecting shaft arm (40) comprises a first connecting portion (402) and a second connecting portion (404) connected to the first connecting portion (402), one end of the first connecting portion (402) is sleeved on the first rotating portion (304), and one end of the second connecting portion (404) is rotatably connected to the roll shaft motor assembly (60);
the second connecting portion (404) is provided with the accommodating cavity (4042).
36. The camera assembly (300) of claim 35, wherein the pan/tilt head (100) comprises a mounting shaft arm (20), one end of the mounting shaft arm (20) being fixedly mounted to the first fixing portion (302);
a wiring channel is formed in the mounting shaft arm (20), and one end of the transmission line (70) penetrates through the wiring channel and is used for being electrically connected with a control module in the unmanned aerial vehicle body.
37. The camera assembly (300) of claim 36, wherein the transmission line (70) includes a first link portion (700), a pitch axis winding portion (701), a second link portion (702), a third link portion (704), and a roll axis winding portion (706);
the first connecting line part (700) is arranged in a routing channel of the mounting shaft arm (20), one end of the first connecting line part is used for being electrically connected with a control module in the unmanned aerial vehicle body, and the other end of the first connecting line part is electrically connected with one end of the pitching shaft winding part (701);
the pitching axis winding part (701) is arranged in the first fixing part (302) and winds around the first rotating shaft (306), the number of turns of the pitching axis winding part (701) winding around the first rotating shaft (306) is one, and one end, far away from the first connecting part (700), of the pitching axis winding part (701) is connected with the second connecting wire part (702) and the third connecting wire part (704);
the second connecting part (702) is arranged in the second connecting part (404), and one end of the second connecting part, which is far away from the pitch axis winding part (701), is connected with the circuit board (4044);
the third connecting part (704) is arranged in the second connecting part (404), and one end of the third connecting part (704) far away from the pitching axis winding part (701) is connected with one end of the rolling axis winding part (706);
the transverse roller winding part (706) is arranged in the shell (230) and is wound on the lens seat (220).
38. The camera assembly (300) of claim 37, wherein the transmission line (70) includes a sensor wire portion (708);
one end of the transverse roller winding part (706) far away from the third connecting line part (704) is connected with the sensor connecting line part (708);
the sensor connection part (708) is provided in the housing (230), and the sensor connection part (708) is electrically connected to a sensor of the imaging device (200).
39. The camera assembly (300) of any of claims 33 to 38, wherein the heading axis motor assembly (50) comprises a second fixed portion (502), a second rotating portion (504), and a second rotating shaft (506), the second rotating shaft (506) is movably mounted to the second fixed portion (502), and the second rotating shaft (506) is fixedly mounted to the second rotating portion (504);
one end, far away from the first rotating part (304), of the connecting shaft arm (40) is sleeved on the second fixing part (502);
the second rotating portion (504) is connected to the housing (230).
40. An unmanned aerial vehicle comprising a camera assembly (300) according to any one of claims 13 to 15 or a camera assembly (300) according to any one of claims 27 to 39.
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