WO2019019521A1 - 云台和飞行器 - Google Patents
云台和飞行器 Download PDFInfo
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- WO2019019521A1 WO2019019521A1 PCT/CN2017/115164 CN2017115164W WO2019019521A1 WO 2019019521 A1 WO2019019521 A1 WO 2019019521A1 CN 2017115164 W CN2017115164 W CN 2017115164W WO 2019019521 A1 WO2019019521 A1 WO 2019019521A1
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- rotating
- rotating member
- elastic
- pan
- bracket
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- 230000000903 blocking effect Effects 0.000 claims abstract description 3
- 230000035939 shock Effects 0.000 abstract 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
Definitions
- the invention relates to the field of aerial photography technology, in particular to a cloud platform and an aircraft.
- a general three-axis pan/tilt uses three motors (i.e., pitch axis motor 70, roll axis motor 71, and yaw axis motor 72) to respectively control the pitch axis, roll axis, and yaw axis of the gimbal.
- three motors i.e., pitch axis motor 70, roll axis motor 71, and yaw axis motor 72
- the pan/tilt needs to be in the form of a two-axis.
- Such a pan/tilt only retains the pitch axis motor and the roll axis motor, and there is no yaw axis motor.
- the two-axis pan/tilt can greatly reduce weight and reduce volume.
- the vibration in the direction of the yaw axis cannot be eliminated, and the stabilization effect is poor.
- the present invention provides a pan/tilt with a good stabilization effect.
- an embodiment of the present invention provides a cloud platform for carrying a load, and the cloud platform includes:
- first rotating member a first rotating member, a second rotating member and a third rotating member, each of the first rotating member, the second rotating member and the third rotating member including a fixing portion and relative to the fixing portion Rotating rotating portion;
- a fixing portion of the second rotating member is coupled to a rotating portion of the first rotating member, the third turn The fixing portion of the moving member is coupled to the rotating portion of the second rotating member, and the rotating portion of the third rotating member is for fixed connection with the load;
- At least one of the first rotating member, the second rotating member and the third rotating member is provided with an elastic member for blocking rotation of the rotating portion of the rotating member.
- the pan/tilt head includes three rotating members, the rotating portions of the three rotating members are rotatable and the axes of rotation of the rotating portions are perpendicular to each other, and at least one of the three rotating members is provided with elastic members.
- the elastic member is capable of applying an elastic force to the rotating portion of the rotating member by itself to prevent the rotating portion of the rotating member from rotating relative to the fixed portion, so that the elastic member applies elasticity to the rotating member when the vibration of the aircraft is transmitted to the platform.
- the rotating portion of the rotating member of the elastic member can be coupled to the motor and can be rotated by the motor to adjust the posture of the photographing device fixed to the third rotating member to ensure that the photographing device can perform photographing in various directions.
- the number of motors of the pan/tilt head of the embodiment is reduced, which results in a reduction in the weight and volume of the pan/tilt head, and is more advantageous for fixing the pan/tilt head to the aircraft for shooting, and
- the reduction of the number of motors is beneficial to reduce the cost of the pan/tilt.
- the overall stability of the pan/tilt is better than that of the two-axis pan/tilt. Can meet the shooting needs.
- the first rotating member is provided with the elastic member; the fixing portion of the first rotating member is a bracket, one end of the elastic member is connected to the bracket, and the other end of the elastic member is The rotating portions of the first rotating member are connected.
- the fixing portion of the first rotating member is a bracket, and the bracket can be used for connecting with the aircraft to mount the pan/tilt on the aircraft; one end of the elastic member is connected to the bracket, and the other end is connected with the fixing portion of the first rotating member to make the elasticity
- the component can block the rotation of the rotating portion of the first rotating member relative to the fixed portion, so that when the aircraft is flying and vibrating, the elastic member can block the rotating portion of the first rotating member from rotating under the action of the vibration, so that the rotation of the first rotating member
- the portion remains stable, thereby increasing the stability of the photographing device fixed to the third rotating member, which is advantageous for stable shooting of the photographing device.
- the bracket is provided with a boss, and the rotating part of the first rotating member is fixed with an elastic component bracket, one end of the elastic component is connected with the boss, and the other end of the elastic component is The elastic element brackets are connected.
- the bracket is provided with a boss, and the elastic component bracket is fixed on the rotating portion of the first rotating member, and the boss and the elastic component bracket are disposed, so that the two ends of the elastic component are conveniently connected with the fixing portion and the rotating portion of the first rotating member. .
- the second rotating member is provided with the elastic member; one end of the elastic member is coupled to the fixing portion of the second rotating member, and the other end of the elastic member and the second rotating member are The rotating parts are connected.
- the elastic member can block the rotation of the rotating portion of the second rotating member relative to the fixed portion, so that the stability of the rotating portion of the second rotating member is enhanced. Conducive to stable shooting of the camera.
- the fixing portion of the second rotating member is provided with a boss, and the rotating portion of the second rotating member is fixed with an elastic component bracket, and one end of the elastic component is connected with the boss, The other end of the elastic member is coupled to the elastic member bracket.
- the third rotating member is provided with the elastic member; one end of the elastic member is coupled to the fixing portion of the third rotating member, and the other end of the elastic member and the third rotating member are The rotating parts are connected.
- the elastic member can block the rotation of the rotating portion of the third rotating member relative to the fixed portion, so that the stability of the rotating portion of the third rotating member is enhanced. Conducive to stable shooting of the camera.
- the fixing portion of the third rotating member is provided with a boss, and the rotating portion of the third rotating member is fixed with an elastic component bracket, and one end of the elastic component is connected with the boss, The other end of the elastic member is coupled to the elastic member bracket.
- the elastic element is provided with two, the boss is provided with two, the elastic element bracket is provided with two protrusions, and the two protrusions are respectively associated with two of the elastic elements The other end is connected.
- the elastic member When the elastic member is provided in two, the elastic force applied to the rotating portion is increased, and the rotation of the rotating portion of the rotating member can be better hindered, which is advantageous for maintaining the stability of the rotating portion, thereby facilitating stable shooting of the photographing device.
- the two elastic elements are arranged in parallel and apply opposing forces to the two of the projections.
- the two elastic elements are arranged in parallel and apply opposite directions to the two protrusions, so that the elastic element can apply a force to the rotating part to hinder the rotation of the rotating part, regardless of whether the vibration of the aircraft causes the rotating part to rotate clockwise or counterclockwise.
- the rotation of the rotating portion causes the rotating portion to finally be in a stable state.
- the elastic element comprises any one of a spring, a rubber band and a rubber rope.
- the spring, the rubber band, and the rubber rope are all elastic, and after the elastic deformation occurs, an elastic force can be applied to the rotating portion to hinder the rotation of the rotating portion, so that the rotating portion is kept stable.
- the spring, rubber band and rubber rope have a simple structure, low cost and convenient installation.
- the pan/tilt further includes a second motor, and the second motor is coupled to the rotating portion of the second rotating member to drive the fixing of the rotating portion of the second rotating member relative to the second rotating member
- the third motor is coupled to the rotating portion of the third rotating member to drive the rotating portion of the third rotating member to rotate relative to the fixed portion of the third rotating member.
- the pan/tilt head further includes a bearing, and the bearing is two for connecting the rotating portion of the first rotating member with the fixing portion, so that the rotating portion of the first rotating member is opposite to the rotating portion The fixing portion of the first rotating member rotates.
- the pan/tilt head further includes a first connecting arm and a second connecting arm; wherein the fixing portion of the second rotating member is connected to the rotating portion of the first rotating member by the first connecting arm, The fixing portion of the third rotating member is coupled to the rotating portion of the second rotating member via the second connecting arm.
- first connecting arm and the second connecting arm are L-shaped.
- An embodiment of the present invention also provides an aircraft comprising a fuselage and a pan/tilt according to any of the above embodiments, the bracket of the pan/tilt being coupled to the fuselage.
- the aircraft further includes a damping device for connecting between the cloud platform and the fuselage.
- the aircraft provided in this embodiment has the pan/tilt head according to any of the above embodiments, and therefore also has all the beneficial effects of the pan/tilt head described in any of the above embodiments.
- the cloud platform provided by the invention has the following beneficial effects:
- the pan head provided by the present invention replaces part of the motor connected with the rotating part with the elastic element, so that the weight and size of the pan/tilt head are greatly reduced; in addition, the elastic element can hinder the The rotation of the rotating portion connected to the motor further dampens the imaging device, so that the overall stability of the pan/tilt is good. Therefore, the gimbal provided by the present invention achieves an effective combination of weight, size and stability.
- FIG. 1 is a schematic structural view of a conventional three-axis pan/tilt head
- FIG. 2 is a schematic structural view of a pan/tilt head according to an embodiment of the invention.
- Figure 3 is a schematic view showing the assembly structure of the bracket and the first rotating member of Figure 2;
- Figure 4 is a top plan view of Figure 3;
- Figure 5 is a side view showing the structure of Figure 3;
- Figure 6 is a cross-sectional view showing the structure taken along line A-A of Figure 5;
- Embodiment 1 is a diagrammatic representation of Embodiment 1:
- an embodiment of the present invention provides a pan/tilt for carrying a load, such as a photographing device or the like.
- the pan/tilt includes: a first rotating member, a second rotating member 8 and a third rotating member 7, wherein each of the first rotating member, the second rotating member 8 and the third rotating member 7 includes a fixing portion and is relative to a rotating portion of the fixed portion; the fixed portion of the second rotating member 8 is coupled to the rotating portion 2 of the first rotating member, and the fixed portion of the third rotating member 7 is coupled to the rotating portion of the second rotating member 8, the third rotating member The rotating portion of 7 is for fixed connection with the photographing device.
- the rotation axes of the rotating portions of the first rotating member, the second rotating member 8, and the third rotating member 7 are perpendicular to each other, such that the rotational axes of the rotating portions of the first rotating member, the second rotating member 8, and the third rotating member 7 It can be used as the yaw axis, roll axis and pitch axis of the pan/tilt, respectively.
- the first rotating member is provided with the elastic member. It can be understood that, in other embodiments, as long as at least one of the first rotating member, the second rotating member 8 and the third rotating member 7 is provided with an elastic member, the elastic member serves to block the rotating portion of the rotating member. Turn.
- the elastic member can apply an elastic force to the rotating portion of the rotating member by itself to hinder the rotating portion of the rotating member from rotating relative to the fixed portion, so that when the vibration of the aircraft is transmitted to the pan/tilt, the elastic member acts on the rotating member.
- the rotating portion of the rotating member on which the elastic member is not disposed may be connected to the motor and may be rotated by the motor to adjust the posture of the photographing device to ensure that the photographing device can perform photographing in various directions.
- the number of motors of the pan/tilt head of the embodiment is reduced, which results in a reduction in the weight and volume of the pan/tilt head, and is more advantageous for fixing the pan/tilt head to the aircraft for shooting, and
- the reduction of the number of motors is beneficial to reduce the cost of the pan/tilt.
- the overall stability of the pan/tilt is good and can meet the shooting needs.
- the rotation axis of the rotating portion 2 of the first rotating member may be used as a partial The axis of rotation, the axis of rotation of the rotating portion of the second rotating member 8 can serve as a rolling axis, and the axis of rotation of the rotating portion of the third rotating member 7 can serve as a pitch axis.
- the fixing portion of the first rotating member is a bracket 1, and the bracket 1 can be used for connecting with an aircraft to mount the pan/tilt on the aircraft; one end of the elastic member is connected with the bracket 1, and the elastic member The other end is connected to the rotating portion 2 of the first rotating member, and the elastic member can block the rotating portion 2 of the first rotating member from rotating relative to the bracket 1, so that the elastic member can hinder the rotation of the first rotating member when the aircraft is flying and vibrating.
- the portion 2 is rotated by the vibration so that the rotating portion 2 of the first rotating member is kept stable, thereby increasing the stability of the photographing device fixed to the third rotating member 7, which is advantageous for stable shooting of the photographing device.
- the rotating portion of the second rotating member 8 is coupled to the second motor 91, so that the second motor 91 drives the rotating portion of the second rotating member 8 to rotate relative to the fixed portion thereof so as to be fixed in the third portion.
- the photographing device on the rotating member 7 is rotatable about the roll axis to adjust the posture of the photographing device;
- the rotating portion of the third rotating member 7 is connected with the third motor 90, so that the third motor 90 drives the rotation of the third rotating member 7.
- the portion is rotated relative to the fixed portion thereof so that the photographing device fixed to the third rotating member 7 is rotatable about the pitch axis to adjust the posture of the photographing device.
- the second motor 91 and the third motor 90 respectively driving the second rotating member 8 and the third rotating member 7 to rotate, various postures of the imaging device can be realized, which can basically meet the shooting requirements; and the elastic member is set at the first rotation.
- the elastic member is set at the first rotation.
- the rotating portion of the first rotating member is not limited to rotating about the yaw axis, and may also be rotated around the roll axis or rotated around the pitch axis, and likewise the rotating portion of the second rotating member and the third rotating member
- the rotating portion is not limited to rotating about the roll axis and rotating around the pitch axis, and can also rotate around other axes;
- the two motors are not limited to the rotation of the rotating portion of the second rotating member and the rotating portion of the third rotating member, which can Any two of the rotating portion of the first rotating member, the rotating portion of the second rotating member, and the rotating portion of the third rotating member are driven.
- the bracket 1 is provided with a boss 10, and the elastic component bracket 4 is fixed to the rotating portion 2 of the first rotating member, and one end of the elastic component is connected with the boss 10, and the elastic component is connected. The other end is connected to the elastic member holder 4.
- the bracket 1 is provided with a boss 10, and the elastic component bracket is fixed on the rotating portion 2 of the first rotating member 4.
- the boss 10 and the elastic member bracket 4 are disposed such that the two ends of the elastic member are easily connected to the bracket 1 and the rotating portion 2 of the first rotating member.
- the elastic element is a spring, and two are provided, which are respectively springs 3, 3'; the bosses are provided with two, respectively, bosses 10, 10'; elastic elements
- the bracket 4 is provided with two protrusions, and the two protrusions are respectively provided with grooves 40, 40'; one end of the spring 3 is fixedly connected with the boss 10, and the other end is hung in the groove 40; one end of the spring 3' It is fixed on the boss 10' and the other end is hung in the recess 40'.
- the two springs 3, 3' are provided, and the elastic force applied to the rotating portion 2 is increased, which can better hinder the rotation of the rotating portion 2 of the first rotating member, thereby facilitating the stability of the rotating portion 2, thereby facilitating the imaging device. Stable shooting.
- the two springs 3, 3' are arranged in parallel and apply opposing forces to the two projections.
- the two springs 3, 3' are arranged in parallel and apply opposite directions to the two projections, so that the springs 3, 3' can be opposite to the rotating portion 2 regardless of whether the vibration of the aircraft causes the rotating portion 2 to rotate clockwise or counterclockwise. A force that hinders its rotation is applied, the rotation of the rotating portion 2 is weakened, and the rotating portion 2 is finally in a stable state.
- the elastic member is not limited to the above-described spring, and may be any one or more of a rubber band and a rubber rope.
- the spring, the rubber band, and the rubber rope are all elastic, and after the elastic deformation occurs, the rotation of the rotating portion 2 can be hindered to facilitate the rotation of the rotating portion 2.
- the spring, rubber band and rubber rope have a simple structure, low cost and convenient installation.
- the elastic element can be set not only two but also other numbers, such as one, three or more.
- the pan/tilt in this embodiment further includes a first connecting arm and a second connecting arm (not explicitly shown), wherein the fixing portion of the second rotating member 8 passes through the first connecting arm and the first A rotating portion of a rotating member is coupled, and a fixing portion of the third rotating member 7 is coupled to a rotating portion of the second rotating member 8 via the second connecting arm.
- first connecting arm and the second connecting arm are L-shaped. It can be understood that the first connecting arm and the second connecting arm can also have other shapes, such as an arc shape, etc., which are not strictly limited herein.
- the first rotating member includes a bracket 1 and a rotating portion 2, and the bracket 1 is connected to the aircraft, and the rotating portion 2 and the bracket 1 are connected by two bearings 6, 6' to make the rotating portion 2 is rotatable relative to the bracket 1.
- the elastic member holder 4 is fixedly coupled to the rotating portion 2, and the lock nut 5 prevents the rotating portion 2 from being separated from the bracket 1.
- One end of the two springs 3, 3' is fixed in the recess 40, 40' of the elastic member holder 4, and the other end is connected to the boss 10, 10' on the bracket 1.
- the pan/tilt head Compared with the ordinary three-axis pan/tilt, the pan/tilt head provided in this embodiment cancels the yaw axis motor, so that the weight and size of the gimbal are greatly reduced;
- the pan/tilt of this embodiment adds spring damping to the yaw axis direction of the ordinary two-axis pan/tilt, which can significantly offset the vibration of the two-axis pan/tilt in the yaw direction.
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- the embodiment provides a pan/tilt head (not shown), which differs from the pan/tilt head according to the first embodiment mainly in that the elastic elements are disposed at different positions, specifically on the second rotating member.
- one end of the elastic member is coupled to the fixing portion of the second rotating member, and the other end of the elastic member is coupled to the rotating portion of the second rotating member.
- the elastic member can block the rotation of the rotating portion of the second rotating member relative to the fixed portion, so that the stability of the rotating portion of the second rotating member is enhanced. Conducive to stable shooting of the camera.
- the rotating portion of the first rotating member and the rotating portion of the third rotating member are both connected to the motor shaft of the motor, and the motor can drive the rotating portion of the first rotating member and the rotating portion of the third rotating member to rotate to adjust the shooting. attitude.
- the rotating portion of the second rotating member may be rotated about the yaw axis, or may be rotated about the pitch axis or the roll axis.
- Embodiment 3 is a diagrammatic representation of Embodiment 3
- the embodiment provides a pan/tilt (not shown), which differs from the pan/tilt head according to the first embodiment mainly in that the elastic elements are disposed at different positions, specifically on the third rotating member.
- one end of the elastic member is coupled to the fixing portion of the third rotating member, and the other end of the elastic member is coupled to the rotating portion of the third rotating member.
- the elastic member can block the rotation of the rotating portion of the third rotating member relative to the fixed portion, so that the stability of the rotating portion of the third rotating member is enhanced. Conducive to stable shooting of the camera.
- the rotating portion of the first rotating member and the rotating portion of the second rotating member are both connected to the motor shaft of the motor, and the motor can drive the rotating portion of the first rotating member and the rotating portion of the second rotating member to rotate to adjust the shooting. attitude.
- the rotating portion of the third rotating member may be rotated about the yaw axis, or may be rotated about the pitch axis or the roll axis.
- An embodiment of the present invention also provides an aircraft comprising a fuselage and a pan/tilt according to any of the above embodiments, the bracket of the pan/tilt being coupled to the fuselage.
- the aircraft in this embodiment further includes a damper device for connecting between the pan/tilt and the body.
- the aircraft provided in this embodiment has all the beneficial effects of the pan/tilt described in any of the above embodiments.
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Abstract
一种云台和飞行器，该云台用于搭载负载，包括第一转动件、第二转动件（8）和第三转动件（7），第一转动件、第二转动件（8）和第三转动件（7）中的每一个均包括固定部以及可相对于该固定部转动的转动部；第二转动件（8）的固定部与第一转动件的转动部（2）连接，第三转动件（7）的固定部与第二转动件（8）的转动部连接，第三转动件（7）的转动部用于与负载固定连接；第一转动件、第二转动件（8）和第三转动件（7）中的至少之一上设置有弹性元件，弹性元件用于阻碍该转动件的转动部转动。该云台和飞行器可应用到航拍技术领域，该云台与普通的三轴云台比较，减少了电机的数量，使得云台的重量与尺寸有很大程度上减小；与普通的二轴云台相比，增加了弹性元件减震，能显著减弱二轴云台的震动。
Description
申请要求于2017年07月28日申请的、申请号为201710633164.1、发明名称为“云台和飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及航拍技术领域，特别涉及一种云台和飞行器。
如图1所示，一般的三轴云台利用三个电机(即俯仰轴电机70、横滚轴电机71、偏航轴电机72)分别控制云台的俯仰轴、横滚轴、偏航轴，以消除飞行器各个方向上的震动，实现稳定拍摄。有些情况下，考虑到飞行器的载荷和体积大小，云台需要做成二轴的形式。这样的云台只保留了俯仰轴电机和横滚轴电机，没有偏航轴电机。
二轴云台可以很大程度上减轻重量，缩小体积。但在偏航轴方向的震动无法消除，增稳效果很差。
发明内容
为了解决上述技术问题，本发明提供了一种增稳效果好的云台。
为了达到本发明的目的，本发明的实施例提供了一种云台，其用于搭载负载，所述云台包括：
第一转动件、第二转动件和第三转动件，所述第一转动件、所述第二转动件和所述第三转动件中的每一个均包括固定部以及可相对于该固定部转动的转动部；
所述第二转动件的固定部与所述第一转动件的转动部连接，所述第三转
动件的固定部与所述第二转动件的转动部连接，所述第三转动件的转动部用于与所述负载固定连接；
所述第一转动件、所述第二转动件和所述第三转动件中的至少之一上设置有弹性元件，所述弹性元件用于阻碍该转动件的转动部转动。
在本实施例中，云台包括三个转动件，三个转动件的转动部均能够转动且其转动部的转动轴线两两相互垂直，三个转动件中至少一个转动件上设有弹性元件，该弹性元件能够通过自身变形对转动件的转动部施加弹性力以阻碍该转动件的转动部相对于固定部转动，这样在飞行器的震动传递至云台时，弹性元件对该转动件施加弹性力，阻碍转动件的转动部相对于固定部转动，增加该转动件的稳定性，进而增加负载的稳定性，当该负载为拍摄装置时，有利于保证拍摄装置的拍摄稳定；其上未设置弹性元件的转动件的转动部可与电机相连，并可在电机的驱动下进行转动，以便调整固定在第三转动件上的拍摄装置的姿态，保证拍摄装置能够在各个方向上进行拍摄。
本实施例的云台，与现有的三轴云台相比，其电机的数量减少，导致云台的重量和体积减小，更有利于将云台固定到飞行器上后用于拍摄，且电机数量的减少，有利于降低云台的成本；其次，通过增设弹性元件来增加未与电机相连的转动件的稳定性，使得与二轴云台相比，云台整体的稳定性效果好，能够满足拍摄需要。
可选地，所述第一转动件上设置有所述弹性元件；所述第一转动件的固定部为支架，所述弹性元件的一端与所述支架连接，所述弹性元件的另一端与所述第一转动件的转动部连接。
第一转动件的固定部为支架，该支架可用于与飞行器相连接，以便将云台安装在飞行器上；弹性元件的一端与支架连接，另一端与第一转动件的固定部连接，使得弹性元件可阻碍第一转动件的转动部相对于固定部转动，这样在飞行器飞行、震动时，弹性元件可阻碍第一转动件的转动部在震动的作用下进行转动，使得第一转动件的转动部保持稳定，进而增加固定在第三转动件上的拍摄装置的稳定性，有利于拍摄装置的稳定拍摄。
可选地，所述支架上设有凸台，所述第一转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与
所述弹性元件支架连接。
支架上设有凸台，第一转动件的转动部上固定有弹性元件支架，凸台和弹性元件支架的设置，使得弹性元件的两端与第一转动件的固定部及转动部的连接方便。
可选地，所述第二转动件上设置有所述弹性元件；所述弹性元件的一端与所述第二转动件的固定部连接，所述弹性元件的另一端与所述第二转动件的转动部连接。
弹性元件的两端分别与第二转动件的固定部和转动部连接时，弹性元件可阻碍第二转动件的转动部相对于固定部转动，使第二转动件的转动部的稳定性增强，有利于拍摄装置的稳定拍摄。
可选地，所述第二转动件的固定部上设有凸台，所述第二转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与所述弹性元件支架连接。
可选地，所述第三转动件上设置有所述弹性元件；所述弹性元件的一端与所述第三转动件的固定部连接，所述弹性元件的另一端与所述第三转动件的转动部连接。
弹性元件的两端分别与第三转动件的固定部和转动部连接时，弹性元件可阻碍第三转动件的转动部相对于固定部转动，使第三转动件的转动部的稳定性增强，有利于拍摄装置的稳定拍摄。
可选地，所述第三转动件的固定部上设有凸台，所述第三转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与所述弹性元件支架连接。
可选地，所述弹性元件设置有两个，所述凸台设置有两个，所述弹性元件支架上设有两个突出部，两个所述突出部分别与两个所述弹性元件的另一端相连接。
弹性元件设置有两个时，对转动部施加的弹性力增大，能够更好地阻碍转动件地转动部转动，有利于保持转动部的稳定性，进而有利于拍摄装置的稳定拍摄。
可选地，两个所述弹性元件平行设置且对两个所述突出部施加方向相反的力。
两个弹性元件平行设置且对两个突出部施加方向相反的力，这样无论飞行器的震动导致转动部顺时针转动还是逆时针转动时，弹性元件均能够对转动部施加阻碍其转动的力，减弱转动部的转动，并使转动部最终处于稳定状态。
可选地，所述弹性元件包括弹簧、橡皮筋、橡胶绳中的任一种以上。
弹簧、橡皮筋、橡胶绳均具有弹性，且在发生弹性变形后能够对转动部施加弹性力，起到阻碍转动部转动的效果，以便转动部保持稳定。此外，弹簧、橡皮筋、橡胶绳的结构简单，成本低，安装方便。
可选地，所述云台还包括第二电机，所述第二电机与所述第二转动件的转动部连接，以带动所述第二转动件的转动部相对于第二转动件的固定部转动；第三电机，所述第三电机与所述第三转动件的转动部连接，以带动所述第三转动件的转动部相对于第三转动件的固定部转动。
可选地，所述云台还包括轴承，所述轴承为两个，用于将所述第一转动件的转动部与固定部连接起来，使得所述第一转动件的转动部可相对于所述第一转动件的固定部转动。
可选地，所述云台还包括第一连接臂和第二连接臂；其中，所述第二转动件的固定部通过所述第一连接臂与所述第一转动件的转动部连接，所述第三转动件的固定部通过所述第二连接臂与所述第二转动件的转动部连接。
可选地，所述第一连接臂和所述第二连接臂呈L形。
本发明的实施例还提供了一种飞行器，包括机身和上述任一实施例所述的云台，所述云台的支架与所述机身连接。
可选地，所述飞行器还包括减震装置，所述减震装置用于连接在所述云台与所述机身之间。
本实施例提供的飞行器具有上述任一实施例所述的云台，因此也具有上述任一实施例所述的云台的全部有益效果。
本发明提供的云台和现有技术相比，具有如下有益效果：
与普通的三轴云台比较，本发明提供的云台用弹性元件代替了与转动部相连的部分电机，使得云台的重量与尺寸有很大程度上减小；此外，弹性元件能够阻碍未与电机相连的转动部的转动，进而对拍摄装置进行减震，使得云台整体的稳定性好。因此，本发明提供的云台，实现了重量、尺寸与稳定性的有效结合。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为现有的三轴云台的结构示意图；
图2为根据本发明的实施例所述的云台的结构示意图；
图3是图2中支架与第一转动件的装配结构示意图；
图4为图3的俯视结构示意图；
图5为图3的侧视结构示意图；
图6为图5的A-A向剖视结构示意图。
其中，图1中附图标记与部件名称之间的关系为：
70俯仰轴电机，71横滚轴电机，72偏航轴电机。
其中，图2-图6中附图标记与部件名称之间的关系为：
1支架，10、10’凸台，2转动部，3、3’弹簧，4弹性元件支架，40、40’凹槽，5锁紧螺母，6、6’轴承，7第三转动件，8第二转动件，90第三电机，91第二电机。
为使本发明的目的、技术方案和优点更加清楚明白，下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
实施例一：
如图2所示，本发明的实施例提供了一种云台，其用于搭载负载，如拍摄装置等。云台包括：第一转动件、第二转动件8和第三转动件7，其中第一转动件、第二转动件8和第三转动件7中的每一个均包括固定部以及可相对于该固定部转动的转动部；第二转动件8的固定部与第一转动件的转动部2连接，第三转动件7的固定部与第二转动件8的转动部连接，第三转动件7的转动部用于与拍摄装置固定连接。
第一转动件、第二转动件8和第三转动件7的转动部的转动轴线两两相互垂直，这样第一转动件、第二转动件8和第三转动件7的转动部的转动轴线可分别用作云台的偏航轴、横滚轴和俯仰轴。
在本实施例中，所述第一转动件上设置有所述弹性元件。可以理解，在其他实施例中，只要第一转动件、第二转动件8和第三转动件7中的至少之一上设置有弹性元件即可，弹性元件用于阻碍该转动件的转动部转动。
具体地，该弹性元件能够通过自身变形对转动件的转动部施加弹性力以阻碍该转动件的转动部相对于固定部转动，这样在飞行器的震动传递至云台时，弹性元件对该转动件施加弹性力，阻碍转动件的转动部相对于固定部转动，增加该转动件的稳定性，进而增加固定在第三转动件上的拍摄装置的稳定性，有利于保证拍摄装置的拍摄稳定；其上未设置弹性元件的转动件的转动部可与电机相连，并可在电机的驱动下进行转动，以便调整拍摄装置的姿态，保证拍摄装置能够在各个方向上进行拍摄。
本实施例的云台，与现有的三轴云台相比，其电机的数量减少，导致云台的重量和体积减小，更有利于将云台固定到飞行器上后用于拍摄，且电机数量的减少，有利于降低云台的成本；其次，通过增设弹性元件来增加未与电机相连的转动件的稳定性，使得云台整体的稳定性效果好，能够满足拍摄需要。
可选地，在一具体示例中，第一转动件的转动部2的转动轴线可作为偏
航轴，第二转动件8的转动部的转动轴线可作为横滚轴，第三转动件7的转动部的转动轴线可作为俯仰轴。
如图2-图4所示，第一转动件的固定部为支架1，该支架1可用于与飞行器相连接，以便将云台安装在飞行器上；弹性元件的一端与支架1连接，弹性元件的另一端与第一转动件的转动部2连接，弹性元件可阻碍第一转动件的转动部2相对于支架1转动，这样在飞行器飞行、震动时，弹性元件可阻碍第一转动件的转动部2在震动的作用下进行转动，使得第一转动件的转动部2保持稳定，进而增加固定在第三转动件7上的拍摄装置的稳定性，有利于拍摄装置的稳定拍摄。
进一步，如图2所示，第二转动件8的转动部与第二电机91相连接，以便第二电机91带动第二转动件8的转动部相对于其固定部转动，使得固定在第三转动件7上的拍摄装置可绕横滚轴转动，以调整拍摄装置的姿态；第三转动件7的转动部与第三电机90相连接，以便第三电机90带动第三转动件7的转动部相对于其固定部转动，使得固定在第三转动件7上的拍摄装置可绕俯仰轴转动，以调整拍摄装置的姿态。
通过第二电机91、第三电机90分别驱动第二转动件8和第三转动件7转动，即可实现拍摄装置的各种姿态，基本上可满足拍摄需要；将弹性元件设置在第一转动件上，来实现偏航轴方向的增稳，同时减小了云台整体的重量和体积，降低了成本，有利于云台的广泛应用。
需要说明的是，第一转动件的转动部并不限于绕偏航轴转动，其还可以是绕横滚轴转动或者绕俯仰轴转动，同样地第二转动件的转动部和第三转动件的转动部并不限于绕横滚轴转动和绕俯仰轴转动，还可以绕其它轴转动；两个电机并不限于驱动第二转动件的转动部和第三转动件的转动部转动，其可以驱动第一转动件的转动部、第二转动件的转动部和第三转动件的转动部中的任意两个。
可选地，如图2-图4所示，支架1上设有凸台10，第一转动件的转动部2上固定有弹性元件支架4，弹性元件的一端与凸台10连接，弹性元件的另一端与弹性元件支架4连接。
支架1上设有凸台10，第一转动件的转动部2上固定有弹性元件支架
4，凸台10和弹性元件支架4的设置，使得弹性元件的两端与支架1及第一转动件的转动部2的连接方便。
可选地，如图2-图4所示，弹性元件为弹簧，且设置有两个，分别为弹簧3、3’；凸台设置有两个，分别为凸台10、10’；弹性元件支架4上设有两个突出部，两个突出部上分别设有凹槽40、40’；弹簧3的一端与凸台10固定连接，另一端挂在凹槽40内；弹簧3’的一端固定在凸台10’上，另一端挂在凹槽40’内。
设置两个弹簧3、3’，对转动部2施加的弹性力增大，能够更好地阻碍第一转动件的转动部2转动，有利于保持转动部2的稳定性，进而有利于拍摄装置的稳定拍摄。
可选地，如图2-图4所示，两个弹簧3、3’平行设置且对两个突出部施加方向相反的力。
两个弹簧3、3’平行设置且对两个突出部施加方向相反的力，这样无论飞行器的震动导致转动部2顺时针转动还是逆时针转动时，弹簧3、3’均能够对转动部2施加阻碍其转动的力，减弱转动部2的转动，并使转动部2最终处于稳定状态。
需要说明的是，弹性元件不限于上述的弹簧，还可以是橡皮筋、橡胶绳中的任一种或几种。弹簧、橡皮筋、橡胶绳均具有弹性，且在发生弹性变形后能够对转动部2的转动起到阻碍效果，以有利于转动部2保持稳定。此外，弹簧、橡皮筋、橡胶绳的结构简单，成本低，安装方便。
弹性元件不仅可以设置两个，还可以设置其他数量，如设置1个、3个或3个以上。
进一步地，本实施例中的云台还包括第一连接臂和第二连接臂(图中未明显示出)，其中，第二转动件8的固定部通过所述第一连接臂与所述第一转动件的转动部连接，第三转动件7的固定部通过所述第二连接臂与第二转动件8的转动部连接。
可选地，所述第一连接臂和所述第二连接臂呈L形。可以理解，第一连接臂和所述第二连接臂还可以为其他形状，如弧形等，这里不作严格限制。
下面结合附图，具体说明本实施例的第一转动件的结构。
如图5和图6所示，第一转动件包括支架1和转动部2，支架1用于与飞行器连接，转动部2与支架1通过2个轴承6、6’连接在一起，使转动部2可相对于支架1转动。
弹性元件支架4与转动部2固连，锁紧螺母5防止转动部2与支架1分离。两个弹簧3、3’的一端固定在弹性元件支架4的凹槽40、40’内，另一端与支架1上的凸台10、10’连接。
本实施例提供的云台，与普通的三轴云台相比，取消了偏航轴电机，使得云台的重量与尺寸有很大程度上减小；
本实施例的云台，在普通的二轴云台的偏航轴方向上增加了弹簧减震，能显著抵消二轴云台在偏航方向的震动。
实施例二：
本实施例提供了一种云台(未示出)，其与实施例一所述的云台的不同之处主要在于：弹性元件的设置位置不同，具体设置在第二转动件上。
本实施例中，弹性元件的一端与第二转动件的固定部连接，弹性元件的另一端与第二转动件的转动部连接。
弹性元件的两端分别与第二转动件的固定部和转动部连接时，弹性元件可阻碍第二转动件的转动部相对于固定部转动，使第二转动件的转动部的稳定性增强，有利于拍摄装置的稳定拍摄。
进一步，第一转动件的转动部和第三转动件的转动部均与电机的电机轴相连，电机可带动第一转动件的转动部和第三转动件的转动部转动，以调整拍摄制作的姿态。
本实施例中，第二转动件的转动部可以是绕偏航轴转动，也可以是绕俯仰轴或横滚轴转动。
实施例三：
本实施例提供了一种云台(未示出)，其与实施例一所述的云台的不同之处主要在于：弹性元件的设置位置不同，具体设置在第三转动件上。
本实施例中，弹性元件的一端与第三转动件的固定部连接，弹性元件的另一端与第三转动件的转动部连接。
弹性元件的两端分别与第三转动件的固定部和转动部连接时，弹性元件可阻碍第三转动件的转动部相对于固定部转动，使第三转动件的转动部的稳定性增强，有利于拍摄装置的稳定拍摄。
进一步，第一转动件的转动部和第二转动件的转动部均与电机的电机轴相连，电机可带动第一转动件的转动部和第二转动件的转动部转动，以调整拍摄制作的姿态。
本实施例中，第三转动件的转动部可以是绕偏航轴转动，也可以是绕俯仰轴或横滚轴转动。
本发明的实施例还提供了一种飞行器，包括机身和上述任一实施例所述的云台，所述云台的支架与所述机身连接。
进一步地，本实施例中的飞行器还包括减震装置，所述减震装置用于连接在所述云台与所述机身之间。
本实施例提供的飞行器具有上述任一实施例所述的云台的全部有益效果。
虽然本发明所揭露的实施方式如上，但所述的内容仅为便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定为准。
Claims (16)
- 一种云台，其用于搭载负载，其特征在于，所述云台包括：第一转动件、第二转动件和第三转动件，所述第一转动件、所述第二转动件和所述第三转动件中的每一个均包括固定部以及可相对于该固定部转动的转动部；所述第二转动件的固定部与所述第一转动件的转动部连接，所述第三转动件的固定部与所述第二转动件的转动部连接，所述第三转动件的转动部用于与所述负载固定连接；所述第一转动件、所述第二转动件和所述第三转动件中的至少之一上设置有弹性元件，所述弹性元件用于阻碍该转动件的转动部转动。
- 根据权利要求1所述的云台，其特征在于，所述第一转动件上设置有所述弹性元件；所述第一转动件的固定部为支架，所述弹性元件的一端与所述支架连接，所述弹性元件的另一端与所述第一转动件的转动部连接。
- 根据权利要求2所述的云台，其特征在于，所述支架上设有凸台，所述第一转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与所述弹性元件支架连接。
- 根据权利要求1所述的云台，其特征在于，所述第二转动件上设置有所述弹性元件；所述弹性元件的一端与所述第二转动件的固定部连接，所述弹性元件的另一端与所述第二转动件的转动部连接。
- 根据权利要求4所述的云台，其特征在于，所述第二转动件的固定部上设有凸台，所述第二转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与所述弹性元件支架连接。
- 根据权利要求1所述的云台，其特征在于，所述第三转动件上设置有所述弹性元件；所述弹性元件的一端与所述第三转动件的固定部连接，所述弹性元件的另一端与所述第三转动件的转动部连接。
- 根据权利要求6所述的云台，其特征在于，所述第三转动件的固定部上设有凸台，所述第三转动件的转动部上固定有弹性元件支架，所述弹性元件的一端与所述凸台连接，所述弹性元件的另一端与所述弹性元件支架连接。
- 根据权利要求3、5或7所述的云台，其特征在于，所述弹性元件设置有两个，所述凸台设置有两个，所述弹性元件支架上设有两个突出部，两个所述突出部分别与两个所述弹性元件的另一端相连接。
- 根据权利要求8所述的云台，其特征在于，两个所述弹性元件平行设置且对两个所述突出部施加方向相反的力。
- 据权利要求8所述的云台，其特征在于，所述弹性元件包括弹簧、橡皮筋、橡胶绳中的任一种以上。
- 根据权利要求2所述的云台，其特征在于，还包括：第二电机，所述第二电机与所述第二转动件的转动部连接，以带动所述第二转动件的转动部相对于第二转动件的固定部转动；第三电机，所述第三电机与所述第三转动件的转动部连接，以带动所述第三转动件的转动部相对于第三转动件的固定部转动。
- 根据权利要求2所述的云台，其特征在于，还包括：轴承，所述轴承为两个，用于将所述第一转动件的转动部与固定部连接起来，使得所述第一转动件的转动部可相对于所述第一转动件的固定部转动。
- 根据权利要求1～12任一项所述的云台，其特征在于，还包括第一连接臂和第二连接臂；其中，所述第二转动件的固定部通过所述第一连接臂与所述第一转动件的转动部连接，所述第三转动件的固定部通过所述第二连接臂与所述第二转 动件的转动部连接。
- 根据权利要求13所述的云台，其特征在于，所述第一连接臂和所述第二连接臂呈L形。
- 一种飞行器，其特征在于，包括机身和如权利要求1-14中任一项所述的云台，所述云台与所述机身连接。
- 根据权利要求15所述的飞行器，其特征在于，还包括减震装置，所述减震装置用于连接在所述云台与所述机身之间。
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