WO2020037791A1 - 云台减震结构、云台***及无人飞行器 - Google Patents

云台减震结构、云台***及无人飞行器 Download PDF

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Publication number
WO2020037791A1
WO2020037791A1 PCT/CN2018/109749 CN2018109749W WO2020037791A1 WO 2020037791 A1 WO2020037791 A1 WO 2020037791A1 CN 2018109749 W CN2018109749 W CN 2018109749W WO 2020037791 A1 WO2020037791 A1 WO 2020037791A1
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WO
WIPO (PCT)
Prior art keywords
frame
connection portion
free end
shock
arm
Prior art date
Application number
PCT/CN2018/109749
Other languages
English (en)
French (fr)
Inventor
刘勇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880013525.5A priority Critical patent/CN110896631A/zh
Publication of WO2020037791A1 publication Critical patent/WO2020037791A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to a gimbal vibration reduction structure, a gimbal system and an unmanned aerial vehicle.
  • Embodiments of the present invention provide a gimbal vibration reduction structure, a gimbal system, and an unmanned aerial vehicle.
  • the gimbal shock-absorbing structure includes a first bracket having a bent structure, a second bracket having a bent structure, and a plurality of shock-absorbing bodies.
  • the first bracket includes a first free end and a second free end opposite to each other.
  • the first bracket further includes a first connection portion provided on the first free end and a second connection portion provided on the second free end.
  • the second bracket includes a third free end and a fourth free end opposite to each other.
  • the second bracket further includes a third connection portion provided on the third free end and a fourth connection portion provided on the fourth free end. .
  • the first connection portion is connected to the third connection portion through the shock absorbing body, and the second connection portion is connected to the fourth connection portion through the shock absorbing body.
  • the first bracket includes a first frame and a first arm, the first arm is bent and extended from one end of the first frame, and the first free end is located at An end of the first frame body remote from the first arm, and the second free end being located at an end of the first arm away from the first frame;
  • the second bracket includes a second frame And a second support arm, the second support arm is bent and extended from one end of the second frame body, and the third free end is located at an end of the second frame body far from the second support arm, so The fourth free end is located at an end of the second arm away from the second frame body, the first frame body corresponds to the second frame body, and the first arm arm and the second arm body Arm correspondence.
  • the first frame body is provided with a through hole penetrating through the first frame body
  • the second arm is passed through the through hole
  • the first frame body and the The second frame is spaced apart
  • the third connection portion and the fourth connection portion are located on opposite sides of the first frame, respectively, and the second arm is closer to the frame than the first arm.
  • the third free end is provided.
  • the first connection portion extends from the first free end, and an extension direction of the first connection portion and an extension direction of the first support arm respectively face the first frame body.
  • the second connecting portion extends from the second free end, and the extending direction of the second connecting portion and the extending direction of the first frame relative to the first arm are located in the first The same side of one arm.
  • the first free end is provided with a first mounting portion
  • the second free end is provided with a second mounting portion
  • both the first mounting portion and the second mounting portion are used for mounting The first bracket.
  • each of the shock-absorbing bodies includes a first coupling portion, a deformation ring, and a second coupling portion connected in sequence, and the first coupling portion is connected to the first coupling of one of the shock-absorbing bodies.
  • the third connecting portion is combined with the second combining portion of the shock absorbing body; the second connecting portion is combined with the first combining portion of the other shock absorbing body, and the fourth The connecting portion is combined with the second joint portion of the shock absorbing body.
  • each of the shock absorbing bodies includes a shock absorbing body, the deformation ring sleeved on the shock absorbing body, and a stop ring sleeved on the shock absorbing body, the A deformation ring is spaced from the stop ring and collectively surrounds a stop groove.
  • the deformation ring, the stop ring, and the stop groove together form the second joint portion, and the shock absorbing body is opened on the stop ring.
  • a card hole is formed to form the first joint portion, and the card hole and the limiting slot are respectively located on opposite sides of the deformation ring;
  • the first connection portion is a hook
  • the hook is provided with the card hole and is engaged with the shock absorbing body
  • the third connection portion is provided with a perforation
  • the third connection portion is sleeved in the place.
  • the second connection portion is a hook, the hook is provided with the card hole and is engaged with the shock absorbing body, the fourth connection portion is provided with a perforation, and the fourth connection portion is sleeved in the place.
  • the shock-absorbing body at the limit groove is blocked by the deformation ring and the limit ring.
  • the shock-absorbing body for connecting the shock-absorbing body connected to the first connection part and the third connection part has a first axis for connecting the second connection part
  • the shock absorbing body of the shock absorbing body connected to the fourth connection portion has a second axis, and the first axis and the second axis are both parallel to a plane on which the first frame body is located, and The first axis is parallel to the second axis.
  • the number of the first connection portion to the fourth connection portion is two
  • the first frame includes a first center line and a second center line that are perpendicular to each other, and two The first connection portion is located on a first side of the second center line and is symmetrical about the first center line, and the two second connection portions are located on a second side of the second center line and are about the first One center line is symmetrical
  • the second frame includes a third center line and a fourth center line that are perpendicular to each other, and the two third connecting portions are located on a first side of the fourth center line and are about the third
  • the center line is symmetrical
  • the two fourth connecting portions are located on the second side of the third center line and are symmetrical about the third center line, and the first side is opposite to the second side.
  • the PTZ system further includes an ESC component, which includes an ESC frame, an ESC arm, and an ESC module.
  • the ESC frame is mounted on the second frame.
  • the ESC arm is bent and extended from one end of the ESC frame body and is mounted on the first arm.
  • the first arm is closer to the first free arm than the ESC arm. end.
  • the ESC module is installed on the ESC frame, and the ESC module and the first frame are respectively located on opposite sides of the second frame.
  • a gimbal system includes the gimbal vibration absorbing structure and the gimbal structure according to any one of the foregoing embodiments.
  • the gimbal structure is mounted on the second bracket, and the gimbal structure includes at least one
  • the shaft assembly includes a shaft bracket and a motor connected to the shaft bracket, and the shaft bracket is connected to a rotor of the motor.
  • the gimbal system further includes a load
  • the rotation axis assembly includes a pitch axis assembly, a roll axis assembly, and a translation axis assembly, the pitch axis assembly, the roll axis assembly, and the translation
  • the shaft components are connected in sequence;
  • the roll shaft component includes a roll motor and a U-shaped roll bracket.
  • One end of the U-shaped roll bracket is provided with a limit shaft, and the other end of the U-shaped roll bracket is provided for installing pitching.
  • a pitching motor joint of the motor, the limit shaft and the motor shaft of the pitching motor are respectively connected to opposite sides of the load, and the pitching motor can drive the load to rotate.
  • the PTZ system further includes an ESC component, and the ESC component is disposed on the second bracket.
  • the gimbal system further includes a cable, one end of the cable is electrically connected to the ESC component, and the other end of the cable is passed through the translation shaft component, The roll axis assembly and the pitch axis assembly are electrically connected to a load.
  • An unmanned aerial vehicle includes a fuselage and a gimbal system according to any one of the above embodiments.
  • the fuselage is provided with a power supply component and a flight control system.
  • the first bracket is mounted on the fuselage.
  • the first bracket and the second bracket of the unmanned aerial vehicle, the gimbal system, and the gimbal damping structure of the embodiment of the present invention all have a bent structure.
  • the opposite ends of the bent structure of the first bracket are respectively provided with a first connection portion and A second connection portion and a third connection portion and a fourth connection portion are respectively provided at opposite ends of the bent structure of the second bracket, and a plurality of shock absorbing bodies are connected to the first connection portion and the third connection portion or to the second connection portion.
  • the fourth connection portion to securely mount the second bracket on the first bracket; when the vibration generated by the first bracket is transmitted to the shock absorbing body, the shock absorbing body can absorb part of the vibration, thereby reducing the vibration generated by the second bracket To improve the stability of the second bracket.
  • FIG. 1 is a perspective structural diagram of a gimbal vibration-damping structure according to an embodiment of the present invention.
  • FIG. 2 is an exploded schematic view of a gimbal vibration-damping structure according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a three-dimensional structure of a shock absorbing body of a gimbal shock absorbing structure according to an embodiment of the present invention.
  • FIG. 4 is a perspective structural diagram of a gimbal system according to an embodiment of the present invention.
  • FIG. 5 is a schematic perspective structural view of a part of a structure of a gimbal system according to an embodiment of the present invention.
  • FIG. 6 is an exploded schematic diagram of a part of a structure of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 7 is an exploded schematic view of a gimbal system according to an embodiment of the present invention.
  • FIG. 8 is a schematic plan view of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 9 is a cross-sectional view taken along the line IX-IX of the gimbal system in FIG. 8.
  • FIG. 10 is a schematic plan view of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 11 is a cross-sectional view of the gimbal system in FIG. 10 taken along the line XI-XI.
  • FIG. 12 is a schematic perspective structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Gimbal shock-absorbing structure 100 first bracket 10, first frame 11, first free end 111, through hole 112, first mounting portion 113, first surface 114, second surface 115, first support arm 12, The second free end 121, the second mounting portion 122, the first connection portion 13, the second connection portion 14, the second bracket 20, the second frame 21, the third free end 211, the bottom plate 212, the mounting hole 2121, and the side wall 213, installation space 214, second arm 22, fourth free end 221, third connection portion 23, fourth connection portion 24, shock absorber 30, first shock absorber 301, second shock absorber 302, first A joint portion 31, a card hole 310, a second joint portion 33, a shock absorbing body 34, a deformation ring 35, a limit ring 36, a limit slot 37, an ESC component 40, an ESC frame 41, and an ESC arm 42 , ESC module 43, PTZ system 200, PTZ structure 50, shaft assembly 51, motor 511, shaft bracket 512, pitch axis assembly 513, pitch motor 5131, limit axis 5132
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality” is two or more, unless specifically defined otherwise.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relationship.
  • installation should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the "first" or “down” of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • the gimbal shock-absorbing structure 100 includes a first bracket 10 having a bent structure, a second bracket 20 having a bent structure, and a plurality of shock-absorbing bodies 30.
  • the first bracket 10 includes a first free end 111 and a second free end 121 opposite to each other.
  • the first bracket 10 further includes a first connection portion 13 provided on the first free end 111 and a second connection provided on the second free end 121.
  • Department 14 The second bracket 20 includes a third free end 211 and a fourth free end 221 opposite to each other.
  • the second bracket 20 further includes a third connection portion 23 provided on the third free end 211 and a fourth connection provided on the fourth free end 221. ⁇ 24 ⁇ 24.
  • the first connection portion 13 is connected to the third connection portion 23 through the shock absorbing body 30, and the second connection portion 14 is connected to the fourth connection portion 24 through the shock absorbing body 30.
  • the bent structure of the first bracket 10 can be understood as: the first bracket 10 includes at least two parts that are not on the same plane.
  • the first bracket 10 includes a first frame 11 and an end from the first frame 11. Bend and extend the first support arm 12.
  • the bent structure of the second bracket 20 can be understood as: the second bracket 20 includes at least two parts that are not on the same plane.
  • the second bracket 20 includes the second frame 21 and the second frame 21.
  • the second support arm 22 is bent and extended at one end.
  • the first free end 111 and the second free end 112 are located at opposite ends of the bent structure of the first bracket 10.
  • the third free end 211 and the fourth free end 212 are located at opposite ends of the bent structure of the second bracket 20.
  • the first connection portion 13 corresponds to the third connection portion 23, and the second connection portion 14 corresponds to the fourth connection portion 24.
  • the plurality of shock absorbing bodies 30 are used to connect the first bracket 10 and the second bracket 20.
  • the shock-absorbing body 30 can be elastically deformed when subjected to a force.
  • the vibration generated by the first bracket 10 is transmitted by the shock-absorbing body 30 to the second bracket 20, because the shock-absorbing body 30 can absorb the first Part of the vibration generated by the bracket 10, therefore, the second bracket 20 receives less vibration than the first bracket 10, thereby improving the stability of the second bracket 20 and the components (such as the load 60) mounted on the second bracket 20 .
  • the first bracket 10 and the second bracket 20 of the gimbal vibration-damping structure 100 both have a bent structure.
  • the opposite ends of the bent structure of the first bracket 10 are respectively provided with a first connection portion 13 and a second connection.
  • a third connection portion 23 and a fourth connection portion 24 are respectively provided on opposite ends of the bent structure of the second bracket 20 and the second bracket 20, and the plurality of shock absorbing bodies 30 are connected or connected through the first connection portion 13 and the third connection portion 23
  • the second connection portion 14 and the fourth connection portion 24 are used to firmly mount the second bracket 20 on the first bracket 10; when the vibration generated by the first bracket 10 is transmitted to the shock absorbing body 30, the shock absorbing body 30 can absorb a portion
  • the vibration reduces the vibration generated by the second bracket 20 and improves the stability of the second bracket 20, thereby reducing the vibration of the load 60 mounted on the second bracket 20 and improving the stability of the load 60.
  • the gimbal shock-absorbing structure 100 includes a first bracket 10, a second bracket 20 and a plurality of shock-absorbing bodies 30 and an ESC component 40.
  • the first bracket 10 has a bent structure.
  • the first bracket 10 includes a first frame body 11, a first support arm 12, a first connection portion 13 and a second connection portion 14.
  • the first frame body 11 has a frame-like structure.
  • the first frame body 11 includes a first surface 114 and a second surface 115 opposite to each other.
  • the peripheral edges of the first frame body 11 are approximately rectangular.
  • the first frame 11 includes a first centerline C1 and a second centerline C2 that are perpendicular to each other.
  • the first center line C1 is perpendicular to two opposite sides of the rectangle (the peripheral edges of the first frame body 11) and passes through the center of the rectangle.
  • the second center line C2 is perpendicular to the other two sides of the rectangle (the peripheral edges of the first frame 11) and passes through the center of the rectangle.
  • One end of the first frame body 11 is a first free end 111, and the first free end 111 is located on one side of the second center line C2.
  • a through hole 112 is formed in the center of the first frame body 11.
  • the first free end 111 is provided with a first mounting portion 113.
  • the first mounting portion 113 of this embodiment may be a structure provided with a coupling hole.
  • a fastener (for example, a screw) passes through the first mounting portion 113 and is locked in place.
  • the fuselage 80 of the unmanned aerial vehicle 300 is mounted on the fuselage 80 of the unmanned aerial vehicle 300 on the fuselage 80 of the unmanned aerial vehicle 300 (as shown in FIG. 12).
  • the first arm 12 is formed by bending and extending from one end of the first frame body 11. Specifically, the first support arm 12 is bent and extended from an end of the first frame body 11 far from the first free end 111 toward a side where the second surface 115 is located. An end of the first arm 12 far from the first frame body 11 is a second free end 121. Correspondingly, the first free end 111 is located at an end of the first frame body 11 far from the first arm 12. That is, the second free end 121 and the first free end 111 are located at opposite ends of the bent structure of the first bracket 10.
  • the second free end 121 is provided with a second mounting portion 122.
  • the second mounting portion 122 of this embodiment may be a structure provided with a coupling hole.
  • a fastener for example, a screw
  • the fuselage 80 of the unmanned aerial vehicle 300 is mounted on the fuselage 80 of the unmanned aerial vehicle 300 on the fuselage 80 of the unmanned aerial vehicle 300 (as shown in FIG. 12).
  • the first connecting portion 13 extends from the first free end 111 to the side where the first surface 114 is located, and the extending direction of the first connecting portion 13 and the extending direction of the first arm 12 face the opposite sides of the first frame 11 respectively.
  • the first arm 12 and the first connecting portion 13 are located on opposite sides of the first frame 11.
  • the first connecting portion 13 may include an I-shaped hook, and a hook groove is formed between two ends of the hook.
  • the number of the first connecting portions 13 in this embodiment is two, and the two first connecting portions 13 are located on the first side S21 of the second center line C2, and the two first connecting portions 13 are symmetrically disposed with respect to the first center line C1. . In other embodiments, the number of the first connecting portions 13 may be one, three, four, or any plurality.
  • the second connecting portion 14 extends from the second free end 112.
  • the extending direction of the second connecting portion 14 and the extending direction of the first frame body 11 relative to the first support arm 12 are located on the same side of the first support arm 12.
  • the second connecting portion 14 may include an I-shaped hook, and a hook groove is formed between two ends of the hook.
  • the number of the second connection portions 14 in this embodiment is two, and the two second connection portions 14 are both located on the second side S22 of the second center line C2, and the two second connection portions 14 are symmetrically disposed with respect to the first center line C1. . In other embodiments, the number of the second connecting portions 14 may be one, three, four, or any plurality.
  • the second bracket 20 has a bent structure.
  • the second bracket 20 includes a second frame 21, a second support arm 22, a third connection portion 23, and a fourth connection portion 24.
  • the second frame body 21 corresponds to the first frame body 11 and includes a bottom plate 212 and an annular side wall 213.
  • the bottom plate 212 has a substantially rectangular plate-like structure, and a center of the bottom plate 212 is provided with a mounting hole 2121.
  • the annular side wall 213 extends from an edge of the bottom plate 212 toward one side of the bottom plate 212.
  • the annular side wall 213 and the bottom plate 212 together form a mounting space 214, and the mounting hole 2121 communicates with the mounting space 214.
  • the peripheral edges of the second frame body 21 are approximately rectangular.
  • the second frame body 21 includes a third center line C3 and a fourth center line C4 that are perpendicular to each other.
  • the third center line C3 is perpendicular to two opposite sides of the rectangle (peripheral edges of the second frame 21) and passes through the center of the rectangle.
  • the fourth center line C4 is perpendicular to the other two sides of the rectangle (peripheral edges of the second frame 21) and passes through the center of the rectangle.
  • the projection of the third centerline C3 on the plane where the first frame 11 is located coincides with the first centerline C1; the projection of the fourth centerline C4 on the plane where the first frame 11 is located coincides with the second centerline C2.
  • One end of the second frame body 21 is a third free end 211, and the third free end 211 is located on the first side of the fourth center line C4.
  • the second frame body 21 is located on a side where the first surface 114 of the first frame body 11 is located, and the second frame body 21 is spaced from and opposed to the first frame body 11 (correspondingly).
  • the third free end 211 corresponds to the first free end 111.
  • the second support arm 22 corresponds to the first support arm 12, and the second support arm 22 is bent and extended from one end of the second frame body 21. Specifically, the second support arm 22 extends from an end of the second frame body 21 away from the third free end 211 toward a side of the bottom plate 212 away from the annular side wall 213. An end of the second arm 22 remote from the second frame body 21 is a fourth free end 221. Correspondingly, the third free end 211 is located at an end of the second frame body 21 far from the second arm 22. That is, the fourth free end 221 and the third free end 211 are located at opposite ends of the bent structure of the second bracket 20.
  • the second support arm 22 is disposed in the through hole 112 and is spaced apart from the first support arm 12 and is oppositely disposed (corresponding to the corresponding support).
  • the third free end 211 and the fourth free end 221 are respectively located on opposite sides of the first frame body 21.
  • the second arm 22 is closer to the third free end 211 than the first arm 12.
  • the third connecting portion 23 extends from the third free end 211 toward a side away from the installation space 214. An end of the third connecting portion 23 remote from the third free end 211 is provided with a perforation.
  • the number of the third connection portions 23 is the same as the number of the first connection portions 13, and the third connection portions 23 and the first connection portions 13 are provided in a one-to-one correspondence.
  • the number of the third connecting portions 23 in this embodiment is two, and the two third connecting portions 23 are both located on the first side S41 of the fourth center line C4, and the two third connecting portions 23 are symmetrically disposed with respect to the third center line C3. .
  • the fourth connecting portion 24 extends from the fourth free end 221 in a direction away from the second frame body 21, and an end of the fourth connecting portion 24 remote from the fourth free end 221 is provided with a perforation.
  • the number of the fourth connection portions 24 is the same as the number of the second connection portions 14, and the fourth connection portions 24 and the second connection portions 14 are provided in a one-to-one correspondence.
  • the number of the fourth connection portions 24 in this embodiment is two, and both the fourth connection portions 24 are located on the second side S42 of the fourth center line C4, and the two fourth connection portions 24 are symmetrically disposed with respect to the third center line C3. .
  • each shock absorbing body 30 includes a shock absorbing body 34, a deformation ring 35 sleeved on the shock absorbing body 34, and a limit ring 36 sleeved on the shock absorbing body 34.
  • the shock-absorbing body 30 is a hollow structure (that is, a deformation space communicating with the outside of the shock-absorbing body 30 is formed inside the shock-absorbing body 30).
  • the shock-absorbing body 34, the deformation ring 35, and the stop ring 36 may be hollow structures .
  • the shock-absorbing body 34 is approximately cylindrical, and the shock-absorbing body 34 has an axis A0.
  • a clamping hole 310 is defined in one end of the shock absorbing body 34 to form a first coupling portion 31.
  • a part of the outer surface of the deformation ring 35 is a spherical surface, and the spherical center of the spherical surface is located on the axis A0.
  • the deformation rings 35 can be deformed when subjected to a force, and the number of the deformation rings 35 is one or more (two or more).
  • the deformation ring 35 is spaced from the stop ring 36 and collectively surrounds the stop groove 37.
  • the clamping hole 310 and the stop slot 37 are respectively located on opposite sides of the deformation ring 35.
  • the deformation ring 35, the limiting ring 36, and the limiting groove 37 together form a second joint portion 33.
  • the number of the deformation rings 35 is two, and the first joint portion 31, the deformation ring 35 and the second joint portion 33 are connected in this order.
  • the shock absorbing body 30 includes a first shock absorbing body 301 for connecting the first connecting portion 13 and the third connecting portion 23, and a second shock absorbing body 302 for connecting the second connecting portion 14 and the fourth connecting portion 24.
  • the shock absorbing body 34 of the first shock absorbing body 301 has a first axis A1.
  • the shock absorbing body 34 of the second shock absorbing body 302 has a second axis A2.
  • the first connecting portion 13 is combined with the first coupling portion 31 of a shock absorbing body 30 (301), and the third connecting portion 23 is coupled with the second coupling portion 33 of the shock absorbing body 30 (301); the second connecting portion 14 is coupled with The first coupling portion 31 of the other shock-absorbing body 30 (302) is coupled, and the fourth connection portion 24 is coupled to the second coupling portion 33 of the shock-absorbing body 30 (302).
  • the first coupling portion 31 of the first shock absorbing body 301 is combined with the first coupling portion 13. Specifically, the hook of the first coupling portion 13 passes through the hook hole 310 of the first coupling portion 31 and is connected to the shock absorbing body 34. The first connection portion 13 is engaged with the first connection portion 31 by being engaged.
  • the second coupling portion 33 of the first shock absorbing body 301 is combined with the third connecting portion 23. Specifically, the third connecting portion 23 is sleeved on the shock absorbing body 34 at the limiting groove 37 and is deformed by the deformation ring 35 and the limiting position. The ring 36 blocks so that the third connection portion 23 is combined with the second coupling portion 33.
  • the first joint portion 31 of the second shock-absorbing body 302 is combined with the second connection portion 14. Specifically, the hook of the second joint portion 14 passes through the hook hole 310 of the first joint portion 31 and is connected to the shock-absorbing body 34.
  • the second connection portion 14 is engaged with the first connection portion 31 by being engaged.
  • the second coupling portion 33 of the second shock absorbing body 302 is combined with the fourth connecting portion 24.
  • the fourth connecting portion 24 is sleeved on the shock absorbing body 34 at the limiting groove 37 and is deformed by the deformation ring 35 and the limiting position.
  • the ring 36 blocks so that the fourth connection portion 24 is combined with the second coupling portion 33.
  • the first shock absorbing body 301 connects the first connecting portion 13 and the third connecting portion 23 and the second shock absorbing body 302 connects the second connecting portion 14 and the fourth connecting portion 24, the first axis A1 and the second axis A2 Both are parallel to the plane on which the first frame body 11 is located, and the first axis A1 is parallel to the second axis A2.
  • the ESC component 40 includes an ESC frame body 41, an ESC arm 42, and an ESC module 43.
  • the ESC frame 41 is mounted on the second frame 12 and covers the installation space 214.
  • the ESC arm 42 is bent and extended from one end of the ESC frame 41 and is mounted on the first arm 12.
  • the first arm 12 is closer to the first free end 111 than the ESC arm 42.
  • the ESC module 43 is installed on the ESC frame 41, and the ESC module 43 and the first frame 11 are located on opposite sides of the second frame 21, respectively.
  • the first bracket 10 and the second bracket 20 of the gimbal vibration-damping structure 100 both have a bent structure.
  • the opposite ends of the bent structure of the first bracket 10 are respectively provided with a first connection portion 13 and a second connection.
  • a third connection portion 23 and a fourth connection portion 24 are respectively provided on opposite ends of the bent structure of the second bracket 20 and the second bracket 20, and the plurality of shock absorbing bodies 30 are connected or connected through the first connection portion 13 and the third connection portion 23
  • the second connection portion 14 and the fourth connection portion 24 are used to firmly mount the second bracket 20 on the first bracket 10; when the vibration generated by the first bracket 10 is transmitted to the shock absorbing body 30, the shock absorbing body 30 can absorb a portion
  • the vibration reduces the vibration generated by the second bracket 20 and improves the stability of the second bracket 20, thereby reducing the vibration of the load 60 mounted on the second bracket 20 and improving the stability of the load 60.
  • first axis A1 of the first shock absorbing body 301 and the second axis A2 of the second shock absorbing body 302 are both parallel to the plane where the first frame body 11 is located, and the first axis A1 is parallel to the second axis A2.
  • the first shock absorbing body 301 and the second shock absorbing body 302 can better absorb the vibration generated by the first bracket 10; the two first connection portions 13 are symmetrically disposed about the first center line C1, and the two second connection portions 14 are approximately
  • the first centerline C1 is arranged symmetrically
  • the two third connection portions 23 are arranged symmetrically about the third centerline C3
  • the two fourth connection portions 24 are arranged symmetrically about the third centerline C3
  • the first connection portion 13 and the second connection portion 14 are located at opposite ends of the first bracket 10
  • the third connection portion 23 and the fourth connection portion 24 are located at opposite ends of the second bracket 20, respectively, and the projection of the third center line C3 on the plane where the first frame body 11 is located It coincides with the first centerline C1, and the projection of the fourth centerline C4 on the plane where the first frame 11 is located coincides with the second centerline C2.
  • the structure is more stable.
  • a gimbal system 200 includes a gimbal damping structure 100 and a gimbal structure 50 according to any one of the above embodiments.
  • the gimbal structure 50 is mounted on the second bracket 20.
  • the gimbal structure 50 includes at least one shaft assembly 51.
  • the shaft assembly 51 includes a shaft bracket 512 and a motor 511 connected to the shaft bracket 512.
  • the shaft bracket 512 is connected to the rotor of the motor 511.
  • the gimbal structure 50 is mounted on the second bracket 20, and a part of the gimbal structure 50 passes through the through hole 112 of the first frame 11. 1 and FIG. 2, in this embodiment, specifically, the translation axis motor 5151 of the gimbal structure 50 is mounted on the second frame 21 of the second bracket 20, the second frame 21 of the second bracket 20 and A part of the bracket 22 is passed through the through hole 112 in the middle of the first frame 11.
  • the gimbal structure 50 may include one shaft assembly 51, two shaft assemblies 51, three shaft assemblies 51, or any number of shaft assemblies 51.
  • the first bracket 10 and the second bracket 20 of the gimbal system 200 both have a bent structure.
  • the opposite ends of the bent structure of the first bracket 10 are respectively provided with a first connection portion 13 and a second connection portion 14.
  • the opposite ends of the bent structure of the second bracket 20 are provided with a third connection portion 23 and a fourth connection portion 24, respectively.
  • the plurality of shock absorbing bodies 30 are connected to the first connection portion 13 and the third connection portion 23 or to the second connection portion.
  • the connecting portion 14 and the fourth connecting portion 24 are used to firmly mount the second bracket 20 on the first bracket 10; when the vibration generated by the first bracket 10 is transmitted to the shock absorbing body 30, the shock absorbing body 30 can absorb part of the vibration, Therefore, the vibration generated by the second bracket 20 is reduced, and the stability of the second bracket 20 is improved.
  • the PTZ system 200 further includes a load 60.
  • the rotation shaft assembly 51 includes a pitch shaft assembly 513, a roll shaft assembly 514, and a translation shaft assembly 515.
  • the pitch axis assembly 513, the roll axis assembly 514, and the pan axis assembly 515 are sequentially connected.
  • the roll shaft assembly 514 includes a roll motor 5141 and a U-shaped roll holder 5142.
  • the U-shaped roll bracket 5142 is provided with a limit shaft 5132 at one end, and the other end of the U-shaped roll bracket 5142 is provided with a pitch motor joint for installing the pitch motor 5131.
  • the motor shafts of the limit shaft 5132 and the pitch motor 5131 are respectively connected to the load 60.
  • the opposite sides are connected, and the pitch motor 5131 can drive the load 60 to rotate.
  • the pitch axis assembly 513 includes a pitch axis motor 5131 and a limit axis 5132.
  • the translation shaft assembly 515 includes a translation motor 5151 and a translation shaft bracket 5152.
  • the motor 511 of the shaft assembly 51 includes a roll motor 5141, a pitch axis motor 5131, and a translation motor 5151.
  • the shaft bracket 512 of the shaft assembly 51 includes a limit shaft 5132, a U-shaped roll bracket 5142, and a translation shaft bracket 5152.
  • the PTZ system 200 further includes an ESC component 40 and a cable 70.
  • the ESC component 40 is mounted on the second frame 21.
  • One end of the cable 70 is electrically connected to the ESC component 40, and the other end of the cable 70 is passed through the pan axis component 515, the roll axis component 514, and the pitch axis component 513 in sequence and is electrically connected to the load 60.
  • the cable 70 can pass through the translation motor 5151, the translation shaft bracket 5152, the roll motor 5141, the U-shaped roll bracket 5142, the limit shaft 5132, and extend into the load 60 and the load 60. Electrical connection.
  • the cable 70 of this embodiment is disposed in the rotating shaft assembly 51, so that the cable 70 can be prevented from being damaged by the outside of the gimbal system 200.
  • the unmanned aerial vehicle 300 includes a fuselage 80 and a gimbal system 200.
  • the fuselage 80 is provided with a power supply component (not shown) and a flight control system (not shown).
  • the first bracket 10 of the gimbal system 200 is mounted on the fuselage 80.
  • the power supply component includes a battery, and the power supply component may be used to power the unmanned aerial vehicle 300.
  • the flight control system 300 is used to control the operation of the unmanned aerial vehicle 300.
  • the first mounting portion 113 and the second mounting portion 122 on the first bracket 10 are combined with the body 80 by a fastener to mount the first bracket 10 on the body 80.
  • the first bracket 10 and the second bracket 20 of the unmanned aerial vehicle 300 both have a bent structure.
  • the opposite ends of the bent structure of the first bracket 10 are respectively provided with a first connection portion 13 and a second connection portion 14.
  • the opposite ends of the bent structure of the second bracket 20 are provided with a third connection portion 23 and a fourth connection portion 24, respectively.
  • the plurality of shock absorbing bodies 30 are connected to the first connection portion 13 and the third connection portion 23 or to the second connection portion.
  • the connecting portion 14 and the fourth connecting portion 24 are used to firmly mount the second bracket 20 on the first bracket 10; when the vibration generated by the first bracket 10 is transmitted to the shock absorbing body 30, the shock absorbing body 30 can absorb part of the vibration, Therefore, the vibration generated by the second bracket 20 is reduced, and the stability of the second bracket 20 is improved.
  • the gimbal system 200 of the embodiment of the present invention assembles the gimbal vibration-damping structure 100 and the gimbal structure 50 together, and allows the center of gravity of the gimbal structure 50 to pass through the center of the shock-absorbing structure 100, which can effectively resist the The roll and torsional moments can effectively improve the stability of the entire PTZ system 200 and make the control of the PTZ system 200 more stable.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

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Abstract

一种无人飞行器(300)、云台***(200)及云台减震结构(100)。云台减震结构(100)包括呈弯折结构的第一支架(10)、呈弯折结构的第二支架(20)和多个减震体(30)，第一支架(10)包括相对的第一自由端(111)与第二自由端(121)，第一支架(10)还包括设置在第一自由端(111)的第一连接部(13)及设置在第二自由端(121)的第二连接部(14)；第二支架(20)包括相对的第三自由端(211)与第四自由端(221)，第二支架(20)还包括设置在第三自由端(211)的第三连接部(23)及设置在第四自由端(221)的第四连接部(24)；第一连接部(13)通过减震体(30)与第三连接部(23)连接，第二连接部(14)通过减震体(30)与第四连接部(24)连接。

Description

云台减震结构、云台***及无人飞行器
优先权信息
本申请请求2018年08月21日向中国国家知识产权局提交的、专利申请号为201821350887.7的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本发明涉及无人机领域，特别涉及一种云台减震结构、云台***及无人飞行器。
背景技术
传统的具有航拍功能的无人飞行器都会使用两轴或三轴的云台搭载相机，以减少飞机飞行时造成的相机抖动，获得更稳定的拍摄效果。在云台与无人飞行器之间还需减震结构连接，但是传统的云台减震结构的减震效果较差，从而导致相机的成像效果不能够满足用户的要求。
发明内容
本发明的实施方式提供了一种云台减震结构、云台***及无人飞行器。
本发明实施方式的云台减震结构包括呈弯折结构的第一支架、呈弯折结构的第二支架和多个减震体。所述第一支架包括相对的第一自由端与第二自由端，所述第一支架还包括设置在所述第一自由端的第一连接部及设置在所述第二自由端的第二连接部。所述第二支架包括相对的第三自由端与第四自由端，所述第二支架还包括设置在所述第三自由端的第三连接部及设置在所述第四自由端的第四连接部。所述第一连接部通过所述减震体与所述第三连接部连接，所述第二连接部通过所述减震体与所述第四连接部连接。
在某些实施方式中，所述第一支架包括第一框体及第一支臂，所述第一支臂自所述第一框体的一端弯折延伸，所述第一自由端位于所述第一框体的远离所述第一支臂的一端，所述第二自由端位于所述第一支臂的远离所述第一框体的一端；所述第二支架包括第二框体及第二支臂，所述第二支臂自所述第二框体的一端弯折延伸，所述第三自由端位于所述第二框体的远离所述第二支臂的一端，所述第四自由端位于所述第二支臂的远离所述第二框体的一端，所述第一框体与所述第二框体对应，所述第一支臂与所述第二支臂对应。
在某些实施方式中，所述第一框体开设有贯穿所述第一框体的通孔，所述第二支臂穿设在所述通孔内，所述第一框体与所述第二框体间隔，所述第三连接部及所述第四连接部分别位于所述第一框体的相背两侧，所述第二支臂相较所述第一支臂更靠近所述第三自由端。
在某些实施方式中，所述第一连接部自所述第一自由端延伸，所述第一连接部的延伸方向与所述第一支臂的延伸方向分别朝向所述第一框体的相背两侧；所述第二连接部自所述第二自由端延伸，所述第 二连接部的延伸方向与所述第一框体相对所述第一支臂的延伸方向位于所述第一支臂的相同侧。
在某些实施方式中，所述第一自由端设置有第一安装部，所述第二自由端设置有第二安装部，所述第一安装部与所述第二安装部均用于安装所述第一支架。
在某些实施方式中，每个所述减震体包括依次连接的第一结合部、形变环及第二结合部，所述第一连接部与一个所述减震体的所述第一结合部结合，所述第三连接部与该减震体的所述第二结合部结合；所述第二连接部与另一个所述减震体的所述第一结合部结合，所述第四连接部与该减震体的所述第二结合部结合。
在某些实施方式中，每个所述减震体包括减震本体、套设所述减震本体上的所述形变环、及套设在所述减震本体上的限位环，所述形变环与所述限位环间隔并共同围成限位槽，所述形变环、所述限位环、及所述限位槽共同形成所述第二结合部，所述减震本体上开设有卡孔以形成所述第一结合部，所述卡孔与所述限位槽分别位于所述形变环的相背两侧；
所述第一连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第三连接部开设有穿孔，所述第三连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡；和/或
所述第二连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第四连接部开设有穿孔，所述第四连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡。
在某些实施方式中，用于连接所述第一连接部与所述第三连接部连接的所述减震体的所述减震本体具有第一轴线，用于连接所述第二连接部与所述第四连接部连接的所述减震体的所述减震本体具有第二轴线，所述第一轴线与所述第二轴线均平行所述第一框体所在的平面，所述第一轴线与所述第二轴线平行。
在某些实施方式中，所述第一连接部至所述第四连接部的数量均为两个，所述第一框体包括相互垂直的第一中心线与第二中心线，两个所述第一连接部位于所述第二中心线的第一侧并关于所述第一中心线对称，两个所述第二连接部位于所述第二中心线的第二侧并关于所述第一中心线对称；所述第二框体包括相互垂直的第三中心线与第四中心线，两个所述第三连接部位于所述第四中心线的第一侧并关于所述第三中心线对称，两个所述第四连接部位于所述第三中心线的第二侧并关于所述第三中心线对称，所述第一侧与所述第二侧相背。
在某些实施方式中，所述云台***还包括电调组件，所述电调组件包括电调框体、电调支臂及电调模组。所述电调框体安装在所述第二框体上。所述电调支臂自所述电调框体的一端弯折延伸并搭载在所述第一支臂上，所述第一支臂相较所述电调支臂更靠近所述第一自由端。所述电调模组安装在所述电调框体上，所述电调模组与所述第一框体分别位于所述第二框体的相背两侧。
本发明实施方式的云台***包括上述任意一项实施方式所述的云台减震结构以及云台结构，所述云台结构安装在所述第二支架上，所述云台结构包括至少一个转轴组件，所述转轴组件包括转轴支架和与所述转轴支架连接的电机，所述转轴支架与所述电机的转子连接。
在某些实施方式中，所述云台***还包括负载，所述转轴组件包括俯仰轴组件、横滚轴组件以及平移轴组件，所述俯仰轴组件、所述横滚轴组件以及所述平移轴组件依次相连；所述横滚轴组件包括横滚电机及U型横滚支架，所述U型横滚支架一端设有限位轴，所述U型横滚支架的另一端设有用于安装俯仰电机的俯仰电机结合部，所述限位轴及所述俯仰电机的电机轴分别与所述负载的相对两侧连接，所述俯仰电机能够驱动所述负载转动。
在某些实施方式中，所述云台***还包括电调组件，所述电调组件设置在所述第二支架上。
在某些实施方式中，所述云台***还包括线缆，所述线缆的一端与所述电调组件电性连接，所述线缆的另一端依次穿设在所述平移轴组件、所述横滚轴组件及所述俯仰轴组件内并与负载电性连接。
本发明实施方式的无人飞行器包括机身及上述任意一项实施方式所述的云台***。所述机身设有供电组件及飞行控制***。所述第一支架安装在所述机身上。
本发明实施方式的无人飞行器、云台***及云台减震结构的第一支架和第二支架均呈弯折结构，第一支架的弯折结构的相对两端分别设置第一连接部和第二连接部，第二支架的弯折结构的相对两端分别设置第三连接部和第四连接部，多个减震体通过连接第一连接部和第三连接部或连接第二连接部和第四连接部以将第二支架稳固地安装在第一支架上；由于第一支架产生的振动传递至减震体时，减震体能吸收部分振动，从而减小了第二支架产生的振动，提升了第二支架的稳定性。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的云台减震结构的立体结构示意图。
图2是本发明实施方式的云台减震结构的分解示意图。
图3是本发明实施方式的云台减震结构的减震体的立体结构示意图。
图4是本发明实施方式的云台***的立体结构示意图。
图5是本发明实施方式的云台***的部分结构的立体结构示意图。
图6是本发明实施方式的云台***的部分结构的分解示意图。
图7是本发明实施方式的云台***的分解示意图。
图8是本发明实施方式的云台***的平面示意图。
图9是图8中的云台***的沿着IX-IX线的剖视图。
图10是本发明实施方式的云台***的平面示意图。
图11是图10中的云台***的沿着XI-XI线的剖视图。
图12是本发明实施方式的无人飞行器的立体结构示意图。
附图标记说明如下：
云台减震结构100、第一支架10、第一框体11、第一自由端111、通孔112、第一安装部113、第一面114、第二面115、第一支臂12、第二自由端121、第二安装部122、第一连接部13、第二连接部14、第二支架20、第二框体21、第三自由端211、底板212、安装孔2121、侧壁213、安装空间214、第二支臂22、第四自由端221、第三连接部23、第四连接部24、减震体30、第一减震体301、第二减震体302、第一结合部31、卡孔310、第二结合部33、减震本体34、形变环35、限位环36、限位槽37、电调组件40、电调框体41、电调支臂42、电调模组43、云台***200、云台结构50、转轴组件51、电机511、转轴支架512、俯仰轴组件513、俯仰电机5131、限位轴5132、横滚轴组件514、横滚电机5141、U型横滚支架5142、平移轴组件515、平移电机5151、平移转轴支架5152、负载60、线缆70、无人飞行器300、机身80。
具体实施方式
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或 仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请一并参阅图1及图2，本发明实施方式的云台减震结构100包括呈弯折结构的第一支架10、呈弯折结构的第二支架20和多个减震体30。第一支架10包括相对的第一自由端111与第二自由端121，第一支架10还包括设置在第一自由端111的第一连接部13及设置在第二自由端121的第二连接部14。第二支架20包括相对的第三自由端211与第四自由端221，第二支架20还包括设置在第三自由端211的第三连接部23及设置在第四自由端221的第四连接部24。第一连接部13通过减震体30与第三连接部23连接，第二连接部14通过减震体30与第四连接部24连接。
其中，第一支架10呈弯折结构可以理解为：第一支架10至少包括不在同一平面上的两部分结构，例如，第一支架10包括第一框体11及自第一框体11的一端弯折延伸的第一支臂12。同样地，第二支架20呈弯折结构可以理解为：第二支架20至少包括不在同一平面上的两部分结构，例如，第二支架20包括第二框体21及自第二框体21的一端弯折延伸的第二支臂22。第一自由端111和第二自由端112位于第一支架10的弯折结构的相对两端。第三自由端211和第四自由端212位于第二支架20的弯折结构的相对两端。第一连接部13与第三连接部23对应，第二连接部14与第四连接部24对应。
多个减震体30用于连接第一支架10及第二支架20。减震体30在受力时能够发生弹性变形，当第一支架10发生振动时，第一支架10产生的振动由减震体30传递至第二支架20，由于减震体30能够吸收第一支架10产生的部分振动，因此，第二支架20接收到振动小于第一支架10产生的振动，从而提升了第二支架20及安装在第二支架20上的元件(例如负载60)的稳定性。
本发明实施方式的云台减震结构100的第一支架10和第二支架20均呈弯折结构，第一支架10的弯折结构的相对两端分别设置第一连接部13和第二连接部14，第二支架20的弯折结构的相对两端分别设置第三连接部23和第四连接部24，多个减震体30通过连接第一连接部13和第三连接部23或连接第二连接部14和第四连接部24以将第二支架20稳固地安装在第一支架10上；由于第一支架10产生的振动传递至减震体30时，减震体30能吸收部分振动，从而减小了第二支架20产生的振动，提升了第二支架20的稳定性，从而能够减小安装在第二支架20上的负载60的振动，提升负载60的稳定性。
请继续参阅图1及图2，本发明实施方式的云台减震结构100包括第一支架10、第二支架20和、多个减震体30及电调组件40。
第一支架10呈弯折结构。第一支架10包括第一框体11、第一支臂12、第一连接部13和第二连接 部14。
第一框体11呈框状结构，第一框体11包括相背的第一面114及第二面115。第一框体11的四周边缘近似呈矩形。第一框体11包括相互垂直的第一中心线C1和第二中心线C2。第一中心线C1垂直于该矩形(第一框体11的四周边缘)的相对两条边并经过矩形的中心。第二中心线C2垂直于该矩形(第一框体11的四周边缘)的相对另外两条边并经过矩形的中心。第一框体11的一端为第一自由端111，第一自由端111位于第二中心线C2的一侧。第一框体11的中心形成有通孔112。第一自由端111设置有第一安装部113，本实施方式的第一安装部113可以为开设有结合孔的结构，紧固件(例如，螺钉)穿过第一安装部113后锁合在无人飞行器300的机身80上以将第一支架10的第一自由端111安装在无人飞行器300的机身80上(如图12所示)。
第一支臂12自第一框体11的一端弯折延伸形成。具体地，第一支臂12自第一框体11的远离第一自由端111的一端朝第二面115所在的一侧弯折延伸。第一支臂12的远离第一框体11的一端为第二自由端121，对应地，第一自由端111位于第一框体11的远离第一支臂12的一端。即，第二自由端121与第一自由端111位于第一支架10的弯折结构的相对两端。第二自由端121设置有第二安装部122，本实施方式的第二安装部122可以为开设有结合孔的结构，紧固件(例如，螺钉)穿过第二安装部122后锁合在无人飞行器300的机身80上以将第一支架10的第二自由端121安装在无人飞行器300的机身80上(如图12所示)。
第一连接部13自第一自由端111朝第一面114所在一侧延伸，第一连接部13的延伸方向与第一支臂12的延伸方向分别朝向第一框体11的相背两侧，换言之，第一支臂12与第一连接部13位于第一框体11的相背两侧。第一连接部13可以包括呈工字形的卡勾，卡勾的两端之间形成卡槽。本实施方式的第一连接部13的数量为两个，两个第一连接部13均位于第二中心线C2的第一侧S21，两个第一连接部13关于第一中心线C1对称设置。在其他实施方式中，第一连接部13的数量也可以为一个、三个、四个或任意多个。
第二连接部14自第二自由端112延伸形成，第二连接部14的延伸方向与第一框体11相对第一支臂12的延伸方向位于第一支臂12的相同侧。第二连接部14可以包括呈工字形的卡勾，卡勾的两端之间形成卡槽。本实施方式的第二连接部14的数量为两个，两个第二连接部14均位于第二中心线C2的第二侧S22，两个第二连接部14关于第一中心线C1对称设置。在其他实施方式中，第二连接部14的数量也可以为一个、三个、四个或任意多个。
第二支架20呈弯折结构。第二支架20包括第二框体21、第二支臂22、第三连接部23和第四连接部24。
第二框体21与第一框体11对应并包括底板212和环形侧壁213。底板212近似呈矩形板状结构，底板212的中心开设有安装孔2121。环形侧壁213自底板212的边缘朝底板212的一侧延伸。环形侧壁213与底板212共同围成有安装空间214，安装孔2121与安装空间214连通。第二框体21的四周边缘 近似呈矩形。第二框体21包括相互垂直的第三中心线C3和第四中心线C4。第三中心线C3垂直于该矩形(第二框体21的四周边缘)的相对两条边并经过矩形的中心。第四中心线C4垂直于该矩形(第二框体21的四周边缘)的相对另外两条边并经过矩形的中心。第三中心线C3在第一框体11所在平面的投影与第一中心线C1重合；第四中心线C4在第一框体11所在平面的投影与第二中心线C2重合。第二框体21的一端为第三自由端211，第三自由端211位于第四中心线C4的第一侧。第二框体21位于第一框体11的第一面114所在的一侧，第二框体21与第一框体11间隔并相对设置(对应设置)。第三自由端211与第一自由端111对应。
第二支臂22与第一支臂12对应，第二支臂22自第二框体21的一端弯折延伸。具体地，第二支臂22自第二框体21的远离第三自由端211的一端朝底板212的远离环形侧壁213的一侧延伸。第二支臂22的远离第二框体21的一端为第四自由端221，对应地，第三自由端211位于第二框体21的远离第二支臂22的一端。即，第四自由端221与第三自由端211位于第二支架20的弯折结构的相对两端。第二支臂22穿设在通孔112内并与第一支臂12间隔并相对设置(对应设置)。第三自由端211与第四自由端221分别位于第一框体21的相背两侧。第二支臂22相较于第一支臂12更靠近第三自由端211。
第三连接部23自第三自由端211朝远离安装空间214一侧延伸。第三连接部23的远离第三自由端211的一端开设有穿孔。第三连接部23的数量与第一连接部13的数量相同，第三连接部23与第一连接部13一一对应设置。本实施方式的第三连接部23的数量为两个，两个第三连接部23均位于第四中心线C4的第一侧S41，两个第三连接部23关于第三中心线C3对称设置。
第四连接部24自第四自由端221朝远离第二框体21的方向延伸，第四连接部24的远离第四自由端221的一端开设有穿孔。第四连接部24的数量与第二连接部14的数量相同，第四连接部24与第二连接部14一一对应设置。本实施方式的第四连接部24的数量为两个，两个第四连接部24均位于第四中心线C4的第二侧S42，两个第四连接部24关于第三中心线C3对称设置。
请结合图3，每个减震体30包括减震本体34、套设减震本体34上的形变环35、及套设在减震本体34上的限位环36。减震体30为中空结构(即减震体30的内部形成有与减震体30外部连通的变形空间)，具体地，减震本体34、形变环35和限位环36均可以为中空结构。减震本体34近似呈圆柱状，减震本体34具有轴线A0。减震本体34的一端开设有卡孔310以形成第一结合部31。形变环35的部分外表面呈圆球面，圆球面的球心位于轴线A0上。形变环35在受力时能够发生变形，形变环35的数量为一个或多个(大于等于两个)。形变环35与限位环36间隔并共同围成限位槽37，卡孔310与限位槽37分别位于形变环35的相背两侧。形变环35、限位环36、及限位槽37共同形成第二结合部33。本实施方式中，形变环35的数量为两个，第一结合部31、形变环35及第二结合部33依次连接。
减震体30包括用于连接第一连接部13和第三连接部23的第一减震体301、和用于连接第二连接部14和第四连接部24的第二减震体302。第一减震体301的减震本体34具有第一轴线A1。第二减震体302的减震本体34具有第二轴线A2。第一连接部13与一个减震体30(301)的第一结合部31结合， 第三连接部23与该减震体30(301)的第二结合部33结合；第二连接部14与另一个减震体30(302)的第一结合部31结合，第四连接部24与该减震体30(302)的第二结合部33结合。
第一减震体301的第一结合部31与第一连接部13结合，具体地，第一连接部13的卡勾穿设在第一结合部31的卡孔310内并与减震本体34卡合，从而使第一连接部13与第一结合部31结合。第一减震体301的第二结合部33与第三连接部23结合，具体地，第三连接部23套设在限位槽37处的减震本体34上并被形变环35与限位环36阻挡，从而使第三连接部23与第二结合部33结合。
第二减震体302的第一结合部31与第二连接部14结合，具体地，第二连接部14的卡勾穿设在第一结合部31的卡孔310内并与减震本体34卡合，从而使第二连接部14与第一结合部31结合。第二减震体302的第二结合部33与第四连接部24结合，具体地，第四连接部24套设在限位槽37处的减震本体34上并被形变环35与限位环36阻挡，从而使第四连接部24与第二结合部33结合。
当第一减震体301连接第一连接部13和第三连接部23、并且第二减震体302连接第二连接部14与第四连接部24时，第一轴线A1与第二轴线A2均平行第一框体11所在的平面，且第一轴线A1与第二轴线A2平行。
请参阅图2，电调组件40包括电调框体41、电调支臂42及电调模组43。电调框体41安装在第二框体12上并遮挡安装空间214。电调支臂42自电调框体41的一端弯折延伸并搭载在第一支臂12上。第一支臂12相较电调支臂42更靠近第一自由端111。电调模组43安装在电调框体41上，电调模组43与第一框体11分别位于第二框体21的相背两侧。
本发明实施方式的云台减震结构100的第一支架10和第二支架20均呈弯折结构，第一支架10的弯折结构的相对两端分别设置第一连接部13和第二连接部14，第二支架20的弯折结构的相对两端分别设置第三连接部23和第四连接部24，多个减震体30通过连接第一连接部13和第三连接部23或连接第二连接部14和第四连接部24以将第二支架20稳固地安装在第一支架10上；由于第一支架10产生的振动传递至减震体30时，减震体30能吸收部分振动，从而减小了第二支架20产生的振动，提升了第二支架20的稳定性，从而能够减小安装在第二支架20上的负载60的振动，提升负载60的稳定性。
进一步地，第一减震体301的第一轴线A1与第二减震体302的第二轴线A2均平行第一框体11所在的平面，第一轴线A1与第二轴线A2平行，因此，第一减震体301和第二减震体302能够更好地吸收第一支架10产生的振动；两个第一连接部13关于第一中心线C1对称设置，两个第二连接部14关于第一中心线C1对称设置，两个第三连接部23关于第三中心线C3对称设置，两个第四连接部24关于第三中心线C3对称设置，第一连接部13和第二连接部14分别位于第一支架10的相对两端，第三连接部23和第四连接部24分别位于第二支架20的相对两端，并且第三中心线C3在第一框体11所在平面的投影与第一中心线C1重合，第四中心线C4在第一框体11所在平面的投影与第二中心线C2重合，因此，云台减震结构100的重心、第一中心线C1与第二中心线C2的交点、及第三中心线C3与第四中心线C4的交点在同一直线上，从而云台减震结构100的结构更加稳定。
请参阅图4及图5，本发明实施方式的云台***200包括上述任意一实施方式的云台减震结构100和云台结构50。云台结构50安装在第二支架20上，云台结构50包括至少一个转轴组件51，转轴组件51包括转轴支架512和与转轴支架512连接的电机511，转轴支架512与电机511的转子连接。
具体地，云台结构50安装在第二支架20上，云台结构50有一部分穿过第一框体11的通孔112处。请结合图1及图2，在本实施例中，具体是云台结构50的平移轴电机5151安装在第二支架20的第二框体21上，第二支架20的第二框体21及部分支架22穿设在第一框体11的中的通孔112内。云台结构50可以包括一个转轴组件51、两个转轴组件51、三个转轴组件51或任意多个转轴组件51。
本发明实施方式的云台***200的第一支架10和第二支架20均呈弯折结构，第一支架10的弯折结构的相对两端分别设置第一连接部13和第二连接部14，第二支架20的弯折结构的相对两端分别设置第三连接部23和第四连接部24，多个减震体30通过连接第一连接部13和第三连接部23或连接第二连接部14和第四连接部24以将第二支架20稳固地安装在第一支架10上；由于第一支架10产生的振动传递至减震体30时，减震体30能吸收部分振动，从而减小了第二支架20产生的振动，提升了第二支架20的稳定性。
请参阅图5、图6及图7，在某些实施方式中，云台***200还包括负载60。转轴组件51包括俯仰轴组件513、横滚轴组件514以及平移轴组件515。俯仰轴组件513、横滚轴组件514以及平移轴组件515依次相连。横滚轴组件514包括横滚电机5141及U型横滚支架5142。U型横滚支架5142一端设有限位轴5132，U型横滚支架5142的另一端设有用于安装俯仰电机5131的俯仰电机结合部，限位轴5132及俯仰电机5131的电机轴分别与负载60的相对两侧连接，俯仰电机5131能够驱动负载60转动。其中，俯仰轴组件513包括俯仰轴电机5131及限位轴5132。平移轴组件515包括平移电机5151及平移转轴支架5152。转轴组件51的电机511包括横滚电机5141、俯仰轴电机5131及平移电机5151，转轴组件51的转轴支架512包括限位轴5132、U型横滚支架5142及平移转轴支架5152。
请参阅图8至图11，在某些实施方式中，云台***200还包括电调组件40及线缆70。电调组件40安装在第二框体21上。线缆70的一端与电调组件40电性连接，线缆70的另一端依次穿设在平移轴组件515、横滚轴组件514及俯仰轴组件513内并与负载60电性连接。
具体地，线缆70可以依次穿过平移电机5151、平移转轴支架5152、横滚电机5141、U型横滚支架5142的一条支臂、限位轴5132并伸入到负载60内并与负载60电性连接。
本实施方式的线缆70穿设在转轴组件51内，从而能够避免线缆70受到云台***200的外界损伤。
请一并参阅图1及图12，本发明实施方式的无人飞行器300包括机身80及云台***200。机身80设有供电组件(图未示)及飞行控制***(图未示)，云台***200的第一支架10安装在机身80上。供电组件包括电池，供电组件可用于给无人飞行器300供电。飞行控制***300用于控制无人飞行器300工作。第一支架10上的第一安装部113和第二安装部122通过紧固件与机身80结合以将第一支架10安装在机身80上。
本发明实施方式的无人飞行器300的第一支架10和第二支架20均呈弯折结构，第一支架10的弯折结构的相对两端分别设置第一连接部13和第二连接部14，第二支架20的弯折结构的相对两端分别设置第三连接部23和第四连接部24，多个减震体30通过连接第一连接部13和第三连接部23或连接第二连接部14和第四连接部24以将第二支架20稳固地安装在第一支架10上；由于第一支架10产生的振动传递至减震体30时，减震体30能吸收部分振动，从而减小了第二支架20产生的振动，提升了第二支架20的稳定性。
本发明实施方式的云台***200将云台减振结构100和云台结构50装配在一起，且使云台结构50的重心经过减震结构100的集合中心，可有效抵抗运动过程中产生的侧倾和扭转力矩，能够有效提升整个云台***200的稳定性，使云台***200的控制更加平稳。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施方式进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (34)

  1. 一种云台减震结构，其特征在于，所述云台减震结构包括：
    呈弯折结构的第一支架，所述第一支架包括相对的第一自由端与第二自由端，所述第一支架还包括设置在所述第一自由端的第一连接部及设置在所述第二自由端的第二连接部；
    呈弯折结构的第二支架，所述第二支架包括相对的第三自由端与第四自由端，所述第二支架还包括设置在所述第三自由端的第三连接部及设置在所述第四自由端的第四连接部；和
    多个减震体，所述第一连接部通过所述减震体与所述第三连接部连接，所述第二连接部通过所述减震体与所述第四连接部连接。
  2. 根据权利要求1所述的云台减震结构，其特征在于，所述第一支架包括第一框体及第一支臂，所述第一支臂自所述第一框体的一端弯折延伸，所述第一自由端位于所述第一框体的远离所述第一支臂的一端，所述第二自由端位于所述第一支臂的远离所述第一框体的一端；所述第二支架包括第二框体及第二支臂，所述第二支臂自所述第二框体的一端弯折延伸，所述第三自由端位于所述第二框体的远离所述第二支臂的一端，所述第四自由端位于所述第二支臂的远离所述第二框体的一端，所述第一框体与所述第二框体对应，所述第一支臂与所述第二支臂对应。
  3. 根据权利要求2所述的云台减震结构，其特征在于，所述第一框体开设有贯穿所述第一框体的通孔，所述第二支臂穿设在所述通孔内，所述第一框体与所述第二框体间隔，所述第三连接部及所述第四连接部分别位于所述第一框体的相背两侧，所述第二支臂相较所述第一支臂更靠近所述第三自由端。
  4. 根据权利要求3所述的云台减震结构，其特征在于，所述第一连接部自所述第一自由端延伸，所述第一连接部的延伸方向与所述第一支臂的延伸方向分别朝向所述第一框体的相背两侧；所述第二连接部自所述第二自由端延伸，所述第二连接部的延伸方向与所述第一框体相对所述第一支臂的延伸方向位于所述第一支臂的相同侧。
  5. 根据权利要求2所述的云台减震结构，其特征在于，所述第一自由端设置有第一安装部，所述第二自由端设置有第二安装部，所述第一安装部与所述第二安装部均用于安装所述第一支架。
  6. 根据权利要求2至5任意一项所述的云台减震结构，其特征在于，每个所述减震体包括依次连接的第一结合部、形变环及第二结合部，所述第一连接部与一个所述减震体的所述第一结合部结合，所述第三连接部与该减震体的所述第二结合部结合；所述第二连接部与另一个所述减震体的所述第一结合部结合，所述第四连接部与该减震体的所述第二结合部结合。
  7. 根据权利要求6所述的云台减震结构，其特征在于，每个所述减震体包括减震本体、套设所述减震本体上的所述形变环、及套设在所述减震本体上的限位环，所述形变环与所述限位环间隔并共同围成限位槽，所述形变环、所述限位环、及所述限位槽共同形成所述第二结合部，所述减震本体上开设有卡孔以形成所述第一结合部，所述卡孔与所述限位槽分别位于所述形变环的相背两侧；
    所述第一连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第三连接部开设有穿 孔，所述第三连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡；和/或
    所述第二连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第四连接部开设有穿孔，所述第四连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡。
  8. 根据权利要求7所述的云台减震结构，其特征在于，用于连接所述第一连接部与所述第三连接部连接的所述减震体的所述减震本体具有第一轴线，用于连接所述第二连接部与所述第四连接部连接的所述减震体的所述减震本体具有第二轴线，所述第一轴线与所述第二轴线均平行所述第一框体所在的平面，所述第一轴线与所述第二轴线平行。
  9. 根据权利要求2所述的云台减震结构，其特征在于，所述第一连接部至所述第四连接部的数量均为两个，所述第一框体包括相互垂直的第一中心线与第二中心线，两个所述第一连接部位于所述第二中心线的第一侧并关于所述第一中心线对称，两个所述第二连接部位于所述第二中心线的第二侧并关于所述第一中心线对称；所述第二框体包括相互垂直的第三中心线与第四中心线，两个所述第三连接部位于所述第四中心线的第一侧并关于所述第三中心线对称，两个所述第四连接部位于所述第三中心线的第二侧并关于所述第三中心线对称，所述第一侧与所述第二侧相背。
  10. 根据权利要求2所述的云台减震结构，其特征在于，所述云台***还包括电调组件，所述电调组件包括：
    电调框体，所述电调框体安装在所述第二框体上；
    电调支臂，所述电调支臂自所述电调框体的一端弯折延伸并搭载在所述第一支臂上，所述第一支臂相较所述电调支臂更靠近所述第一自由端；及
    电调模组，所述电调模组安装在所述电调框体上，所述电调模组与所述第一框体分别位于所述第二框体的相背两侧。
  11. 一种云台***，其特征在于，包括：
    云台减震结构，所述云台减震结构包括呈弯折结构的第一支架、呈弯折结构的第二支架和多个减震体，所述第一支架包括相对的第一自由端与第二自由端，所述第一支架还包括设置在所述第一自由端的第一连接部及设置在所述第二自由端的第二连接部；所述第二支架包括相对的第三自由端与第四自由端，所述第二支架还包括设置在所述第三自由端的第三连接部及设置在所述第四自由端的第四连接部；所述第一连接部通过所述减震体与所述第三连接部连接，所述第二连接部通过所述减震体与所述第四连接部连接；以及
    云台结构，所述云台结构安装在所述第二支架上，所述云台结构包括至少一个转轴组件，所述转轴组件包括转轴支架和与所述转轴支架连接的电机，所述转轴支架与所述电机的转子连接。
  12. 根据权利要求11所述的云台***，其特征在于，所述第一支架包括第一框体及第一支臂，所述第一支臂自所述第一框体的一端弯折延伸，所述第一自由端位于所述第一框体的远离所述第一支臂的一端，所述第二自由端位于所述第一支臂的远离所述第一框体的一端；所述第二支架包括第二框体及第二 支臂，所述第二支臂自所述第二框体的一端弯折延伸，所述第三自由端位于所述第二框体的远离所述第二支臂的一端，所述第四自由端位于所述第二支臂的远离所述第二框体的一端，所述第一框体与所述第二框体对应，所述第一支臂与所述第二支臂对应。
  13. 根据权利要求12所述的云台***，其特征在于，所述第一框体开设有贯穿所述第一框体的通孔，所述第二支臂穿设在所述通孔内，所述第一框体与所述第二框体间隔，所述第三连接部及所述第四连接部分别位于所述第一框体的相背两侧，所述第二支臂相较所述第一支臂更靠近所述第三自由端。
  14. 根据权利要求13所述的云台***，其特征在于，所述第一连接部自所述第一自由端延伸，所述第一连接部的延伸方向与所述第一支臂的延伸方向分别朝向所述第一框体的相背两侧；所述第二连接部自所述第二自由端延伸，所述第二连接部的延伸方向与所述第一框体相对所述第一支臂的延伸方向位于所述第一支臂的相同侧。
  15. 根据权利要求12所述的云台***，其特征在于，所述第一自由端设置有第一安装部，所述第二自由端设置有第二安装部，所述第一安装部与所述第二安装部均用于安装所述第一支架。
  16. 根据权利要求12至15任意一项所述的云台***，其特征在于，其特征在于，每个所述减震体包括依次连接的第一结合部、形变环及第二结合部，所述第一连接部与一个所述减震体的所述第一结合部结合，所述第三连接部与该减震体的所述第二结合部结合；所述第二连接部与另一个所述减震体的所述第一结合部结合，所述第四连接部与该减震体的所述第二结合部结合。
  17. 根据权利要求16所述的云台***，其特征在于，每个所述减震体包括减震本体、套设所述减震本体上的所述形变环、及套设在所述减震本体上的限位环，所述形变环与所述限位环间隔并共同围成限位槽，所述形变环、所述限位环、及所述限位槽共同形成所述第二结合部，所述减震本体上开设有卡孔以形成所述第一结合部，所述卡孔与所述限位槽分别位于所述形变环的相背两侧；
    所述第一连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第三连接部开设有穿孔，所述第三连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡；和/或
    所述第二连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第四连接部开设有穿孔，所述第四连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡。
  18. 根据权利要求17所述的云台***，其特征在于，用于连接所述第一连接部与所述第三连接部连接的所述减震体的所述减震本体具有第一轴线，用于连接所述第二连接部与所述第四连接部连接的所述减震体的所述减震本体具有第二轴线，所述第一轴线与所述第二轴线均平行所述第一框体所在的平面，所述第一轴线与所述第二轴线平行。
  19. 根据权利要求12所述的云台***，其特征在于，所述第一连接部至所述第四连接部的数量均为 两个，所述第一框体包括相互垂直的第一中心线与第二中心线，两个所述第一连接部位于所述第二中心线的第一侧并关于所述第一中心线对称，两个所述第二连接部位于所述第二中心线的第二侧并关于所述第一中心线对称；所述第二框体包括相互垂直的第三中心线与第四中心线，两个所述第三连接部位于所述第四中心线的第一侧并关于所述第三中心线对称，两个所述第四连接部位于所述第三中心线的第二侧并关于所述第三中心线对称，所述第一侧与所述第二侧相背。
  20. 根据权利要求11所述的云台***，其特征在于，所述云台***还包括负载，所述转轴组件包括俯仰轴组件、横滚轴组件以及平移轴组件，所述俯仰轴组件、所述横滚轴组件以及所述平移轴组件依次相连；所述横滚轴组件包括横滚电机及U型横滚支架，所述U型横滚支架一端设有限位轴，所述U型横滚支架的另一端设有用于安装俯仰电机的俯仰电机结合部，所述限位轴及所述俯仰电机的电机轴分别与所述负载的相对两侧连接，所述俯仰电机能够驱动所述负载转动。
  21. 根据权利要求20所述的云台***，其特征在于，所述云台***还包括电调组件，所述电调组件设置在所述第二支架上。
  22. 根据权利要求21所述的云台***，其特征在于，所述云台***还包括线缆，所述线缆的一端与所述电调组件电性连接，所述线缆的另一端依次穿设在所述平移轴组件、所述横滚轴组件及所述俯仰轴组件内并与负载电性连接。
  23. 一种无人飞行器，其特征在于，包括：
    机身，所述机身设有供电组件及飞行控制***；及
    云台***，所述云台***包括云台减震结构以及云台结构；所述云台减震结构包括呈弯折结构的第一支架、呈弯折结构的第二支架和多个减震体，所述第一支架安装在所述机身上，所述第一支架包括相对的第一自由端与第二自由端，所述第一支架还包括设置在所述第一自由端的第一连接部及设置在所述第二自由端的第二连接部；所述第二支架包括相对的第三自由端与第四自由端，所述第二支架还包括设置在所述第三自由端的第三连接部及设置在所述第四自由端的第四连接部；所述第一连接部通过所述减震体与所述第三连接部连接，所述第二连接部通过所述减震体与所述第四连接部连接；所述云台结构安装在所述第二支架上，所述云台结构包括至少一个转轴组件，所述转轴组件包括转轴支架和与所述转轴支架连接的电机，所述转轴支架与所述电机的转子连接。
  24. 根据权利要求23所述的无人飞行器，其特征在于，所述第一支架包括第一框体及第一支臂，所述第一支臂自所述第一框体的一端弯折延伸，所述第一自由端位于所述第一框体的远离所述第一支臂的一端，所述第二自由端位于所述第一支臂的远离所述第一框体的一端；所述第二支架包括第二框体及第二支臂，所述第二支臂自所述第二框体的一端弯折延伸，所述第三自由端位于所述第二框体的远离所述第二支臂的一端，所述第四自由端位于所述第二支臂的远离所述第二框体的一端，所述第一框体与所述第二框体对应，所述第一支臂与所述第二支臂对应。
  25. 根据权利要求24所述的无人飞行器，其特征在于，所述第一框体开设有贯穿所述第一框体的 通孔，所述第二支臂穿设在所述通孔内，所述第一框体与所述第二框体间隔，所述第三连接部及所述第四连接部分别位于所述第一框体的相背两侧，所述第二支臂相较所述第一支臂更靠近所述第三自由端。
  26. 根据权利要求25所述的无人飞行器，其特征在于，所述第一连接部自所述第一自由端延伸，所述第一连接部的延伸方向与所述第一支臂的延伸方向分别朝向所述第一框体的相背两侧；所述第二连接部自所述第二自由端延伸，所述第二连接部的延伸方向与所述第一框体相对所述第一支臂的延伸方向位于所述第一支臂的相同侧。
  27. 根据权利要求24所述的无人飞行器，其特征在于，所述第一自由端设置有第一安装部，所述第二自由端设置有第二安装部，所述第一安装部与所述第二安装部均用于安装所述第一支架。
  28. 根据权利要求24至27任意一项所述的无人飞行器，其特征在于，其特征在于，每个所述减震体包括依次连接的第一结合部、形变环及第二结合部，所述第一连接部与一个所述减震体的所述第一结合部结合，所述第三连接部与该减震体的所述第二结合部结合；所述第二连接部与另一个所述减震体的所述第一结合部结合，所述第四连接部与该减震体的所述第二结合部结合。
  29. 根据权利要求28所述的无人飞行器，其特征在于，每个所述减震体包括减震本体、套设所述减震本体上的所述形变环、及套设在所述减震本体上的限位环，所述形变环与所述限位环间隔并共同围成限位槽，所述形变环、所述限位环、及所述限位槽共同形成所述第二结合部，所述减震本体上开设有卡孔以形成所述第一结合部，所述卡孔与所述限位槽分别位于所述形变环的相背两侧；
    所述第一连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第三连接部开设有穿孔，所述第三连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡；和/或
    所述第二连接部为卡勾，所述卡勾穿设所述卡孔并与所述减震本体卡合，所述第四连接部开设有穿孔，所述第四连接部套设在所述限位槽处的所述减震本体上并被所述形变环与所述限位环阻挡。
  30. 根据权利要求29所述的无人飞行器，其特征在于，用于连接所述第一连接部与所述第三连接部连接的所述减震体的所述减震本体具有第一轴线，用于连接所述第二连接部与所述第四连接部连接的所述减震体的所述减震本体具有第二轴线，所述第一轴线与所述第二轴线均平行所述第一框体所在的平面，所述第一轴线与所述第二轴线平行。
  31. 根据权利要求24所述的无人飞行器，其特征在于，所述第一连接部至所述第四连接部的数量均为两个，所述第一框体包括相互垂直的第一中心线与第二中心线，两个所述第一连接部位于所述第二中心线的第一侧并关于所述第一中心线对称，两个所述第二连接部位于所述第二中心线的第二侧并关于所述第一中心线对称；所述第二框体包括相互垂直的第三中心线与第四中心线，两个所述第三连接部位于 所述第四中心线的第一侧并关于所述第三中心线对称，两个所述第四连接部位于所述第三中心线的第二侧并关于所述第三中心线对称，所述第一侧与所述第二侧相背。
  32. 根据权利要求23所述的无人飞行器，其特征在于，所述云台***还包括负载，所述转轴组件包括俯仰轴组件、横滚轴组件以及平移轴组件，所述俯仰轴组件、所述横滚轴组件以及所述平移轴组件依次相连；所述横滚轴组件包括横滚电机及U型横滚支架，所述U型横滚支架一端设有限位轴，所述U型横滚支架的另一端设有用于安装俯仰电机的俯仰电机结合部，所述限位轴及所述俯仰电机的电机轴分别与所述负载的相对两侧连接，所述俯仰电机能够驱动所述负载转动。
  33. 根据权利要求32所述的无人飞行器，其特征在于，所述云台***还包括电调组件，所述电调组件设置在所述第二支架上。
  34. 根据权利要求33所述的无人飞行器，其特征在于，所述云台***还包括线缆，所述线缆的一端与所述电调组件电性连接，所述线缆的另一端依次穿设在所述平移轴组件、所述横滚轴组件及所述俯仰轴组件内并与负载电性连接。
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