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WO2018000274A1 - Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile - Google Patents

Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile Download PDF

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Publication number
WO2018000274A1
WO2018000274A1 PCT/CN2016/087759 CN2016087759W WO2018000274A1 WO 2018000274 A1 WO2018000274 A1 WO 2018000274A1 CN 2016087759 W CN2016087759 W CN 2016087759W WO 2018000274 A1 WO2018000274 A1 WO 2018000274A1
Authority
WO
WIPO (PCT)
Prior art keywords
winding portion
winding
driving device
load
rotating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/087759
Other languages
English (en)
Chinese (zh)
Inventor
潘大虎
陈子寒
许文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201680012392.0A priority Critical patent/CN107636918B/zh
Priority to CN202010122041.3A priority patent/CN111256004A/zh
Priority to PCT/CN2016/087759 priority patent/WO2018000274A1/fr
Publication of WO2018000274A1 publication Critical patent/WO2018000274A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

Definitions

  • the invention relates to a winding structure of a cloud platform, in particular to a signal transmission component, a cloud platform and a movable device.
  • a cable for providing signals to the load and the pan/tilt motor is required on the pan/tilt.
  • the existing cloud platform has many wirings and complicated winding, which makes the structure of the existing cloud platform complex and uncoordinated, affecting the appearance of the cloud platform.
  • the cable usually rotates following the rotation of the load or the rotating member of the gimbal, which easily forms a phenomenon of cable winding, which causes the cable to be easily damaged, and the rotation of the load or the pan/tilt is not smooth. And the rotation accuracy is low.
  • the technical problem to be solved by the present invention is to provide a signal transmission member and a pan and movable device having the signal transmission member, which can make the winding portion of the signal transmission member regularly entangle or loosen in the corresponding driving device. Therefore, the problem of cable winding in the prior art, easy damage of the cable, unsmooth rotation of the load or the pan head rotating member, and low rotation precision are solved.
  • a technical solution adopted by the present invention is to provide a signal transmission component for use in a cloud platform, the cloud platform further comprising a stabilizing component, the stabilizing component comprising a three-axis rotating bracket, each The rotating bracket includes a driving device, and the signal transmitting member includes at least three winding portions, and two of the three winding portions are respectively disposed in the driving device of the three-axis rotating bracket, the three The other of the winding portions is wound in a driving device of the three-axis rotating bracket or wound around a load on the stabilizing assembly, wherein a winding portion is disposed around the driving device And transmitting a rotation control signal to the corresponding driving device to control the operation of the corresponding driving device; the winding portion wound in the load is used to transmit a signal for the load.
  • the winding portion is wound around a rotating shaft of the driving device where it is located, or is wound around a rotating shaft of the load on which it is placed.
  • the winding portion is wound around a rotating shaft, and the sum of the number of weeks of the maximum rotation amount of the driving device and/or the load rotating in different directions does not exceed the corresponding winding portion.
  • the number of turns is set.
  • the three-axis rotating bracket includes a first rotating bracket, a second rotating bracket rotatably coupled to the first rotating bracket, and a third rotating bracket rotatably coupled to the second rotating bracket.
  • the first rotating bracket includes a first driving device
  • the second rotating bracket includes a second driving device
  • the third rotating bracket includes a third driving device
  • the signal transmitting member at least includes a winding around the first a first winding portion in the driving device, a second winding portion wound in the second driving device, and a third winding portion wound in the third driving device or the load.
  • the first winding portion includes at least a first winding portion body, a first connecting end, a second connecting end, and a third connecting end, and the first winding portion body is wound around the first driving portion a second connecting end of the first winding portion is electrically connected to a control device, and a third connecting end of the first winding portion is electrically connected to an electronic governor of the first driving device Connecting, the second connection end of the first winding portion is configured to receive a rotation control signal transmitted by the control device, and the rotation control signal is sent through the first winding portion body and the third connection end And transmitted to the electronic governor of the first driving device to control the operation of the first driving device.
  • first connecting end and the second connecting end of the first winding portion are respectively bent and extended from an end of the first winding portion body at the winding center, and the first winding portion is The extending direction of a connecting end and the second connecting end are not in the same direction as the winding direction of the first winding portion body, so that the first winding portion body can be regularly around the rotating axis of the first driving device Winding or slacking.
  • the signal transmission member further includes a first extending portion
  • the second winding portion includes at least a second winding portion body, a first connecting end and a second connecting end
  • the second winding portion body is wound Provided on a rotating shaft of the second driving device
  • the first connecting end of the second winding portion is electrically connected to the fourth connecting end of the first winding portion through the first extending portion
  • a second connecting end of the second winding portion is electrically connected to the electronic governor of the second driving device
  • a first connecting end of the second winding portion is configured to pass the first extending portion
  • the first a winding portion body and a second connecting end of the first winding portion receive a rotation control signal transmitted by the control device, and the rotation control signal is transmitted through a second connection end of the second winding portion And transmitted to the electronic governor of the second driving device to control the operation of the second driving device.
  • first connecting end of the second winding portion is bent and extended from an end of the second winding portion body at the winding center, and the extending direction of the first connecting end of the second winding portion is The winding direction of the second winding portion body is not in the same direction, so that the second winding portion body can be regularly wound or loosened around the rotation axis of the second driving device;
  • Or/and the third connecting end and the fourth connecting end of the first winding portion are respectively bent and extended from an end of the first winding portion body at an outer side.
  • the signal transmission member further includes a second extension portion
  • the third winding portion at least includes a third winding portion body, a first connection end, and a second connection end
  • the third winding portion body winding Provided on the rotating shaft of the load, the first connecting end of the third winding portion is electrically connected to the third connecting end of the second winding portion through the second extending portion, the third winding a second connection end of the wire portion is electrically connected to a load circuit inside the load, and a first connection end of the third wire winding portion is configured to pass the second extension portion, the second winding portion, the The first extension portion, the first winding portion body, and the second connection end of the first winding portion receive a load control signal transmitted by the control device, and pass through the third winding portion body and the The second connection end of the third winding portion transmits the load control signal to the load to control an operating state of the load and an operating parameter.
  • first connection end of the first winding portion is electrically connected to a load signal processor
  • second connection end of the third winding portion is further configured to receive a load signal generated or acquired by the load, And passing through the third winding portion body, the second extending portion, the second winding portion, the first extending portion, the first winding portion body, and the first winding portion
  • the first connection transmits the load signal to the load signal processor.
  • the signal transmission member further includes a third extension portion, one end of the third extension portion is electrically connected to the fourth connection end of the second winding portion, and the other end of the third extension portion is
  • the electronic governor of the three driving device is electrically connected, one end of the third extending portion passes through the second winding portion, the first extending portion, the first winding portion body, and the first winding a second connection end of the line portion receives a rotation control signal transmitted by the control device, and transmits the rotation control signal to an electronic governor of the third drive device through the other end of the third extension portion, Controlling the operation of the third drive device.
  • the signal transmission member further includes a fourth winding portion electrically connected to the other end of the third extending portion, the fourth winding portion being electrically connected to the electronic governor of the third driving device And wound around the rotating shaft of the third driving device.
  • the signal transmission member further includes a second extension portion, the third winding portion at least includes a third winding portion body, a first connection end, and a second connection end, the third winding portion body winding Provided on a rotating shaft of the third driving device, the first connecting end of the third winding portion is electrically connected to the third connecting end of the second winding portion through the second extending portion, a second connecting end of the third winding portion is electrically connected to the electronic governor of the third driving device, and a first connecting end of the third winding portion is configured to pass the second extending portion, the first a second winding portion, the first extending portion, the first winding portion body, and a second connecting end of the first winding portion receiving a rotation control signal transmitted by the control device, and passing the The three winding portion body and the second connecting end of the third winding portion transmit the rotation control signal to an electronic governor of the third driving device to control the operation of the third driving device.
  • the signal transmission member further includes a third extension portion, one end of the third extension portion is electrically connected to the fourth connection end of the second winding portion, and the other end of the third extension portion is mounted
  • the load is electrically connected to the load on the stabilizing component, and one end of the third extending portion passes through the second winding portion, the first extending portion, the first winding portion body, and the first a second connection end of a winding portion receives a load control signal transmitted by the control device, and transmits the load control signal to the load through the other end of the third extension portion to control the operation of the load Status and working parameters.
  • first connection end of the first winding portion is electrically connected to a load signal processor, and the other end of the third extension portion is further configured to receive a load signal generated or acquired by the load, and pass through the Transmitting the load signal to the third extension portion, the second winding portion, the first extension portion, the first winding portion body, and the first connection end of the first winding portion The load signal processor.
  • the signal transmission member further includes a fourth winding portion electrically connected to the other end of the third extension portion, the fourth winding portion being electrically connected to the load.
  • first connecting end of the third winding portion is bent and extended from an end of the third winding portion body at the winding center, and the extending direction of the first connecting end of the third winding portion is The winding direction of the third winding portion body is not in the same direction, so that the third winding portion body can be regularly wound or loosened around the rotating axis;
  • the second connecting end of the third winding portion is bent and extended from an end of the third winding portion body at an outer side.
  • first extension portion is attached to the first support portion of the second rotating bracket.
  • the second extending portion and the third extending portion are respectively attached to the second supporting portion of the third rotating bracket.
  • the second support portion includes a first support arm and a second support arm disposed opposite to each other, and the second extension portion and the third extension portion are respectively attached to the first support arm and the second support arm Or, the second extension portion and the third extension portion are attached to one of the first support arm and the second support arm.
  • part or all of the signal transmission member is a data line or a flexible circuit board for transmitting power and/or data.
  • a pan/tilt head comprising a stabilizing component and a signal transmission component disposed on the stabilizing component, the stabilizing component comprising a three-axis rotating bracket
  • the stabilizing component comprising a three-axis rotating bracket
  • Each of the rotating brackets includes a driving device, and the signal transmitting member includes at least three winding portions, and two of the three winding portions are respectively disposed in the driving device of the three-axis rotating bracket.
  • the other of the three winding portions is wound in a driving device of the three-axis rotating bracket or wound around a load on the stabilizing assembly, wherein a winding around the driving device
  • the line portion is configured to transmit a rotation control signal for the corresponding driving device to control the operation of the corresponding driving device; the winding portion wound in the load is used to transmit a signal for the load.
  • the sum of the number of weeks of the maximum rotation amount of the driving device and/or the load rotating in different directions does not exceed the number of windings of the corresponding winding portion.
  • the three-axis rotating bracket includes a first rotating bracket, a second rotating bracket rotatably coupled to the first rotating bracket, and a third rotating bracket rotatably coupled to the second rotating bracket.
  • the first rotating bracket includes a first driving device
  • the second rotating bracket includes a second driving device
  • the third rotating bracket includes a third driving device
  • the signal transmitting member at least includes a winding around the first a first winding portion in the driving device, a second winding portion wound in the second driving device, and a third winding portion wound in the third driving device or the load.
  • the shape of the signal transmission member is substantially adapted to the shape of the stabilizing assembly and can be closely attached to the stabilizing assembly.
  • the first winding portion includes at least a first winding portion body, a first connecting end, a second connecting end, and a third connecting end, and the first winding portion body is wound around the first driving portion a second connecting end of the first winding portion is electrically connected to a control device, and a third connecting end of the first winding portion is electrically connected to an electronic governor of the first driving device Connecting, the second connection end of the first winding portion is configured to receive a rotation control signal transmitted by the control device, and the rotation control signal is sent through the first winding portion body and the third connection end And transmitted to the electronic governor of the first driving device to control the operation of the first driving device.
  • first connecting end and the second connecting end of the first winding portion are respectively bent and extended from an end of the first winding portion body at the winding center, and the first winding portion is The extending direction of a connecting end and the second connecting end are not in the same direction as the winding direction of the first winding portion body, so that the first winding portion body can be regularly around the rotating axis of the first driving device Winding or slacking.
  • the signal transmission member further includes a first extending portion
  • the second winding portion includes at least a second winding portion body, a first connecting end and a second connecting end
  • the second winding portion body is wound Provided on a rotating shaft of the second driving device
  • the first connecting end of the second winding portion is electrically connected to the fourth connecting end of the first winding portion through the first extending portion
  • a second connecting end of the second winding portion is electrically connected to the electronic governor of the second driving device
  • a first connecting end of the second winding portion is configured to pass the first extending portion
  • the first a winding portion body and a second connecting end of the first winding portion receive a rotation control signal transmitted by the control device, and the rotation control signal is transmitted through a second connection end of the second winding portion And transmitted to the electronic governor of the second driving device to control the operation of the second driving device.
  • first connecting end of the second winding portion is bent and extended from an end of the second winding portion body at the winding center, and the extending direction of the first connecting end of the second winding portion is The winding direction of the second winding portion body is not in the same direction, so that the second winding portion body can be regularly wound or loosened around the rotation axis of the second driving device;
  • Or/and the third connecting end and the fourth connecting end of the first winding portion are respectively bent and extended from an end of the first winding portion body at an outer side.
  • the signal transmission member further includes a second extension portion
  • the third winding portion at least includes a third winding portion body, a first connection end, and a second connection end
  • the third winding portion body winding Provided on the rotating shaft of the load, the first connecting end of the third winding portion is electrically connected to the third connecting end of the second winding portion through the second extending portion, the third winding a second connection end of the wire portion is electrically connected to a load circuit inside the load, and a first connection end of the third wire winding portion is configured to pass the second extension portion, the second winding portion, the The first extension portion, the first winding portion body, and the second connection end of the first winding portion receive a load control signal transmitted by the control device, and pass through the third winding portion body and the The second connection end of the third winding portion transmits the load control signal to the load to control an operating state of the load and an operating parameter.
  • first connection end of the first winding portion is electrically connected to a load signal processor
  • second connection end of the third winding portion is further configured to receive a load signal generated or acquired by the load, And passing through the third winding portion body, the second extending portion, the second winding portion, the first extending portion, the first winding portion body, and the first winding portion
  • the first connection transmits the load signal to the load signal processor.
  • the signal transmission member further includes a third extension portion, one end of the third extension portion is electrically connected to the fourth connection end of the second winding portion, and the other end of the third extension portion is
  • the electronic governor of the three driving device is electrically connected, one end of the third extending portion passes through the second winding portion, the first extending portion, the first winding portion body, and the first winding a second connection end of the line portion receives a rotation control signal transmitted by the control device, and transmits the rotation control signal to an electronic governor of the third drive device through the other end of the third extension portion, Controlling the operation of the third drive device.
  • the signal transmission member further includes a fourth winding portion electrically connected to the other end of the third extending portion, the fourth winding portion being electrically connected to the electronic governor of the third driving device And wound around the rotating shaft of the third driving device.
  • the signal transmission member further includes a second extension portion, the third winding portion at least includes a third winding portion body, a first connection end, and a second connection end, the third winding portion body winding Provided on a rotating shaft of the third driving device, the first connecting end of the third winding portion is electrically connected to the third connecting end of the second winding portion through the second extending portion, a second connecting end of the third winding portion is electrically connected to the electronic governor of the third driving device, and a first connecting end of the third winding portion is configured to pass the second extending portion, the first a second winding portion, the first extending portion, the first winding portion body, and a second connecting end of the first winding portion receiving a rotation control signal transmitted by the control device, and passing the The three winding portion body and the second connecting end of the third winding portion transmit the rotation control signal to an electronic governor of the third driving device to control the operation of the third driving device.
  • the signal transmission member further includes a third extending portion, one end of the third extending portion is electrically connected to the fourth connecting end of the second winding portion, and the other end of the third extending portion is mounted Electrically connecting the load on the stabilizing component, one end of the third extending portion passes through the second winding portion, the first extending portion, the first winding portion body, and the first The second connection end of the winding portion receives the load control signal transmitted by the control device, and transmits the load control signal to the load through the other end of the third extension portion to control the working state of the load And working parameters.
  • first connection end of the first winding portion is electrically connected to a load signal processor, and the other end of the third extension portion is further configured to receive a load signal generated or acquired by the load, and pass through the Transmitting the load signal to the third extension portion, the second winding portion, the first extension portion, the first winding portion body, and the first connection end of the first winding portion The load signal processor.
  • the signal transmission member further includes a fourth winding portion electrically connected to the other end of the third extension portion, the fourth winding portion being electrically connected to the load.
  • first connecting end of the third winding portion is bent and extended from an end of the third winding portion body at the winding center, and the extending direction of the first connecting end of the third winding portion is The winding direction of the third winding portion body is not in the same direction, so that the third winding portion body can be regularly wound or loosened around the rotating axis;
  • the second connecting end of the third winding portion is bent and extended from an end of the third winding portion body at an outer side.
  • the second rotating bracket further includes a first supporting portion, and the first extending portion is attached to the first supporting portion.
  • the third rotating bracket further includes a second supporting portion, and the second extending portion and the third extending portion are respectively attached to the second supporting portion.
  • the second support portion includes a first support arm and a second support arm disposed opposite to each other, and the second extension portion and the third extension portion are respectively attached to the first support arm and the second support arm Or, the second extension portion and the third extension portion are attached to one of the first support arm and the second support arm.
  • each of the driving devices includes a fixing portion and a rotating portion, the rotating portion is rotatable relative to the fixing portion, and one end of the first supporting portion is fixedly connected with the rotating portion of the first driving device The other end of the first supporting portion is fixedly connected with the fixing portion of the second driving device, and the rotation of the rotating portion of the first driving device can drive the second rotating bracket relative to the first rotating bracket Turn.
  • each of the driving devices includes a fixing portion and a rotating portion, the rotating portion is rotatable relative to the fixing portion, and one end of the second supporting portion is fixedly connected with the rotating portion of the second driving device The other end of the second supporting portion is fixedly connected with the fixing portion of the third driving device, and the rotation of the rotating portion of the second driving device can drive the third rotating bracket relative to the second rotating bracket Turn.
  • one end of the first support arm and one end of the second support arm are respectively fixedly connected to the rotating portion of the second driving device.
  • the other end of one of the first support arm and the second support arm is fixedly connected with the fixing portion of the third driving device, and the rotating portion of the third driving device and the load One end is fixedly connected, and the rotation of the rotating portion of the third driving device can drive the load to rotate relative to the third rotating bracket.
  • first support arm is disposed opposite to the other end of the second support arm, and the other end of the first support arm and the second support arm is opposite to the load
  • the other end is rotatably coupled to enable the load to be rotated relative to the third rotating bracket by the rotating portion of the third driving device.
  • a rotation axis of the second rotation bracket relative to the first rotation bracket is substantially perpendicular to a rotation axis of the third rotation bracket relative to the second rotation bracket;
  • the third rotating bracket is configured to carry the load, and is capable of driving the load to rotate relative to the third rotating bracket, the load being substantially perpendicular to a rotation axis of the third rotating bracket rotating a rotation axis of the third rotating bracket relative to the second rotating bracket.
  • first rotating bracket is a translational axis/heading axis bracket for controlling movement around a translation axis/heading axis
  • second rotating bracket is a rolling roller bracket for controlling movement around the horizontal roller
  • third rotation The bracket is a pitch shaft bracket that controls movement about the pitch axis.
  • part or all of the signal transmission member is a data line or a flexible circuit board for transmitting power and/or data.
  • each of the driving devices includes a fixing portion and a rotating portion, each of the driving devices for receiving a rotation control signal to control the rotation of the rotating portion thereof relative to the fixing portion thereof, and adjusting the rotation speed of the rotating portion thereof.
  • the driving device is a brushless motor, a brush motor or a motor.
  • the fixing portion of the first driving device is configured to install the pan/tilt head integrally on a mounting platform.
  • the pan/tilt head is applied to a mobile device
  • the movable device includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a handheld photographing device, and the installation platform is the The housing of the mobile device.
  • a movable device including a mounting platform and a pan/tilt mounted on the mounting platform, the pan/tilt includes a stabilizing component and is disposed at the a signal transmission component on the stabilizing component, the stabilizing component comprising a three-axis rotating bracket, each rotating bracket comprises a driving device, the signal transmitting component comprises at least three winding portions, and the three winding portions Two of the three winding portions are respectively disposed in the driving device of the three-axis rotating bracket, and the other one of the three winding portions is disposed in or around the driving device of the three-axis rotating bracket a load on the stabilizing component, wherein the winding portion wound in the driving device is configured to transmit a rotation control signal to the corresponding driving device to control the operation of the corresponding driving device; A winding in the load is used to transmit a signal for the load.
  • the three-axis rotating bracket includes a first rotating bracket, a second rotating bracket rotatably coupled to the first rotating bracket, and a third rotating bracket rotatably coupled to the second rotating bracket.
  • the first rotating bracket includes a first driving device
  • the second rotating bracket includes a second driving device
  • the third rotating bracket includes a third driving device
  • the signal transmitting member at least includes a winding around the first a first winding portion in the driving device, a second winding portion wound in the second driving device, and a third winding portion wound in the third driving device or the load.
  • the movable device is a handheld photographing device
  • the mounting platform is a handle of the handheld photographing device
  • the pan/tilt is mounted on the handle.
  • the movable device is an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle
  • the installation platform is a casing of the movable device, and the pan/tilt is mounted on the casing.
  • the signal transmission component of the present invention provides a winding portion in each driving device and/or load for each rotating bracket structure of the pan/tilt, so that the winding portion can be regularly in the corresponding driving device and/or the load.
  • Winding or slacking, without the disordered trajectory due to the rotation of the respective rotating bracket and/or the load, the flexibility and freedom of rotation of the respective rotating bracket and/or the load are not affected by the corresponding winding portion
  • the length is limited, and the winding portion is not broken due to the rotation of the rotating bracket and/or the load, and does not accumulate or entangle in the driving device and/or the load.
  • each of the winding portions is entangled or slack in the existing space of the driving device and/or the load, and does not increase the volume of the pan/tilt head, thereby facilitating compact and coordinated overall structure of the pan/tilt head. design.
  • FIG. 1 is a perspective view of a pan/tilt head according to an embodiment of the present invention, the pan/tilt head including a signal transmission component.
  • FIG. 2 is a perspective view of another perspective of the pan/tilt of FIG. 1.
  • FIG 3 is a perspective view of a signal transmission member according to an embodiment of the present invention.
  • FIG. 4 is a top plan view of the signal transmission member of FIG. 3.
  • Figure 5 is a rear elevational view of the signal transmission member of Figure 3.
  • Figure 6 is a left side view of the signal transmission member of Figure 3.
  • Fig. 7 is a view showing the internal structure of a second driving device of the pan/tilt of Fig. 1;
  • Fig. 8 is a view showing the internal structure of a third driving device of the pan/tilt of Fig. 1;
  • Second support portion 232 Second support portion 232
  • the platform 100 can be used to carry a load 200 to achieve the fixation of the load 200, or to adjust the posture of the load 200 (for example, change the height, inclination and/or direction of the load 200) and The load 200 is stably maintained in a determined posture.
  • the pan/tilt head 100 can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to various movable devices.
  • the movable device includes, but is not limited to, a handheld camera device, an unmanned aerial vehicle, an unmanned boat, or an unmanned vehicle.
  • the load 200 may be an image acquisition device, such as a camera, a camera, a camera, or the like, or other portable electronic devices, such as a mobile phone, a tablet, etc., or may be a sensor or the like.
  • the pan/tilt head 100 may be equipped with the image acquisition device and mounted on an unmanned aerial vehicle for aerial photography.
  • the pan/tilt head 100 can also mount the image acquisition device and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/tilt head 100 to control the image acquisition device.
  • the angle of shooting may be Alternatively, the pan/tilt head 100 may be mounted on the image acquisition device and mounted on other movable devices such as an unmanned boat or an unmanned vehicle.
  • the load 200 is exemplified by a camera, and the cloud platform 100 is applied to a handheld photographing device to illustrate the beneficial effects of the present invention.
  • the platform 100 includes at least a stabilizing component 20 and a signal transmitting component 30 (shown in FIG. 3) disposed on the stabilizing component 20.
  • the stabilizing assembly 20 is used to mount the load 200.
  • the pan/tilt head 100 is a three-axis pan/tilt
  • the stabilizing assembly 20 includes a three-axis rotating bracket.
  • the three-axis rotating bracket includes a first rotating bracket 21, a second rotating bracket 22 rotatably coupled to the first rotating bracket 21, and a third rotating bracket rotatably coupled to the second rotating bracket 22. twenty three.
  • the first rotating bracket 21 is connected to a mounting platform (not shown) for mounting the platform 100 on the mounting platform, and the mounting platform may be the housing of the movable device described above. For example, the handle of the hand-held photographing device, or the body of the unmanned aerial vehicle, or the like.
  • the third rotating bracket 23 is used to carry the load 200.
  • Each of the rotating brackets includes at least one driving device, and each of the driving devices includes a fixing portion and a rotating portion, and the rotating portion is rotatable relative to the fixing portion.
  • the driving devices of the respective rotating brackets of the stabilizing assembly 20 of the pan-tilt 100 respectively respond to the received rotation control signals to control the rotation of the rotating portion thereof clockwise or counterclockwise with respect to the fixing portion thereof, and adjust the same The rotational speed of the rotating portion, thereby adjusting the corresponding direction, thereby achieving the direction and stability control of the load 200, so that the load 200 obtains a stable video and/or picture of a corresponding viewing angle.
  • the stabilizing assembly 20 may also include a rotating bracket that effects one direction of rotation, two directions of rotation, or more.
  • the first rotating bracket 21 includes at least a first driving device 211, and the first driving device 211 includes a first fixing portion 2111 and a first rotating portion 2112.
  • the first fixing portion 2111 of the first driving device 211 is configured to install the pan/tilt head 100 on the mounting platform as a whole.
  • the second rotating bracket 22 includes a second driving device 221 and a first supporting portion 222
  • the second driving device 221 includes a second fixing portion 2211 and a second rotating portion 2212 .
  • One end of the first supporting portion 222 is fixedly connected to the first rotating portion 2112 of the first driving device 211, and the other end of the first supporting portion 222 is fixed to the second fixing device 221
  • the portion 2211 is fixedly coupled such that the rotation of the first rotating portion 2112 of the first driving device 211 can drive the second rotating bracket 22 to rotate relative to the first rotating bracket 21 .
  • the third rotating bracket 23 includes a third driving device 231 and a second supporting portion 232 , and the third driving device 231 includes a third fixing portion 2311 and a third rotating portion 2312 .
  • the second support portion 232 is fixedly connected to the second rotating portion 2212 of the second driving device 221, and the other end of the second supporting portion 232 is fixed to the third driving device 231.
  • the portion 2311 is fixedly coupled such that the rotation of the second rotating portion 2212 of the second driving device 221 can drive the third rotating bracket 23 to rotate relative to the second rotating bracket 22 .
  • the first driving device 211, the second driving device 221, and the third driving device 231 may be one of a brushless motor, a brush motor, or a motor, respectively.
  • the second support portion 232 includes a first support arm 2321 and a second support arm 2322 disposed opposite to each other, and one end of the first support arm 2321 and one end of the second support arm 2322 are respectively
  • the second rotating portion 2212 of the second driving device 221 is fixedly connected, and the other end of the first supporting arm 2321 and the second supporting arm 2322 is fixed to the third fixing device 231
  • the portion 2311 is fixedly connected, and the third rotating portion 2312 of the third driving device 231 is fixedly coupled to one end of the load 200, so that the rotation of the third rotating portion 2312 of the third driving device 231 can drive the load 200 Rotation with respect to the third rotating bracket 23.
  • the other end of the first support arm 2321 is disposed opposite to the other end of the second support arm 2322, and the first support arm 2321 and the second support arm 2322 The other end of the other end is rotatably coupled to the other end of the load 200, so that the load 200 can be rotated relative to the third rotating bracket 23 by the third rotating portion 2312 of the third driving device 231.
  • the third rotating bracket 23 can rotatably sandwich the load 200 between the first supporting arm 2321 and the second supporting arm 2322.
  • the other end of the other of the first support arm 2321 and the second support arm 2322 is provided with a connecting shaft (not shown) as a rotating shaft of the load, the load The other end of the 200 is provided with a connecting hole (not shown) for being sleeved on the connecting shaft.
  • the other end of the load 200 is provided with a rotating shaft, and the other end of the other of the first supporting arm 2321 and the second supporting arm 2322 is provided for being sleeved A connecting hole (not shown) on the rotating shaft of the load 200.
  • the rotation axis of the second rotating bracket 22 relative to the first rotating bracket 21 is substantially perpendicular to the rotating shaft of the third rotating bracket 23 relative to the second rotating bracket 22, the load 200
  • the rotation axis that rotates relative to the third rotation bracket 23 is substantially perpendicular to the rotation axis of the third rotation bracket 23 with respect to the second rotation bracket 22.
  • the first rotating bracket 21 is a translational axis/heading axis bracket that controls movement about a translation axis/heading axis (the Y-axis direction shown in FIG. 1)
  • the second rotating bracket 22 is a roll bearing bracket for controlling the movement around the roll axis (the R-axis direction shown in FIG. 1)
  • the third rotating bracket 23 controls the movement about the pitch axis (the P-axis direction as shown in FIG. 1).
  • Pitch shaft bracket is a translational axis/heading axis bracket that controls movement about a translation axis/heading axis (the Y-axis direction shown in FIG. 1)
  • the second rotating bracket 22 is a roll bearing bracket for controlling the movement around the roll axis (the R-axis direction shown in FIG. 1)
  • the third rotating bracket 23 controls the movement about the pitch axis (the P-axis direction as shown in FIG. 1).
  • Pitch shaft bracket is a translational axis/heading axis bracket that controls movement about
  • the signal transmission member 30 includes at least three winding portions, and two of the three winding portions are respectively wound around the driving device of the three-axis rotating bracket. Internally, for transmitting a rotation control signal to the corresponding driving device to control the operation of the corresponding driving device.
  • the other of the three winding portions is wound around the load 200 for transmitting a signal to the load 200.
  • the three winding portions are respectively disposed in the driving device of the three-axis rotating bracket.
  • the signal transmission component 30 is used for transmitting power and/or data, and part or all of the signal transmission component 30 is a flexible circuit board (FPC), a data line, a wire or a cable, etc. Electronic components that transmit signals.
  • FPC flexible circuit board
  • each of the driving devices includes a rotating shaft (not shown), the winding portion is wound around a rotating shaft of the driving device, and/or is disposed at a load 200 where it is located. On the axis of rotation.
  • a winding box (not shown) provided with a corresponding winding portion may be disposed in each of the driving device and/or the load 200, and the winding portion It can be wound or loosened regularly around the corresponding axis of rotation in the corresponding winding box. It can be understood that in other embodiments, the winding box can also be omitted.
  • the winding portion is wound around a rotating shaft, and the sum of the number of weeks of the maximum rotation of the driving device and/or the load 200 in different directions does not exceed
  • the number of turns of the winding portion is such that each of the winding portions of the signal transmission member 30 can be regularly wound or slack on the corresponding rotating shaft without being caused by the respective rotating brackets and/or
  • the rotation of the load 200 forms a disordered trajectory, and the flexibility and freedom of rotation of the respective rotating brackets and/or the load 200 are not limited by the length of the corresponding winding portion, and the winding portion is also not
  • the rotation of the rotating bracket and/or the load 200 is broken and broken, and does not accumulate or entangle in the driving device and/or the load 200, thereby effectively solving the line in the prior art. Cable winding, cable damage, load or pan/tilt rotating parts are not smooth and the rotation accuracy is low.
  • each of the winding portions is entangled or slack in the existing space of the driving device and/or the load 200, and does not increase the volume of the platform 100, thereby facilitating the overall structure of the platform 100.
  • the pan/tilt head 100 further includes an electronic governor (not shown) corresponding to each of the driving devices, and the winding portion is electrically connected to an electronic governor of the corresponding driving device.
  • a rotation control signal is transmitted for the electronic governor of the corresponding driving device, the electronic governor is configured to receive the rotation control signal to control the operation of the corresponding driving device, that is, to drive the rotating portion of the corresponding driving device Rotating relative to its fixed portion and adjusting the rotational speed of its rotating portion.
  • the pan/tilt head 100 includes three of the electronic governors, three of the electronic governors and the first driving device 211, the second driving device 221, and the third The driving devices 231 are in one-to-one correspondence, and the electronic governors corresponding to the respective driving devices are respectively disposed in the corresponding driving devices. It can be understood that, in another embodiment, one or more of the three electronic governors may be disposed together in one position, for example, in the same driving device, or separately disposed in a circuit. On the board.
  • the pan/tilt head 100 may also include one of the electronic governors corresponding to each of the driving devices, and disposed in one of the driving devices, or separately disposed in one circuit. On the board.
  • the signal transmission member 30 includes at least a first winding portion 31 wound in the first driving device 211 and a second winding portion wound in the second driving device 221 . 32.
  • the first winding portion 31 includes at least a first winding portion body 310, and the first winding portion body 310 is disposed around the first winding portion 310.
  • the maximum angle at which the first rotating portion 2112 of the first driving device 211 rotates relative to the first fixed portion 2111 of the first driving device 211 is plus or minus 300 degrees.
  • the number of windings of the first winding portion body 310 is at least two turns, so that the first rotating portion 2112 of the first driving device 211 is fixed relative to the first driving device 211
  • the first rotation of the first driving device 211 during the rotation of the initial state to the maximum limit angle in the first direction or in the opposite direction to the first direction
  • the flexibility and freedom of rotation of the portion 2112 is not limited by the length of the first winding portion body 310, while the first winding portion body 310 does not pass the first rotation of the first driving device 211.
  • the rotation of the portion 2112 is tightened and broken, and does not accumulate in the first driving device 211 or become entangled.
  • the first winding portion 31 further includes at least a first connecting end 311, a second connecting end 312, a third connecting end 313, and a fourth connecting end 314.
  • the first connecting end 311 of the first winding portion 31 is electrically connected to a load signal processor (not shown), and the second connecting end 312 of the first winding portion 31 is connected to a control device (Fig.
  • the third connection end 313 of the first winding portion 31 is electrically connected to the electronic governor of the first driving device 211, and the second connection end 312 of the first winding portion 31 is electrically connected.
  • a speed governor for controlling the operation of the first driving device 211, that is, driving the first rotating portion 2112 of the first driving device 211 relative to the first fixing portion 2111 of the first driving device 211, and adjusting the The rotational speed of the first rotating portion 2112 of the first driving device 211.
  • first connecting end 311 and the second connecting end 312 are respectively bent and extended from one end of the first winding part body 310 at the winding center, and the first connecting end 311 And the extending direction of the second connecting end 312 is not in the same direction as the winding direction of the first winding portion body 310, so that the first winding portion body 310 can rotate around the first driving device 211.
  • the shaft is regularly entangled or slackened.
  • the third connecting end 313 and the fourth connecting end 314 of the first winding portion 31 are respectively bent and extended from an end of the first winding portion body 310 at the outer side.
  • the third connecting end 313 and the fourth connecting end 314 of the first winding portion 31 are the same one. It can be understood that in other embodiments, the third connection end 313 and the fourth connection end 314 of the first winding portion 31 can be different connection ends.
  • the signal transmitting member 30 further includes a first extending portion 34 attached to the first supporting portion 222 of the second rotating bracket 22 .
  • the second winding portion 32 includes at least a second winding portion body 320, and the second winding portion body 320 is disposed around the first
  • the second drive unit 221 is mounted on the rotating shaft 2213.
  • the number of windings of the second winding portion body 320 is two turns.
  • the second winding portion 32 further includes at least a first connecting end 321 and a second connecting end 322.
  • the first connecting end 321 of the second winding portion 32 is electrically connected to the fourth connecting end 314 of the first winding portion 31 through the first extending portion 34
  • the second winding portion 32 is
  • the second connecting end 322 is electrically connected to the electronic governor of the second driving device 221, and the first connecting end 321 of the second winding portion 32 is configured to pass the first extending portion 34, the first a winding portion body 310 and a second connecting end 312 of the first winding portion 31 receive a rotation control signal transmitted by the control device, and pass through the second connection end 322 of the second winding portion 32
  • the rotation control signal is transmitted to the electronic governor of the second driving device 221 to control the operation of the second driving device 221, that is, to drive the second rotating portion 2212 of the second driving device 221 relative to the
  • the second fixing portion 2211 of the second driving device 221 is rotated, and the rotation speed of the second rotating portion
  • the first connecting end 321 is bent and extended from an end of the second winding portion body 320 at the winding center, and the extending direction of the first connecting end 321 and the second winding
  • the winding direction of the wire portion body 320 is not in the same direction, so that the second winding portion body 320 can be regularly wound or slack around the rotation axis 2213 of the second driving device 221.
  • the second connecting end 322 is bent and extended from the first connecting end 321 .
  • first connecting end 321 and the second connecting end 322 may respectively be bent and extended from one end of the second winding part body 320 at the winding center, and the The extending directions of the first connecting end 321 and the second connecting end 322 are not in the same direction as the winding direction of the second winding portion body 320.
  • the first connecting end 321 of the second winding portion 32 transmits the rotation control signal to the first through the second winding portion body 320 and the second connecting end 322 of the second winding portion 32 The electronic governor of the second drive unit 221.
  • the signal transmitting member 30 further includes a second extending portion 35 attached to the second supporting portion 232 of the third rotating bracket 23 .
  • the third winding portion 33 is electrically connected to the load 200 mounted on the stabilizing component 20 and is wound around the load 200.
  • the third winding portion 33 includes at least a third winding portion body 330, and the third winding portion body 330 is disposed around the load 200. Rotate the shaft (not shown).
  • the maximum angle of rotation of the load 200 relative to the third rotating bracket 23 is plus or minus 90 degrees.
  • the number of windings of the third winding portion body 330 is at least one turn, so that the load 200 is rotated from the initial state to the maximum limit angle with respect to the third rotating bracket 23 by an initial state.
  • the flexibility of the rotation of the load 200 and the degree of freedom are not limited by the length of the third winding body 330 during the process of rotating to the maximum limit angle in a direction opposite to the first direction. At the same time, the third winding portion body 330 does not break due to the rotation of the load 200, nor does it accumulate in the load 200 or become entangled.
  • the third winding portion 33 further includes at least a first connecting end 331 and a second connecting end 332.
  • the first connecting end 331 of the third winding portion 33 is electrically connected to the third connecting end 323 of the second winding portion 32 through the second extending portion 35, and the third winding portion 33 is
  • the second connecting end 332 is electrically connected to a load circuit (not shown) inside the load 200, and the first connecting end 331 of the third winding portion 33 is configured to pass the second extending portion 35, the second The winding portion 32, the first extending portion 34, the first winding portion body 310, and the second connecting end 312 of the first winding portion 31 receive a load control signal transmitted by the control device, for example Shooting a control signal and transmitting the load control signal to the load 200 through the third winding body 330 and the second connection end 332 of the third winding portion 33 to control the load 200 Working status and working parameters.
  • control device includes at least a pan-tilt control device and a load control device, and the pan-tilt control device is configured to generate the rotation control signal to control the rotation of the rotation portion of each drive device relative to the fixed portion, thereby The rotation of each rotating bracket is realized.
  • the load control device is configured to generate the load control signal to control an operating state and an operating parameter of the load 200.
  • the second connecting end 312 of the third winding portion 33 is further configured to receive a load signal generated or acquired by the load 200, and pass through the third winding portion body 330, the first The second extension portion 35, the second winding portion 32, the first extension portion 34, the first winding portion body 310, and the first connection end 311 of the first winding portion 31 will A load signal is transmitted to the load signal processor.
  • the load 200 may be an image acquisition device, such as a camera, a camera, a camera, etc.
  • the load 200 illustrates the beneficial effects of the present invention by taking a camera as an example, and the load signal may be An image signal, the load signal processor can be an image signal processor.
  • the control device and/or the load signal processor may be disposed on the installation platform of the pan/tilt head 100.
  • the control device and/or the The load signal processor can be disposed on a handle on which the pan/tilt head 100 is mounted.
  • the control device and/or the load signal processor may be disposed on a body of the gimbal 100, such as a fuselage of the drone.
  • the first connecting end 331 is bent and extended from an end of the third winding portion body 330 at the winding center, and the extending direction of the first connecting end 331 and the third winding
  • the winding direction of the wire portion body 330 is not in the same direction, so that the third winding portion body 330 can be wound or loosened regularly around the rotating axis.
  • the second connecting end 332 is bent and extended from an end of the third winding portion body 330 at the outer side.
  • the signal transmitting member 30 further includes a third extending portion 36 attached to the second supporting portion 232 of the third rotating bracket 23 .
  • One end of the third extending portion 36 is electrically connected to the fourth connecting end 324 of the second winding portion 32, and the other end of the third extending portion 36 and the electronic governor of the third driving device 231 Electrical connection.
  • One end of the third extending portion 36 passes through the second winding portion 32, the first extending portion 34, the first winding portion body 310, and the second connection of the first winding portion 31
  • the end 312 receives the rotation control signal transmitted by the control device, and transmits the rotation control signal to the electronic governor of the third driving device 231 through the other end of the third extension portion 36 to control the
  • the third driving device 231 operates to rotate the third rotating portion 2312 of the third driving device 231 relative to the third fixing portion 2311 of the third driving device 231, and adjust the third driving device 231 The rotational speed of the three rotating portions 2312.
  • the third connecting end 323 and the fourth connecting end 324 of the second winding portion 32 are respectively bent and extended from a portion of the second winding portion body 320 located outside.
  • the third connecting end 323 and the fourth connecting end 324 of the second winding portion 32 are different connecting ends. It can be understood that in other embodiments, the third connection end 323 and the fourth connection end 324 of the second winding portion 32 can be the same one.
  • the second extension portion 35 and the third extension portion 36 are respectively attached to the first support arm 2321 and the second support arm 2322.
  • the second extension portion 35 and the third extension portion 36 may also be attached to one of the first support arm 2321 and the second support arm 2322.
  • the third winding portion 33 and the other end of the third extending portion 36 are also interchangeable with other components, that is, the third winding portion. 33 can be wound around the third driving device and electrically connected to the electronic governor of the third driving device, and the other end of the third extending portion 36 is electrically connected to the load 200.
  • the third winding portion body 330 is disposed on the rotating shaft 2313 of the third driving device 231, and the second winding portion 33 is second.
  • the connecting end 332 is electrically connected to the electronic governor of the third driving device 231, and the first connecting end 331 of the third winding portion 33 is configured to pass the second extending portion 35 and the second winding
  • the portion 32, the first extension portion 34, the first winding portion body 310, and the second connection end 312 of the first winding portion 31 receive a rotation control signal transmitted by the control device, and pass through the
  • the third winding portion body 330 and the second connecting end 332 of the third winding portion 33 transmit the rotation control signal to the electronic governor of the third driving device 231 to control the third The drive unit 231 operates.
  • the other end of the third extension 36 is electrically connected to a load 200 mounted on the stabilizing assembly 20.
  • One end of the third extending portion 36 passes through the second winding portion 32, the first extending portion 34, the first winding portion body 310, and the second connection of the first winding portion 31
  • the terminal 312 receives a load control signal transmitted by the control device, such as a shooting control signal, and transmits the load control signal to the load 200 through the other end of the third extension 36 to control the load 200.
  • the other end of the third extending portion 36 is further configured to receive a load signal generated or acquired by the load 200, and pass through the third extending portion 36 and the second winding portion. 32.
  • the first extension portion 34, the first winding portion body 310, and the first connection end 311 of the first winding portion 31 transmit the load signal to the load signal processor.
  • the signal transmission member 30 may further include a fourth winding portion (not shown) electrically connected to the other end of the third extending portion 36, the third winding One of the wire portion 33 and the fourth winding portion is electrically connected to the electronic governor of the third driving device 231 and is wound around the rotating shaft of the third driving device 231, and the other is The load 200 is electrically connected and wound around a rotating shaft of the load 200.
  • the shape of the signal transmitting member 30 is substantially adapted to the shape of the stabilizing assembly 20 so that the signal transmitting member 30 can be closely attached to the stabilizing assembly 20.
  • the shape of the first extending portion 34 is adapted to the shape of the first supporting portion 222, so that the first extending portion 34 can be closely attached to the first supporting portion 222.
  • the shapes of the second extension portion 35 and the third extension portion 36 are adapted to the shapes of the respective support arms 2321 and/or 2322 of the second support portion 232, such that the second extension portion 35 and the The third extension portion 36 can be closely attached to the support arm of the second support portion 232.
  • the portions of the signal transmission member 30 are integrally formed.
  • the partial structure of the signal transmission member 30 may also adopt a structure in which a split connection is used.
  • the third rotating bracket 23 of the pan/tilt head 100 of the present invention adopts a double-arm design, and the signal lines of the third driving device 231 and the load 200 are respectively disposed on the arms, so that the overall appearance structure and weight of the pan/tilt head The distribution is relatively symmetrical, so that it can resist the shaking or other interference generated when the application platform such as a mobile device accelerates or decelerates in different directions.
  • the embodiment of the invention further provides a movable device, comprising a mounting platform and the above-mentioned pan/tilt mounted on the mounting platform.
  • the movable device is a handheld camera device
  • the mounting platform is a handle of the handheld camera device
  • the pan/tilt head is mounted on the handle.
  • the movable device is an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle
  • the mounting platform is a housing of the movable device
  • the pan/tilt is mounted to the housing on.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Winding Of Webs (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Accessories Of Cameras (AREA)

Abstract

La présente invention concerne un élément de transmission de signal (30) appliqué dans un panoramique horizontal-vertical (100). Le panoramique horizontal-vertical (100) comprend en outre un ensemble d'augmentation de stabilité (20), l'ensemble d'augmentation de stabilité (20) comprenant des supports rotatifs à trois arbres (21, 22, 23), et chaque support rotatif (21, 22, 23) comprenant un dispositif d'entraînement (211, 221, 231). L'élément de transmission de signal (30) comprend au moins trois parties d'enroulement (31, 32,33), deux desdites trois parties d'enroulement (31, 32, 33) sont respectivement enroulées dans le dispositif d'entraînement (211, 221, 231) des supports rotatifs à trois arbres (21, 22, 23), l'autre des trois parties d'enroulement (31, 32, 33) est enroulée dans le dispositif d'entraînement (211, 221, 231) des supports rotatifs à trois arbres (21, 22, 23) ou est enroulée dans une charge (200) sur l'ensemble d'augmentation de stabilité (20), les parties d'enroulement (31, 32, 33) enroulées dans le dispositif d'entraînement (211, 221, 231) étant utilisées pour transmettre un signal de commande de rotation pour les dispositifs d'entraînement (211, 221, 231) correspondants, de façon à commander le fonctionnement des dispositifs d'entraînement correspondants (211, 221, 231); et les parties d'enroulement (31, 32, 33) enroulées dans la charge (200) sont utilisées pour transmettre un signal pour la charge (200).
PCT/CN2016/087759 2016-06-29 2016-06-29 Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile Ceased WO2018000274A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680012392.0A CN107636918B (zh) 2016-06-29 2016-06-29 信号传输件、云台以及可移动装置
CN202010122041.3A CN111256004A (zh) 2016-06-29 2016-06-29 信号传输件、云台以及可移动装置
PCT/CN2016/087759 WO2018000274A1 (fr) 2016-06-29 2016-06-29 Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/087759 WO2018000274A1 (fr) 2016-06-29 2016-06-29 Élément de transmission de signal, panoramique horizontal-vertical et dispositif mobile

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US11263272B2 (en) 2020-04-23 2022-03-01 International Business Machines Corporation Ranking candidate documents for human annotation task in real-time
WO2023046172A1 (fr) * 2021-09-27 2023-03-30 深圳市道通智能航空技术股份有限公司 Cardan et véhicule aérien sans pilote

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CN111532221B (zh) * 2020-05-14 2023-06-09 上海宇航系统工程研究所 一种星球车稳定平台
JP2022066921A (ja) * 2020-10-19 2022-05-02 エスゼット ディージェイアイ テクノロジー カンパニー リミテッド 支持機構及び撮像システム
CN112344962B (zh) * 2020-11-02 2023-12-15 南京理工大学 一种轻小型化高转速电动三轴转台
CN116447472B (zh) * 2023-06-07 2023-10-17 合肥联宝信息技术有限公司 一种角度调节装置

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CN107636918A (zh) 2018-01-26
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