CN206107592U

CN206107592U - Cloud platform, imaging system and aircraft

Info

Publication number: CN206107592U
Application number: CN201621163553.XU
Authority: CN
Inventors: 王佳迪; 陈汉平; 周琦
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Dji Baiwang Technology Co ltd
Priority date: 2016-10-24
Filing date: 2016-10-24
Publication date: 2017-04-19
Anticipated expiration: 2026-10-24

Abstract

The utility model provides a cloud platform, imaging system and aircraft. This cloud platform includes: this cloud platform includes at least one pivot mechanism and circuit board, and this pivot mechanism includes the motor, and this motor includes rotor and stator, this rotor drives the load of this cloud platform and does exercises, this stator is hollow to what form that being used for in this motor pass the transmission line walks the line passageway, this circuit board is arranged in connecting the transmission line of this cloud platform. The utility model discloses the cloud platform can move under abominable operational environment.

Description

Cloud platform, shooting system and aircraft

Technical Field

The embodiment of the utility model provides a cloud platform, shooting system and aircraft are related to.

Background

The cradle head can carry a load, fix the load, adjust the posture of the load at will (for example, change the height, inclination and/or direction of the load), or stably maintain the load at a certain posture. For example, when the load is shooting equipment, the shooting equipment is carried on the holder to realize stable, smooth and multi-angle shooting.

In many cases, the tripod head is required to operate in a severe working environment (for example, rainy and snowy weather), and therefore, how to provide the tripod head with a protection function is a problem to be solved.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a cloud platform, shooting system and aircraft can operate under abominable operational environment.

In one aspect, a holder is provided, which is characterized in that the holder comprises at least one rotating shaft mechanism and a circuit board, wherein the rotating shaft mechanism comprises a motor, and the motor comprises a rotor and a stator; the rotor drives the load of the holder to move; the stator is hollow so as to form a routing channel used for passing through a transmission line in the motor; the circuit board is used for connecting a transmission line in the holder.

In another aspect, a shooting system is provided, which includes a cradle head and a shooting device, wherein the cradle head includes at least one rotating shaft mechanism and a circuit board, the rotating shaft mechanism includes a motor, and the motor includes a rotor and a stator; the rotor drives the load of the holder to move; the stator is hollow so as to form a routing channel used for passing through a transmission line in the motor; the circuit board is used for connecting a transmission line in the holder.

In another aspect, an aircraft is provided, comprising a cradle head, wherein a cradle head is characterized by comprising at least one rotating shaft mechanism and a circuit board, wherein the rotating shaft mechanism comprises a motor, and the motor comprises a rotor and a stator; the rotor drives the load of the holder to move; the stator is hollow so as to form a routing channel used for passing through a transmission line in the motor; the circuit board is used for connecting a transmission line in the holder.

In the cloud platform of the embodiment of the utility model, the stator of the motor included by the rotating shaft mechanism is hollow, so that the wiring channel in the motor can be formed, the transmission line can be wired in the stator, and the transmission line is protected, so that the cloud platform can work under a severe working environment; and the hollow of stator is set up to walk the line passageway, and the wiring is simple to and can avoid the transmission line to twist the transmission line fracture that causes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is an overall structure schematic diagram of a pan/tilt head according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a routing manner of a pan/tilt head according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a wiring manner in a part of the rotating shaft mechanism of the pan/tilt head according to the embodiment of the present invention.

Fig. 4 is a partial perspective exploded view of a cradle head according to an embodiment of the present invention.

Fig. 5 is a partial perspective exploded view of a cradle head according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of a labyrinth seal structure, according to an embodiment of the invention.

Fig. 7 is a schematic diagram of a silicone ring seal structure according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a silicone ring seal structure according to an embodiment of the present invention.

Fig. 9 is a schematic block diagram of a flight system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that, when an element is "fixedly connected" or "connected" to another element, or an element is "fixed" to another element, it can be directly on another element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment of the utility model provides a cloud platform, this cloud platform includes at least one pivot mechanism, and this pivot mechanism includes the motor, and this motor includes rotor and stator; the rotor drives the load of the holder to move.

Alternatively, the motor included in the rotating shaft mechanism may be a brushless motor, or may be a brush motor.

Optionally, the load may be a shooting device, or may be another device, and the embodiment of the present invention is not limited.

Optionally, the spindle mechanism comprises at least one of: pitch axis (pitch) mechanism, roll axis (roll) mechanism, and yaw axis (yaw) mechanism.

Optionally, the embodiment of the present invention provides a rotating shaft mechanism, which further includes a support connected to the rotor, and the rotor drives the load to move by driving the support to rotate.

Optionally, the head comprises a plurality of rotating shaft mechanisms, the plurality of rotating shaft mechanisms being connected in series. Alternatively, the plurality of spindle mechanisms may be connected in series in the following manner: from the fixed position of the holder, the motor of each rotating shaft mechanism is connected with the bracket, and the bracket of the previous rotating shaft mechanism is connected with the motor of the next rotating shaft mechanism.

Optionally, in the embodiment of the present invention, the rotor of the rotating shaft mechanism may be connected to the bracket in an indirect fixed manner.

Optionally, in an embodiment of the present invention, the connection between the bracket of the previous rotating shaft mechanism and the stator of the next rotating shaft mechanism may be indirect.

For example, as shown in fig. 1, the head includes a yaw axis mechanism 110, a roll axis mechanism 120, and a pitch axis mechanism 130. The yaw axis mechanism 110, the roll axis mechanism 120, and the pitch axis mechanism 130 are connected in series in this order.

Wherein, the yaw axis mechanism 110 comprises a motor 112 and a bracket 114; the traverse roller mechanism 120 includes a motor 122 and a bracket 124; the pitch axis mechanism 130 includes a motor 132.

The yaw axis mechanism 110 may be connected to the aircraft, the motor 112 of the yaw axis mechanism 110 may be connected to the bracket 114 of the yaw axis mechanism 110, the bracket 114 of the yaw axis mechanism 110 may be connected to the motor 122 of the roll axis mechanism 120, the motor 122 of the roll axis mechanism 120 may be connected to the bracket 124 of the roll axis mechanism 120, the bracket 124 of the roll axis mechanism 120 may be connected to the motor 132 of the pitch axis mechanism 130, the motor 132 of the pitch axis mechanism 130 may be connected to the load, one end of the bracket 124 of the roll axis mechanism 120 may be provided with the limit shaft 126, and the limit shaft 126 may rotate along with the load.

In the embodiment of the present invention, for the convenience of description, the motor of the yaw axis mechanism may be referred to as a yaw axis motor, the support of the yaw axis mechanism may be referred to as a yaw axis support, and other components or the rotating axis mechanism are similar and will not be described again.

It should be understood that in embodiments of the present invention, not all of the shaft mechanisms have a bracket, for example, as shown in fig. 1, the pitch shaft mechanism 130 includes the motor 132 and does not include a bracket, and the motor 132 of the pitch shaft 130 can be directly connected to the load without passing through a bracket.

It should also be understood that the rotating shaft mechanism shown in fig. 1 is only a schematic diagram, and in order to illustrate the overall structure of the cradle head, the specific structure of the cradle head according to the embodiment of the present invention should not be limited. For example, the connection of the yaw axis mechanism 110 to the aircraft is not shown, and the connection of the pitch axis mechanism 130 to the load is not shown.

It should also be understood that although fig. 1 shows that the yaw axis mechanism 110, the roll axis mechanism 120, and the pitch axis mechanism 130 are connected in series in sequence, embodiments of the present invention are not limited to this connection, for example, the roll axis mechanism, the pitch axis mechanism, and the yaw axis mechanism may be connected in series in sequence, or the pitch axis mechanism, the roll axis mechanism, and the pitch axis mechanism may be connected in series in sequence, but other series connections are also possible, which are not listed here.

Optionally, the utility model discloses the concrete structure of support can design according to different demands. For example, in the embodiment shown in FIG. 1, roller axle bracket 124 includes two folded walls, wherein they may be connected directly or by other means to form a U-shape.

Optionally, in an embodiment of the present invention, the stator included in the motor may be hollow for forming a routing channel in the motor.

Optionally, the embodiment of the present invention provides a wire routing channel can be also disposed in the support included in the rotating shaft mechanism, the wire routing channel in the support can extend along the extending direction of the support, and the wire routing channel in the support can be non-leaking or totally enclosed.

Alternatively, the routing channels within the rack may extend through the entire rack or may be provided in only a portion of the rack.

For example, the routing channels of the roll axis carriage 124 may be provided only in the carriage between the roll axis motor 122 and the pitch axis mechanism motor 132.

Optionally, in the embodiment of the utility model provides an in, the side of support has the trough to can dismantle the support lid with the support and be connected, with sealed trough, thereby form the line passageway of walking.

Optionally, in the embodiment of the present invention, the support may also be directly perforated to form the wiring channel.

Optionally, in the embodiment of the present invention, the wiring channel in the bracket of the rotating shaft mechanism is connected to the wiring channel in the stator of the rotating shaft mechanism.

Optionally, in the embodiment of the present invention, the routing channels in the plurality of rotating shaft mechanisms are connected.

Specifically, the wiring channel in the bracket of the previous rotating shaft mechanism is communicated with the wiring channel in the motor of the next rotating shaft mechanism.

For example, in an embodiment of the present invention, the cradle head includes a first rotating shaft mechanism, a second rotating shaft mechanism and a third rotating shaft mechanism, the first rotating shaft mechanism includes a first motor and a first bracket, the second rotating shaft mechanism includes a second motor and a second bracket, and the third rotating shaft mechanism includes a third motor; the stator of the first motor is fixedly connected with the aircraft, and the rotor of the first motor is fixedly connected with the first support; the first bracket is fixedly connected with a stator of the second motor, and a rotor of the second motor is fixedly connected with the second bracket; the second bracket is fixedly connected with a stator of the third motor; the rotor of the third motor is fixedly connected with the load. The wiring channel in the stator of the first motor is communicated with the wiring channel in the first bracket; the wiring channel in the first bracket is communicated with the wiring channel in the stator of the second motor; the wiring channel in the stator of the second motor is communicated with the wiring channel in the second bracket; the wiring channel in the second bracket is communicated with the wiring channel in the stator of the third motor.

For convenience of understanding, the specific structure and routing manner of the pan-tilt according to the embodiment of the present invention will be described below with reference to fig. 2 to 5.

Wherein fig. 2 is a general course diagram of the pan and tilt head, and fig. 3 is a course diagram at the roll and pitch axes. Fig. 3 is a cross section in the direction a-a of fig. 2. The thicker dashed line 170 in fig. 2 and 3 is a transmission line, and the dashed line is only used for distinguishing from the peripheral lines, and should not be construed as limiting the embodiment of the present invention. Fig. 4 and 5 are partially exploded perspective views of the head.

For example, as shown in fig. 2 to 5, the rotor 112a of the motor 112 of the yaw axis mechanism is sleeved in the stator 112b, the stator 112b is hollow, the stator 112b can be fixedly connected with the connecting device 113, the connecting device 113 can be provided with a circuit board and a through jack, the circuit board is used for connecting a transmission line, the through jack can be used for connecting with an aircraft, and the connecting device 113 can be fixed on the aircraft. The rotor 112a of the motor 112 may be coupled to the housing 115 and may rotate the housing 115, and the housing 115 may be coupled to the yaw-shaft support 114 and may rotate the support. The bracket 114 may be connected to a housing 121 of the roll-shaft mechanism, a stator 122b of the roll-shaft motor may be connected to the housing 121, a rotor 122a of the roll-shaft motor may be sleeved on the stator 122b and disposed in the housing 121, and a rear cover 123 may cover the housing 121. The rotor 122a of the traverse shaft motor 122 is connected to a traverse shaft support 124, and the rotor 122a moves the traverse shaft support 124. The roll shaft bracket 124 is connected to a housing 131 of the pitch shaft motor 132, the housing 131 may be connected to a stator 132b of the pitch shaft motor 132, a rotor 132a of the pitch shaft motor 132 is fitted over the stator 132b, and the rotor 132a is connected to the load 150.

The stator 112b of the motor of the yaw axis mechanism, the stator 122b of the motor of the roll axis mechanism and the stator 132b of the motor of the pitch axis mechanism are all hollow, so that a wiring channel is formed.

The support main body of the support yaw shaft of each rotating shaft mechanism can be provided with a groove, and the support cover can cover the support main body, so that a wiring channel is formed in the support.

For example, the support body 114a of the yaw axis may be slotted, and the support cover 114b may cover the support body 114a, so that the track passage is formed in the support.

For another example, the support body 124a of the yaw axis may be slotted, and the support cover 124b may cover the support body 124a, so that the routing channel is formed in the support.

When the shell is connected with the stator, a gap can be formed, so that the wiring channel of the stator can be communicated with the wiring channel of the support.

The routing channel in the stator 112b of the motor 112 in the yaw axis mechanism 110 may be communicated with the routing channel in the bracket 114 in the yaw axis mechanism 110, the routing channel in the yaw axis bracket 114 may be communicated with the routing channel in the stator 122b of the motor 122 in the roll axis mechanism 120, the routing channel in the stator 122b may be communicated with the routing channel in the bracket 124 in the roll axis mechanism 120, and the routing channel in the bracket 124 in the roll axis mechanism 120 is communicated with the routing channel in the stator 132b of the motor in the pitch axis mechanism 130.

Accordingly, the transmission line can pass from the routing channel in the stator 112b in the motor 112 through the routing channel in the bracket 114 and further through the routing channel of the stator 122b in the motor 122, then through the routing channel in the bracket 124 and further through the routing channel of the stator 132b in the motor 132.

Optionally, the routing channel is used for accommodating a power transmission line and/or a signal transmission line; the power transmission line is used for supplying power to the motor and/or supplying power to a load of the holder; the signal transmission line is used for transmitting a communication signal of the motor and/or transmitting a communication signal of the load.

Optionally, the routing channel is used for passing through a coaxial line, and specifically, may be a flat cable composed of coaxial lines. Of course, the routing channel may pass through other types of transmission lines, and the present invention is not limited in this respect.

Optionally, in the embodiment of the present invention, the transmission line may be accommodated in the routing channel and attached on the wall of the routing channel, for example, may be attached on the inner wall of the stator, and attached in the inner wall of the bracket. Of course, the transmission line may not be attached to the inner wall, but only accommodated and routed in the channel.

Optionally, in the embodiment of the present invention, in order to avoid the breakage of the transmission line caused by the rotation of the rotating shaft mechanism in the rotation process, the transmission line in the routing channel may be curled in the routing channel. Wherein, the length of the curl can be set according to the rotating amplitude and radius of the rotating shaft.

Optionally, the cradle head further comprises a circuit board, and the circuit board is used for connecting the transmission line in the cradle head.

Optionally, the cradle head is further provided with a first circuit board, and the first circuit board is used for connecting a first power transmission line and/or a first signal transmission line; the first power transmission line is used for supplying power to the first motor and the second motor; the first signal transmission line is used for transmitting communication signals of the first motor and the second motor.

Optionally, the first circuit board is disposed on a side of the second motor away from the load. Optionally, the first circuit board is detachably mounted on a side of the second motor remote from the load. The first circuit board is optionally a PCB board.

For example, a wiring board 140 is provided between the stator 122b and the rotor 122a of the roll motor and the rear cover 123. The circuit board 140 may be used to supply power to the yaw axis motor and/or transmit communication signals of the pitch axis motor and/or supply power to the roll axis motor and/or transmit communication signals of the roll axis motor.

Optionally, the cradle head is further provided with a second circuit board, and the second circuit board is used for connecting a second power transmission line and/or a second signal transmission line; wherein the second power transmission line is used for supplying power to the third motor and the load; the second signal transmission line is used for transmitting the communication signal of the third motor and the communication signal of the load.

Optionally, the second circuit board is disposed on a side of the load opposite the third motor.

For example, a circuit board 160 is disposed on a side of the load 150 opposite to the pitch axis motor, wherein the circuit board 160 may supply power to the pitch axis motor and/or transmit communication signals of the pitch axis motor and/or supply power to the pitch axis motor and/or transmit communication signals of the pitch axis motor. Wherein the transmission line passes through the stator 132b of the pitch axis motor and is wound from one side to the other side of the load 150 to be connected to the circuit board 160.

It has been described above that the routing channel can be arranged in the cradle head, so that the transmission line in the cradle head can be protected, and the cradle head can work in a severe working environment.

However, the embodiments of the present invention are not limited thereto, and the embodiments of the present invention may also have other means to protect the pan/tilt head, and these means may be used in combination with the means shown above, or used alone.

Optionally, in the embodiment of the present invention, the rotation position of the pan/tilt head is sealed by a labyrinth seal.

An enlarged view at 6a at the pitch axis mechanism shown in fig. 3 can be seen as in fig. 6. As can be seen from fig. 6, a labyrinth structure may be adopted at the rotation position, wherein the width of the gap 180 in the labyrinth structure shown in fig. 6 is 0.5mm, but the embodiment of the present invention is not limited thereto, for example, the width of the gap in the labyrinth structure may be 0.2-0.7 mm.

Optionally, in the embodiment of the utility model provides an in, can adopt the mode of silica gel circle to seal non-rotation contact.

For example, as shown in fig. 7 and 8, a groove 153 may be formed in the upper cover 152 of the photographing apparatus, and the groove 153 may be filled with silicone rubber and covered with the main body of the photographing apparatus. Fig. 7 is a plan view of the silicone ring and fig. 8 is a sectional view of the silicone ring.

Optionally, in order to achieve a better sealing effect, a rotating waterproof ring may be added at the rotation of the pan/tilt head to achieve sealing, wherein the increased resistance may be overcome by a matching motor torque.

Optionally, at least one circuit board provided in the head is coated with a waterproof paint, so that the waterproofing can be further increased.

Therefore, in the cloud deck of the embodiment of the present invention, the stator of the motor included in the rotating shaft mechanism is hollow, and the wiring channel in the motor can be formed, so that the transmission line can be wired in the stator, and the transmission line is protected, so that the cloud deck can work in a severe working environment; and the hollow of stator is set up to walk the line passageway, and the wiring is simple to and can avoid the transmission line to twist the transmission line fracture that causes.

And furthermore, a wiring channel is arranged in the rotating shaft mechanism support, so that the transmission line can be further protected. And the wiring channel in the support is communicated with the wiring channel in the stator, so that the transmission line torsion caused by the rotation of the rotating shaft mechanism can be further avoided, and the transmission line fracture is avoided.

And the embodiment of the utility model provides a, can seal through the mode that carries out labyrinth seal or rotatory waterproof circle in the rotatory department of cloud platform, or adopt the mode of silica gel circle to seal non-rotation contact, or coat protective paint on the circuit board, all can play the guard action to the cloud platform, make the cloud platform can carry out work under abominable operational environment.

Optionally, this cloud platform can carry shooting equipment, in the embodiment of the utility model provides an in, can be with the system that has shooting equipment and cloud platform collectively be called shooting system.

Optionally, the head is for attachment to an aircraft. The aircraft may be an Unmanned Aerial Vehicle (UAV).

For better understanding of the geographical aircraft, the function of the aircraft during flight and the objects that are interacted with will be described below in connection with the flight system shown in fig. 9. The present embodiment is described by taking a rotorcraft as an example.

The flight system may include UAV200, display apparatus 300, and maneuvering apparatus 400. UAV200 may include, among other things, a flight control system 210, a power system 220, a pan and tilt head 230, a load 240, and a frame 250. The UAV200 may wirelessly communicate with the steering device 300 and the display device 400.

The frame 250 may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected to the fuselage for support when the UAV200 lands.

The power system 220 may include an electronic governor (abbreviated as an electric governor) 223, one or more propellers 221, and one or more motors 222 corresponding to the one or more propellers 221, wherein the motors 222 are connected between the electronic governor 223 and the propellers 221, and the motors 222 and the propellers 221 are disposed on corresponding booms; the electronic governor 223 is configured to receive a driving signal generated by the flight control system 210 and provide a driving current to the motor 222 according to the driving signal to control the rotation speed of the motor 222. The motor 222 is used to drive the propeller in rotation, thereby providing power for the flight of the UAV200 that enables the UAV200 to achieve one or more degrees of freedom of motion. It should be understood that the motor 222 may be a dc motor or an ac motor. In addition, the motor 222 may be a brushless motor or a brush motor.

Flight control system 210 can include a flight controller 211 and a sensing system 212. The sensing system 212 is used to measure the attitude information of the UAV. The sensing system 212 may include at least one of a gyroscope, an electronic compass, an IMU (Inertial Measurement Unit), a vision sensor, a GPS (Global positioning system), a barometer, and the like. The flight controller 211 is used to control the flight of the UAV200, e.g., the flight of the UAV200 may be controlled based on attitude information measured by the sensing system 212.

The pan/tilt head 230 may be used to carry a load 240. Among other things, the load 240 may be a photographing device (e.g., a camera, a camcorder, etc.).

The display device 300 is located at the ground end of the flight system, may communicate wirelessly with the UAV200, and may be used to display attitude information of the UAV 200. In addition, when the load 240 is a photographing device, an image photographed by the photographing device may also be displayed on the display device 300. It is to be understood that the display apparatus 300 may be a stand-alone apparatus or may be provided in the manipulation apparatus 400.

The maneuvering device 400 is located at the ground end of the unmanned flight system and may communicate wirelessly with the UAV200 for remote maneuvering of the UAV 200. The manipulation device may be, for example, a remote controller or a terminal device, e.g., a smartphone, a tablet computer, etc., installed with an APP (Application) that controls the UAV. The embodiment of the utility model provides an in, receive user's input through controlgear, can indicate to control the UAV through User Interface (UI) on input device such as pulling out wheel, button, rocker or the terminal equipment on the remote controller.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A cloud platform is characterized in that the cloud platform comprises at least one rotating shaft mechanism and a circuit board, wherein the rotating shaft mechanism comprises a motor, and the motor comprises a rotor and a stator;

the rotor drives the load of the holder to move;

the stator is hollow so as to form a routing channel used for passing through a transmission line in the motor;

the circuit board is used for connecting the transmission line in the holder.

2. A head according to claim 1, wherein said rotary shaft mechanism further comprises a support connected to said rotor, said rotor being adapted to drive said load in movement by driving said support in rotation;

the support is provided with a wiring channel, and the wiring channel in the support extends along the extending direction of the support.

3. A head according to claim 2, wherein the routing channel in said cradle communicates with the routing channel in said stator.

4. A head according to any one of claims 1 to 3, wherein at least one said spindle mechanism comprises at least one of:

a pitch axis mechanism, a roll axis mechanism and a yaw axis mechanism.

5. A head according to any one of claims 1 to 3, wherein said routing channels are adapted to pass through coaxial lines.

6. A head according to any one of claims 1 to 3, wherein said routing channel is adapted to accommodate an electrical power transmission line and/or a signal transmission line;

the power transmission line is used for supplying power to the motor and/or supplying power to a load of the holder;

the signal transmission line is used for transmitting a communication signal of the motor and/or transmitting a communication signal of the load.

7. A head according to any one of claims 1 to 3, wherein said head comprises a plurality of said spindle mechanisms, connected in series;

and the routing channels in the plurality of rotating shaft mechanisms are communicated.

8. A head according to claim 7, wherein, starting from the point at which said head is fixed, the support of the previous spindle mechanism is connected to the motor of the next spindle mechanism;

the wiring channel in the support of the last rotating shaft mechanism is communicated with the wiring channel in the motor of the next rotating shaft mechanism.

9. A head according to claim 8, wherein said head comprises a first rotary-shaft mechanism, a second rotary-shaft mechanism and a third rotary-shaft mechanism, said first rotary-shaft mechanism comprising a first motor and a first support, said second rotary-shaft mechanism comprising a second motor and a second support, said third rotary-shaft mechanism comprising a third motor;

the stator of the first motor is fixedly connected with an aircraft, and the rotor of the first motor is fixedly connected with the first support; the first bracket is fixedly connected with a stator of the second motor, and a rotor of the second motor is fixedly connected with the second bracket; the second bracket is fixedly connected with a stator of the third motor; the rotor of the third motor is fixedly connected with the load;

a wiring channel in the stator of the first motor is communicated with a wiring channel in the first bracket; the wiring channel in the first bracket is communicated with the wiring channel in the stator of the second motor; a wiring channel in the stator of the second motor is communicated with a wiring channel in the second bracket; and the wiring channel in the second support is communicated with the wiring channel in the stator of the third motor.

10. A head according to claim 9, wherein said head is further provided with a first circuit board for connection to a first power transmission line and/or a first signal transmission line;

wherein the first power transmission line is used for supplying power to the first motor and the second motor;

the first signal transmission line is used for transmitting communication signals of the first motor and the second motor.

11. A head according to claim 10, wherein said first circuit board is disposed on a side of said second motor remote from said load.

12. A head according to claim 9, wherein said head is further provided with a second circuit board for connection to a second power transmission line and/or a second signal transmission line; wherein,

the second power transmission line is used for supplying power to the third motor and the load;

the second signal transmission line is used for transmitting a communication signal of the third motor and a communication signal of the load.

13. A head according to claim 12, wherein said second circuit board is provided on a side of said load opposite to said third motor.

14. A head according to claim 9, wherein said first rotary-axis mechanism is a yaw-axis mechanism, said second rotary-axis mechanism is a roll-axis mechanism, and said third rotary-axis mechanism is a pitch-axis mechanism.

15. A head according to any one of claims 1 to 3, wherein the rotation of the head is sealed in a labyrinth-tight manner.

16. A head according to any one of claims 1 to 3, wherein a silicone ring is provided at a seam of the head.

17. A head according to any one of claims 1 to 3, wherein a watertight ring is provided at the point of rotation of said head.

18. A head according to any one of claims 1 to 3, wherein at least one circuit board provided in said head is coated with a waterproof paint.

19. A head according to any one of claims 1 to 3, wherein said head is intended to be connected to an aircraft.

20. A shooting system characterized by comprising the head according to any one of claims 1 to 19, and a shooting apparatus.

21. An aircraft, characterized in that it comprises a head according to any one of claims 1 to 19.