# US 9,753,356 B2 · Cradle head, cradle head camera device and unmanned aerial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,753,356 B2 - Document ID: US9753356B2 - Status: Granted - Kind: B2 - Application number: 15/210,582 - Filed: 2016-07-14 - Published: 2017-01-19 - Granted: 2017-09-05 - Earliest claimed: 2015-07-16 - Assignees: Zerotech (Shenzhen) Intelligence Robot Co., Ltd. - Applicants: Zerotech (Shenzhen) Intelligence Robot Co., Ltd - Inventors: Yucheng Liang; Fuhua Ai - Web page: https://patentgrep.com/patent/US9753356B2 ## CPC - G03B 15/006: {Apparatus mounted on flying objects} - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - G03B 17/561: {Support related camera accessories} - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A cradle head includes: a yaw support, wherein one end of the yaw support is rotatable around a yaw axis; a pitching support, which is rotatably connected to the yaw support via a pitching axis, wherein a camera device mounting seat is provided on the pitching support; a first casing attached on the pitching support, wherein a first accommodating space is provided within the first casing, wherein the camera device mounting seat is disposed within the first accommodating space, and wherein a camera hole is provided in the first casing; and a third casing, provided on the yaw support, wherein a third accommodating space is provided within the third casing, the yaw support being disposed within the third accommodating space; wherein the third casing and the first casing form a part of a curved outer surface of the cradle head. ## Claims ### Claim 1 A cradle head, comprising: a yaw support, wherein one end of the yaw support is rotatable around a yaw axis; a pitching support rotatably connected to the yaw support via a pitching axis, wherein a camera device mounting seat is provided on the pitching support; a roll support, wherein one end of the roll support is rotatably connected to the other end of the yaw support via a rolling axis; a first casing attached on the pitching support and defining a first accommodating space, wherein the camera device mounting seat is disposed within the first accommodating space and a camera hole is provided in the first casing; and a second casing provided on the roll support and defining a second accommodating space, wherein the roll support is disposed within the second accommodating space; and a third casing provided on the yaw support and defining a third accommodating space, wherein the yaw support is disposed within the third accommodating space; wherein the first casing, the second casing and the third casing form a part of a curved outer surface of the cradle head. ### Claim 2 (depends on 1) The cradle head according to claim 1, wherein: the second casing comprises a first semi-casing and a second semi-casing which are attached to two sides of the roll support and are of an outward concave curved shape; a surface of the first casing is of a curved shape, two sides of the first casing are planar, and the camera hole is provided on the curved surface of the first casing; and the second casing and the first casing form a substantially spherically shaped surface. ### Claim 3 (depends on 2) The cradle head according to claim 2, wherein a waterproof flange is provided on each of the two sides of the first casing along a circumferential direction of the pitching axis. ### Claim 4 (depends on 3) The cradle head according to claim 3, wherein an annular V groove is defined between each waterproof flange and a respective side of the first casing. ### Claim 5 (depends on 1) The cradle head according to claim 1, wherein: the pitching support is disposed within the first casing; the roll support and the pitching axis are disposed within the second casing; and the yaw axis, the yaw support, and the rolling axis are disposed within the third casing. ### Claim 6 (depends on 1) The cradle head according to claim 1, wherein a surface of the third casing is curved. ### Claim 7 (depends on 1) The cradle head according to claim 1, wherein the first casing, the second casing and the third casing in whole form a waterdrop shape. ### Claim 8 (depends on 1) The cradle head according to claim 1, wherein the roll support is disposed outside the first casing and connected to the pitching support through the pitching axis. ### Claim 9 (depends on 1) The cradle head according to claim 1, wherein the first casing comprises a first semi-casing and a second semi-casing matched with each other. ### Claim 10 (depends on 1) The cradle head according to claim 1, wherein the first casing is configured to make a pitching rotation following the pitching support. ### Claim 11 (depends on 1) The cradle head according to claim 1, wherein the second casing is configured to make a roll rotation following the roll support. ### Claim 12 (depends on 1) The cradle head according to claim 1, wherein the third casing is configured to be able to rotate with the yaw support. ### Claim 13 A cradle head camera device, comprising: a cradle head, the cradle head comprising: a yaw support, wherein one end of the yaw support is rotatable around a yaw axis; a pitching support rotatably connected to the yaw support via a pitching axis, wherein a camera device mounting seat is provided on the pitching support; a first casing attached on the pitching support and defining a first accommodating space, wherein the camera device mounting seat is disposed within the first accommodating space and a camera hole is provided in the first casing; and a waterproof flange provided on each of two sides of the first casing along a circumferential direction of the pitching axis; wherein the first casing has a curved outer surface; and a camera device, wherein the camera device is provided on the camera device mounting seat. ### Claim 14 (depends on 13) The cradle head camera device according to claim 13, wherein the camera device is an imaging core or a camera having 30× or 36× optical zoom. ### Claim 15 (depends on 13) The cradle head camera device of claim 13, wherein an annular V groove is defined between each waterproof flange and a respective side of the first casing. ### Claim 16 (depends on 13) The cradle head camera device of claim 13, further comprising a roll support, a second casing provided on the roll support and defining a second accommodating space, and a third casing provided on the yaw support and defining a third accommodating space, wherein one end of the roll support is rotatably connected to the other end of the yaw support via a rolling axis, the roll support is disposed within the second accommodating space, and the yaw support is disposed within the third accommodating space. ### Claim 17 An unmanned aerial vehicle, comprising: a cradle head camera device, wherein the cradle head camera device comprises a cradle head and a camera device; wherein the cradle head comprises: a yaw support, wherein one end of the yaw support is rotatable around a yaw axis; a pitching support rotatably connected to the yaw support via a pitching axis, wherein a camera device mounting seat is provided on the pitching support; a roll support, wherein one end of the roll support is rotatably connected to the other end of the yaw support via a rolling axis; a first casing attached on the pitching support and defining a first accommodating space, wherein the camera device mounting seat is disposed within the first accommodating space and a camera hole is provided in the first casing; a second casing provided on the roll support and defining a second accommodating space, wherein the roll support is disposed within the second accommodating space; and a third casing provided on the yaw support and defining a third accommodating space, wherein the yaw support is disposed within the third accommodating space; wherein the first casing, the second casing and the third casing form a part of a curved outer surface of the cradle head; and wherein the camera device is provided on the camera device mounting seat. ### Claim 18 (depends on 17) The unmanned aerial vehicle of claim 17, further comprising a cradle head pedestal for connecting the cradle head to an unmanned aerial vehicle body. ### Claim 19 (depends on 17) The unmanned aerial vehicle of claim 17, wherein a waterproof flange is provided on each of two sides of the first casing along a circumferential direction of the pitching axis.