CN106764305B

CN106764305B - Foldable triaxial stabilized cradle head

Info

Publication number: CN106764305B
Application number: CN201710082269.2A
Authority: CN
Inventors: 解临凡; 冬雷; 姜牧云
Original assignee: Zhongshan Zike Intelligent Technology Co ltd
Current assignee: ZHONGSHAN SANZANG ELECTRONIC TECHNOLOGY CO LTD
Priority date: 2017-02-15
Filing date: 2017-02-15
Publication date: 2023-06-13
Anticipated expiration: 2037-02-15
Also published as: CN106764305A

Abstract

Aiming at the defects existing in the prior art, the invention provides a foldable triaxial stabilized cradle head. The foldable triaxial stabilization tripod head comprises a handle, a crank arm and an end component, wherein the handle comprises a shell, a pitching motor, a pitching shaft and a crank arm rotating shaft; the pitching motor is arranged at the top end of the handle, and the crank arm rotating shaft connects the pitching shaft with the crank arm; the other end of the crank arm is fixed to the end assembly. The invention has three controllable rotating shafts, so that the shaking in any direction can be compensated, and the shot picture is stable and smooth. In addition, the foldable cantilever is adopted, and the foldable cantilever can be stored when shooting is stopped, so that the volume is very small, and the automatic balancing of the gravity centers of mobile phones with different qualities on two axes of azimuth and roll is ensured.

Description

Foldable triaxial stabilized cradle head

Technical Field

The invention relates to a foldable triaxial stabilized cradle head, belonging to the technical field of photography and camera shooting.

Background

With the improvement of living standard, the number of people going out for travel is increased, especially the number of people taking part in various limit exercises is increased continuously, and in order to share what people see, people can take a large number of pictures and videos by utilizing mobile phones. However, it is necessary to ensure the stability of the mobile phone during photographing to obtain excellent image quality, but this skill is very difficult for most non-professional persons. In order to improve the shooting effect of common people, a plurality of stable holders appear on the market, and the mobile phone is clamped on the stable holders, so that the mobile phone can be kept stable even in motion, and the professional shooting effect is obtained.

The existing stable cradle head in the market at present mainly has two forms, namely a frame structure and a cantilever structure, wherein the frame structure is mainly used for a camera, and the cantilever structure is mainly used for a motion camera and mobile phone shooting. However, both structures are complex, and have large volume and weight, so that the two structures are inconvenient to carry during traveling. Therefore, companies develop foldable stable holders, however, the foldable holder has only two axes, and if three axes are needed to obtain the omnibearing stabilizing effect, the two-axis foldable holder is convenient to carry, but sacrifices the shooting quality, and when the holder swings to a certain inclination direction, the stable can not be performed, so that the shot picture shakes severely, and the normal shooting requirement can not be met.

In addition, the mobile phone gravity centers of the existing stable cradle head are difficult to adjust, so that a large amount of power is consumed when the cradle head works, and the endurance time is greatly shortened.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention provides a foldable triaxial stabilized cradle head. The foldable triaxial stabilized cradle head is provided with three controllable rotating shafts, so that shaking in any direction can be compensated, and shot pictures are stable and smooth. In addition, the invention adopts a foldable cantilever, which can be stored when shooting is stopped, so that the volume is very small.

In addition, the structure of the invention ensures that the gravity centers of mobile phones with different masses on the azimuth axis and the roll axis are automatically balanced, and a special mechanism is designed to conveniently balance the gravity centers on the pitching axis.

The technical scheme adopted by the invention is as follows:

a foldable triaxial stabilized cradle head comprises a handle, a crank arm and an end assembly, wherein the handle comprises a shell, a pitching motor, a pitching shaft and a crank arm rotating shaft; the pitching motor is arranged at the top end of the handle, and the crank arm rotating shaft connects the pitching shaft with the crank arm; the other end of the crank arm is fixed to the end assembly.

The end assembly to which the crank arm is attached is located at the bottom end of the handle when folded.

The crank arm is of a Z-shaped structure, the crank arm comprises a crank arm middle section, a crank arm front end and a crank arm rear end, the crank arm rear end is connected with the end component, the length of the crank arm middle section is set according to the gravity center of the end component, and when the mobile phone is installed, the whole gravity center of the end component and the mobile phone falls on the axis of the pitching shaft.

The end component comprises a roll motor, a course motor, a swing rod, a mobile phone holder and an attitude sensor, wherein a stator shell of the roll motor is connected with a crank arm, a rotor of the roll motor is connected with the course motor, an included angle between the roll motor and a rotating shaft of the course motor is a right angle, and the rotor of the course motor is connected with the swing rod, so that the mobile phone holder connected with the swing rod can swing along the course.

The crank arm is Z-shaped, provides space for course deflection of the mobile phone, and is positioned at a concave part of the handle when the mobile phone is folded, and the top end of the crank arm is flush with the tail end of the handle.

The distance between the mobile phone holder of the end component and the swing rod can be adjusted, and the mobile phone holder is used for adjusting the gravity center positions of different mobile phones, so that the whole gravity center of the end component and the mobile phone falls on the axis of the pitching shaft.

The mobile phone holder comprises a tenon and saw teeth, and the saw teeth are arranged on two sides of the tenon and used for adjusting the distance between the mobile phone holder and the swing rod.

The slot on the swing rod is provided with two buttons, the buttons are arranged on the side wall of the swing rod through springs and rotating shafts and used for adjusting the distance between the mobile phone holder and the swing rod, and the gesture sensor is arranged between the slot and the shaft hole.

The crank arm is Z-shaped, provides space for course deflection of the mobile phone, and is positioned at the concave part of the handle when the mobile phone is folded, and the top end of the crank arm is flush with the tail end of the handle.

The sequence of the transmission chain is from the mobile phone to the course motor, to the roll motor, to the crank arm, to the pitching motor and finally to the handle.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages and effects:

the invention has the advantages that the crank arm can be folded as the supporting arm, so that the volume of the cradle head is very small when not in use, and the cradle head is convenient to carry;

the invention has the advantages that triaxial stable control can be performed, so that the shot picture is smoother;

the invention has the advantages that the Z-shaped crank arm provides space for azimuth axis control, and the crank arm is concave inwards, so that assistance is provided for balancing of a pitching axis;

the invention has the advantages that the gravity center of the pitching axis is very convenient to adjust, so that the control performance of the system is improved;

one effect of the invention is that the center of gravity on the transverse roller and the azimuth axis is automatically balanced, so that the endurance time of the system is increased.

Drawings

FIG. 1 is a three-axis stabilized holder in a folded state according to the present invention;

FIG. 2 is a schematic view of a handle of a stabilization head according to the present invention;

FIG. 3 is a schematic view of the connection of a stabilized holder end assembly to a crank arm in accordance with the present invention;

FIG. 4 is a top view of the handset holder of the invention;

FIG. 5 is a vertical cross-sectional view of the pendulum of the present invention;

FIG. 6 is a schematic diagram of the connection of the mobile phone holder and the swing rod in the invention;

FIG. 7 is a schematic view of a triaxial stabilized holder in a horizontal extended state according to the present invention;

FIG. 8 is a schematic view of a three-axis stabilized holder in a vertically deployed state according to the present invention;

FIG. 9 is a schematic diagram of azimuth control in the present invention;

FIG. 10 is a schematic of roll control in the present invention;

fig. 11 is a side view of the present invention in pitch control.

In the drawings, each reference numeral represents a component: 1-handle, 2-crank, 201-crank middle section, 202-fold pin, 203-crank front section, 3-end assembly, 4-cell phone, 101-housing, 102-pitch motor, 103-pitch shaft, 104-crank shaft, 105-lithium battery, 106-control board, 301-roll motor, 302-heading motor, 303-swing link, 304-cell phone holder, 3031-button, 3032-spring, 3033-shaft, 3034-attitude sensor, 3035-slot, 3036-shaft hole, 3041-mortise, 3042-saw tooth

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Fig. 1 shows a three-axis stable tripod head in a folded state, a handle 1 and a crank arm 2 are attached together, an end component 3 is abutted against the bottom end of the handle 1, the whole system is approximately of a rectangular structure, and the whole system has compact structure and is convenient to carry and place.

The crank arm 2 has a zigzag structure, and the crank arm 2 includes a crank arm middle section 201, a crank arm front end 202, and a crank arm rear end 203, as shown in fig. 3. The rear end 203 of the crank arm is connected to the end unit 3, and the length of the middle section 201 of the crank arm is set according to the center of gravity of the end unit 3, so that the center of gravity of the end unit 3 and the center of gravity of the cell phone 4 fall on the axis of the pitch axis 103 when the cell phone 4 is mounted. The crank arm 2 is connected with a pitching axis 103 of a pitching motor 102 on the handle 1 through a folding pin 202. The crank arm 2 can be folded by a certain angle using the folding pin 202, as shown in fig. 1, the axis of the crank arm 2 is 90 degrees to the axis of the pitch motor 102. When shooting is required, the crank arm 2 can be rotated and unfolded around the folding pin 202, and the axis of the pitching motor 102 of the axis of the crank arm 2 is coincident, as shown in fig. 7. When the crank arm is unfolded, the crank arm is locked with the shaft of the pitching motor 102 and rotates along with the shaft of the pitching motor 102, so that pitching stability control is performed. The folding pin 202 may be replaced by other hinges or mechanisms that function to connect and lock the crank arm 2.

A pitching motor 102 is arranged at the top end of the handle 1, a lithium battery 105 is arranged at the lower end of the handle 1, and a control board 106 is arranged at the upper end of the handle 1, as shown in fig. 2.

Since the elevation of the pitch motor 102 is greater than the thickness of the lithium battery 105, the pitch motor 102 protrudes from the lithium battery 105, as shown in fig. 2, and the Z-shaped crank arm 2 can be just attached to the housing 101. The Z-shaped crank arm 2 in turn provides room for azimuth axis control, as shown in fig. 9. Furthermore, since the crank arm 2 is concave inward, assistance is provided for balancing the pitch axis, see fig. 7. The depth of the recess of the crank arm 2 is related to the mass of the mounted mobile phone 4, so that the gravity center of all moving parts on the pitching axis formed by the crank arm 2, the end component 3 and the mobile phone 4 can fall near the axis of the pitching motor 102, and then be finely adjusted through the tenon 3041 on the mobile phone holder 304, see fig. 6.

The end assembly 3 includes a roll motor 301, a heading motor 302, a swing link 303, a cell phone holder 304, as shown in fig. 3. The end of the crank arm 2 is perpendicular to the axis of the rotation shaft of the roll motor 301, and the crank arm 2 is connected to the stator housing of the roll motor 301, and the wires of the control system pass through the inside of the crank arm 2 and are connected to the control board 106 inside the handle 1. The rotor of the roll motor 301 is connected to the stator of the heading motor 302, wherein the rotor axis of the roll motor 301 is perpendicular to the rotor axis of the heading motor 302 and the two motors are as close as possible, or the stator housing of the heading motor 302 is integrated with the outer rotor housing of the roll motor 301, making the system more compact. In the vertical direction of the rotor shaft of the navigation motor 302, a swing link 303 is installed, and a posture sensor 3034 and a mobile phone holder 304 are installed on the swing link 303, wherein the mobile phone holder 304 is used for placing a camera mobile phone. The gesture sensor 3034 detects the gesture of the mobile phone, transmits signals to the control panel 106, calculates the control quantity of the motor of each shaft through coordinate transformation and resolution, compensates the gesture change of the mobile phone, and enables the mobile phone to achieve the aim of stable shooting. The mounting posture sensor 3034 is positioned as shown in fig. 5.

Fig. 4 is a top view of the holder 304, with two rows of saw teeth 3042 on each side of the mortise 3041 of the holder 304. The front end of the mobile phone holder 304 is provided with a holding device for installing a mobile phone, the rear end tenon 3041 can be inserted into a hole of the swing rod 303, and the insertion depth is adjusted so as to adjust the gravity center position of the whole system and ensure that the gravity center position can be on the axis of the pitching motor 102.

Fig. 5 is a sectional view of the swing lever 303, a spring 3032 and a rotation shaft 3033 fix the button 3031, and an attitude sensor 3034 is installed between the slot 3035 and the shaft hole 3036. Fig. 6 is a top view of the installation mode of the swing link 303 and the mobile phone holder 304. When the tenon 3041 is inserted into the slot 3035 of the swing rod 303, two buttons 3031 are respectively arranged at two sides of the slot 3035 of the swing rod 303 to clamp saw teeth 3042 at two sides of the tenon 3041, so that the mobile phone holder 304 is prevented from loosening. Pressing the button 3031 adjusts the length of the extension and retraction of the mortise 3041, thereby adjusting the center of gravity of the handset 4 and the end assembly 3 and the crank arm 2 to lie on the rotor axis of the pitch motor 102, which allows the pitch motor to maintain the balance of the handset 4 and better control the attitude of the handset 4 with less energy. The swing rod 303 is installed at the upper end of the rotor of the heading motor 302, see fig. 3, and is fixed to the rotor of the heading motor 302 as a whole.

Fig. 7 is a top view of the control gesture when the handle position of the handheld stabilized cradle head is in a horizontal position. Fig. 8 is a rear view of the control attitude with the handle position of the handheld stabilized holder in the vertical position. Fig. 9 is a schematic view of azimuth control when the handle position of the handheld stabilized cradle head is in a horizontal position. The mobile phone 4 needs to be controlled by the heading motor 302 during azimuth control, and the crank arm 2 provides a sufficient space for swinging of the mobile phone 4, and meanwhile, heading disturbance can be effectively eliminated by matching with rotation of the hand.

Fig. 10 and 11 are the states of roll control and pitch control, respectively, and fig. 11 is a side view of the system. Since the handset 4 can be centered on the intersection of the roll and pitch axes by adjusting the button 3031. Therefore, only a relatively small amount of energy is needed to achieve the control effect, and the duration of the lithium battery 105 is increased.

Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. The foldable triaxial stabilization tripod head comprises a handle (1), a crank arm (2) and an end assembly (3), wherein the handle (1) comprises a shell (101), a pitching motor (102), a pitching shaft (103) and a crank arm rotating shaft (104); the pitching motor (102) is arranged at the top end of the handle (1), and the crank arm rotating shaft (104) connects the pitching shaft (103) with the crank arm (2); the other end of the crank arm (2) is fixed on the end component (3); the crank arm (2) is of a Z-shaped structure, the crank arm (2) comprises a crank arm middle section (201), a crank arm front end (202) and a crank arm rear end (203), the length of the crank arm middle section (201) is set according to the gravity center of the end component (3), and when the mobile phone (4) is installed, the whole gravity center of the end component (3) and the mobile phone (4) falls on the axis of the pitching shaft (103); the end assembly (3) comprises a roll motor (301), a course motor (302), a swing rod (303), a mobile phone holder (304) and a gesture sensor (3034), wherein a stator shell of the roll motor (301) is connected with a crank arm (2), a rotor of the roll motor is connected with the course motor (302), an included angle between a rotation shaft of the roll motor (301) and a rotation shaft of the course motor (302) is a right angle, and the rotor of the course motor (302) is connected with the swing rod (303) so that the mobile phone holder (304) connected with the swing rod (303) can swing along the course.

2. A collapsible triaxial stabilising pan/tilt according to claim 1, wherein the end assembly (3) to which the crank arm (2) is attached is located at the bottom end of the handle (1) when folded.

3. A foldable triaxial stabilized holder according to claim 1, characterized in that the crank arm (2) is Z-shaped, providing space for yaw of the handset (4), and that the crank arm (2) is located in a recess of the handle (1) when folded, with its top end flush with the end of the handle (1).

4. A foldable triaxial stabilized holder according to claim 1, characterized in that the distance between the handset holder (304) of the end assembly (3) and the swing link (303) is adjustable for adjusting the position of the centre of gravity of different handsets such that the overall centre of gravity of the end assembly (3) and the handset (4) falls on the axis of the pitch axis (103).

5. The foldable triaxial stabilized holder according to claim 1, wherein the mobile phone holder (304) includes a tenon (3041) and saw teeth (3042), and saw teeth (3042) are provided on both sides of the tenon (3041) for adjusting a distance between the mobile phone holder (304) and the swing rod (303).

6. The foldable triaxial stabilized holder according to claim 1, wherein two buttons (3031) are mounted on a slot (3035) on the swing rod (303), the buttons are mounted on the side wall of the swing rod through springs (3032) and rotating shafts (3033) and used for adjusting the distance between the mobile phone holder (304) and the swing rod (303), and the posture sensor (3034) is mounted between the slot (3035) and the shaft hole (3036).

7. A collapsible three-axis stabilising pan/tilt as claimed in claim 1, wherein the drive train is in sequence from the handset (4) to the heading motor (302), to the roll motor (301), to the crank arm (2), to the pitch motor (102) and finally to the handle (1).