CN107110422B - Mobile device and the capture apparatus for having the mobile device - Google Patents
Mobile device and the capture apparatus for having the mobile device Download PDFInfo
- Publication number
- CN107110422B CN107110422B CN201680004524.5A CN201680004524A CN107110422B CN 107110422 B CN107110422 B CN 107110422B CN 201680004524 A CN201680004524 A CN 201680004524A CN 107110422 B CN107110422 B CN 107110422B
- Authority
- CN
- China
- Prior art keywords
- runing rest
- rocker arm
- actuator
- mobile device
- wheel
- 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.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2057—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and rolling
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- 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
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
-
- 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
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
Abstract
A kind of mobile device (100), it includes mobile platform (10) and the rocker arm assembly (30) including being movably arranged on the mobile platform (10), the rocker arm assembly (30) includes runing rest (32, 33), actuator (31, and rocker arm (35) 34), the runing rest (32, 33) it is set on the mobile platform (10), the actuator (31, 34) for driving the runing rest to rotate, the rocker arm (35) is installed in the runing rest (32, 33) on, the rocker arm (35) is for carrying filming apparatus (70).The present invention also provides a kind of capture apparatus (300) with the mobile device (100).
Description
Technical field
The present invention relates to shooting clothing arts more particularly to a kind of mobile device and the capture apparatus for having the mobile device.
Background technique
Mobile device, such as shooting vehicle, the service robot of the filming apparatus such as video camera, digital camera are carried, it commonly uses
In the occasions such as ground search and rescue, ground exploration, movies-making, sports, the mobile device of right existing carrying filming apparatus, it is more difficult to
The case where carrying out the biggish shooting of range, such as shooting high angle or need to vacantly be shot.
Summary of the invention
In view of this, it is necessary to provide a kind of mobile devices for avoiding the above problem and the shooting for having the mobile device to set
It is standby.
A kind of mobile device comprising mobile platform and the rocker arm assembly being movably arranged on the mobile platform, it is described
Rocker arm assembly includes runing rest, actuator and rocker arm, and the runing rest is set on the mobile platform, the actuator
For driving the runing rest to rotate, the rocker arm is installed on the runing rest, and the rocker arm is for carrying shooting dress
It sets.
A kind of capture apparatus comprising mobile device and filming apparatus, the mobile device include mobile platform and activity
The rocker arm assembly being installed on the mobile platform, the rocker arm assembly include runing rest, actuator and rocker arm, the rotation
Bracket is set on the mobile platform, and for the actuator for driving the runing rest to rotate, the rocker arm is installed in institute
It states on runing rest, the filming apparatus is equipped on the rocker arm.
Compared with the existing technology, mobile device provided by the invention and capture apparatus, due to increase be provided with can be around axis
The rocker arm of rotation, and then scope of activities is increased, so as to be readily accomplished high angle and hanging shooting.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the capture apparatus of preferred embodiment provided by the invention.
Fig. 2 is another visual angle schematic diagram of capture apparatus shown in FIG. 1.
Main element symbol description
Capture apparatus 300
Mobile device 100
Filming apparatus 70
Mobile platform 10
Chassis 110
First support frame 113
First end 1131
The second end 1133
Second support frame 115
Wheel 120
Wheel hub 121
Roller 123
Suspension 130
Bracket 131
Bolster 132
Damper 1321
Helical spring 1322
Wheel actuator 140
Rocker arm assembly 30
First actuator 31
First runing rest 32
Second runing rest 33
Second actuator 34
Rocker arm 35
Clump weight 36
Attachment base 321
Cantilever 323
First connecting portion 326
Second connecting portion 327
Pedestal 331
Lid 335
Install slot 337
Through-hole 351
Mounting portion 353
Power battery 50
Filming apparatus 70
Increase steady component 80
Installation part 81
Cushion socket 83
Shock-absorbing ball 831
Holder 85
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
It please refers to shown in Fig. 1 and Fig. 2, an embodiment of the present invention provides a kind of moveable capture apparatus 300 comprising
Mobile device 100 and the carrier arrangement for being installed in the mobile device 100.The carrier arrangement is used to carry filming apparatus 70,
To be shot.Certainly, the capture apparatus 300 may include some necessary or attached structures, such as sensor, be
It saves space, this will not be repeated here.
Mobile device 100 includes mobile platform 10, the rocker arm assembly 30 being movably arranged on the mobile platform 10 and moves
Power battery 50.Mobile platform 10 can be to automatically move platform or manually push platform, specifically in the illustrated embodiment, with distant
It is illustrated for control chassis vehicle.
The mobile platform 10 includes chassis 110, multiple wheels 120, multiple suspensions 130 corresponding to the wheel 120
And multiple wheel actuators 140 corresponding to the wheel 120.
The chassis 110 is the primary load bearing structure of the mobile device 100, connects the wheel 120 and can hold
Various types of loads and/or functional module are carried, for example, controller, wireless communication unit, circuit board, power circuit etc..It is described
Chassis 110 includes the second support frame 115 on the first support frame 113 and setting first support frame 113.First support
Frame 113 has opposite first end 1131 and the second end 1133.
The multiple wheel 120 is rotatablely connected with first support frame 113 respectively, for driving the mobile device
100 advance, retreat and/or turn to.In present embodiment, the quantity of the wheel 120 is four, and two of them wheel 120 is set
It is placed in the first end 1131 of first support frame 113, other two wheel 120 is set to first support frame 113
The second end 1133.The wheel 120 is omni-directional wheel, can be carried out all-around mobile.The wheel 120 include wheel hub 121 and
Multiple rollers 123 on the periphery of wheel hub 121, the pivot center of the pivot center of the roller 123 and the wheel hub 121
It tilts scheduled angle and enables 120 omnidirectional moving of wheel.
The suspension 130 is used to for the wheel 120 connecting with the chassis 110, and the vibration of the buffering wheel 120
Influence to the chassis 110, with the load of protecting the chassis 110 to be carried and/or functional module from or few shaken
Dynamic influence.In present embodiment, the suspension 130 is independent suspension system, and each wheel 120 passes through a suspension 130 and institute
The connection of chassis 110 is stated, connect each wheel 120 independently of one another with the chassis 110, and then rushed in single wheel 120
It, can be by hanging 130 own absorption impact forces, without involving other side wheel 120 when hitting, vibrating.The suspension 130 is corresponding
The quantity of the wheel 120 is four, and is respectively arranged on the first end 1131 of first support frame 113 for one group with two
And the second end 1133.
Each suspension 130 includes the bracket 131 that can be deformed and the bolster 132 being set on the bracket 131.Institute
Bracket 131 is stated to be connected between the wheel hub 121 and the chassis 110.The elastic force of the bolster 132 can resist described
The deformation of bracket 131, the vibration being subject to so as to buffering the wheel 120.In present embodiment, the quantity of the bolster 132
It is two, two bolsters 132 are substantially parallel to be alternatively arranged.Each described bolster 132 include damper 1321 with
And it is sheathed on the helical spring 1322 on the damper 1321.The damper 1321 is installed on the bracket 131.It is described
The both ends of helical spring 1322 are held in the both ends of the damper 1321 respectively.The damper 1321 is rod-shaped to stretch,
Including the Multi section bar being mutually socketed, opposite can be slided between the Multi section bar, it is long with the totality for changing the damper 1321
Degree.
The bolster 132 may include the components such as damping piece, elastic component.Damping piece such as liquid damper, air-pressure damping
Device, magnetic resistance damper.Elastic component such as extension spring, compressed spring, elastic rubber etc..
It is appreciated that the quantity of the bolster 132 can do any appropriate variation according to actual demand, for example, according to
According to the difference of the damping requirement moved on different surfaces to the mobile device 100,132 quantity of bolster can be one
A, three, four, five or more.
It is appreciated that the suspension 130 can be the suspension of other suitable types, such as wish-bone arm type suspension, trailing arm type are hanged
It hangs, the suspension of multi link formula, candle formula is hung or McPherson suspension.
The corresponding wheel 120 of each wheel actuator 140 is installed on first support frame 113, with independent driving
Corresponding wheel 120.In present embodiment, the wheel actuator 140 drives the wheel 120 to transport by toothed belt transmission mode
It is dynamic.Specifically, the wheel actuator 140 can be brushless motor, brush motor or other kinds of motor.
It is appreciated that the number of the quantity of the wheel 120 and its corresponding described suspension 130 and wheel actuator 140
Amount can make any appropriate variation according to actual conditions, however it is not limited to the description of embodiment of above, such as the wheel group
The quantity of part 20 and the quantity of its 130 wheel actuator 140 of corresponding suspension can be two, three, five, six
A, seven, eight, ten or more.In other embodiments, a wheel actuator 140 can be used and drive multiple wheels
120 mode.
It is appreciated that the suspension 130 can be omitted, and the wheel 120 is directly connect with the chassis 110.
It is appreciated that in other embodiments, the mobile platform 10 can also be moved by track.
The rocker arm assembly 30 is rotatably set on second support frame 115 and carries filming apparatus 70.Institute
Stating rocker arm assembly 30 includes the first actuator 31, the first runing rest 32, the second runing rest 33, the second actuator 34, rocker arm
35 and clump weight 36.
First actuator 31 is set to the side that second support frame 115 deviates from first support frame 113.
First runing rest 32 is installed on first actuator 31, in the driving of first actuator 31
Under can be rotated around first axle.First runing rest 32 is including attachment base 321 and is connected to the outstanding of the attachment base 321
Arm 323.One end of the attachment base 321 is connect with first actuator 31.The quantity of the cantilever 323 is two.Two
Cantilever 323 is substantially parallel to be arranged at intervals on the attachment base 321.The cantilever 323 includes that first connecting portion 326 and second connect
Socket part 327.One end of the first connecting portion 326 is connect by the attachment base 321 with the mobile platform 10, and towards separate
The direction of the first axle tilts upward extension.The second connecting portion 327 is by the first connecting portion 326 far from the company
One end of joint chair 321 is bent to form, and tilts upward extension towards the first axle direction.The second connecting portion 327
One end connect with the first connecting portion 326 far from the other end of the attachment base 321, make the second connecting portion 327
Other end is located at the top position of first actuator 31.The first connecting portion 326 connects with the second connecting portion 327
The place of connecing forms the tip of the V-shaped, and the tip of the V-shaped is arranged far from the first axle.It is described in present embodiment
Angle is formed between first connecting portion 326 and the second connecting portion 327, the angle is less than 90 degree.
Second runing rest 33 is rotationally connected between two cantilevers 323.Second runing rest 33 includes
Pedestal 331 and lid 335.Installing slot 337 is formed on the pedestal 331.The lid 335 is covered on the installing slot 337
Top.
Second actuator 34 is installed on a wherein cantilever 323 and connect with second runing rest 33, to
Second runing rest 33 is driven to rotate around second axis.In present embodiment, the first axle and the second axis
It is generally perpendicular to each other, the first axle is course (yaw) axis, and the second axis is pitching (pitch) axis.It is appreciated that
The first axle may be roll (roll) or pitching (pitch) axis, the second axis can for roll (roll) or
Course (yaw) axis.
First actuator 31 and second actuator 34 can be brushless motor, brush motor or other types
Motor.
The setting of first actuator 31 and first runing rest 32 is not limited to diagram of the present invention, for example, described
First actuator 31 can be set to the side of first runing rest 32.First actuator 31 can directly drive institute
The first runing rest 32 is stated, first runing rest 32 can also be driven using kinds of drive such as gear, belts.
Second actuator 34, which does not limit, to be set on first runing rest 32, also can be set in the bottom
On disk 110, second actuator 34 can directly drive second runing rest 33, can also be using gear, belt etc.
The kind of drive drives second runing rest 33.
The rocker arm 35 is substantially in long strip, is arranged in second runing rest 33.The rocker arm 35 is along its length
Direction forms through-hole 351.Described 35 one end of rocker arm is formed with mounting portion 353.In present embodiment, the mounting portion 353 is slot
Shape structure.
In present embodiment, the rocker arm 35 can adjustably be arranged in the installing slot 337 and be located at the lid 335
Lower section.The contact position of second runing rest 33 and the rocker arm 35 forms a contact site, adjusts the rocker arm
Length between 35 two ends and the contact site can effectively adjust the capture apparatus.
It is appreciated that the position of first actuator 31 may be disposed at the other positions of second support frame 115, such as
The side of second support frame 115, first runing rest 32, second runing rest 33 and second actuator
34 are respectively positioned on the side of second support frame 115.
It is appreciated that the mobile device 100 further includes rocker arm actuator, the rocker arm 35 can be relative to described second
Runing rest 33 is slided along the length direction of the rocker arm 35, and the rocker arm actuator is for driving the rocker arm 35 relative to institute
The sliding of the second runing rest 33 is stated, to automatically adjust distance of the filming apparatus 70 relative to second runing rest 33.
The clump weight 36 can releasably be installed on one end of the rocker arm 35 and be arranged far from the mounting portion 353.
The quantity of the clump weight 36 is provided as that multiple and weight is not identical, according to the filming apparatus installed on the mounting portion 353
Contact position between 70 weight and/or the rocker arm 35 and second runing rest 33 is adjusted.
It is appreciated that the mobile device 100 further includes clump weight actuator, the clump weight 36 is along the rocker arm 35
Slidably, the clump weight actuator is for driving the clump weight 36 to slide on the rocker arm 35, with automatic for length direction
Balance the filming apparatus.
It is appreciated that the rocker arm assembly 30 can be an axis rotational structure, that is, the rocker arm assembly 30 includes the first drive
Moving part 31, the first runing rest 32 and rocker arm 35, first actuator 31 are set on the mobile platform 10, and described first
Runing rest 32 is connect with first actuator 31, and first actuator 31 is for driving 32 turns of first runing rest
Dynamic, the rocker arm 35 is installed on first runing rest 32.For another example the rocker arm assembly 30 further includes third rotation branch
Frame and third actuator, the third actuator are installed on second runing rest 33, the third runing rest and institute
The connection of third actuator is stated, to rotate under the driving of the third actuator around roll (roll) axis.The rocker arm assembly 30
It can also be designed to the multiaxises structures such as four axis, five axis as needed.
It is appreciated that the runing rest is not limited to the first runing rest 32 and the second rotation branch in present embodiment
Frame 33, the rocker arm assembly 30 include runing rest, actuator and rocker arm 35, and the runing rest is arranged and the mobile platform
On 10, for driving the runing rest to rotate, the rocker arm 35 is installed on the runing rest actuator, described to shake
Arm 35 is for carrying the filming apparatus 70.
The power battery 50 is set on the mobile platform, provides electricity for the propulsion device to the mobile platform
Energy.Specifically, power battery 50 is set to the approximate mid-section position of first support frame 113 and is located at second support frame
115 lower section, for providing electric energy for wheel actuator 140, the first actuator 31 and the second actuator 34.Present embodiment
In, mobile device 100 is equipped with the power battery of two pieces of 5700mAh electricity, to be capable of providing continuation of the journey work in two hours.
The movement of the mobile device 100 can be by remote control control, can also be with autonomous control.
The carrier arrangement includes increasing steady component 80.It is described to increase steady component 80 and be used to support the filming apparatus 70 and for institute
The shooting for stating filming apparatus 70, which provides, increases steady function.In present embodiment, the steady component 80 of increasing includes installation part 81, cushion socket
83 and holder 85.The two side walls that the mounting portion 353 and the mounting portion 353 are protruded into one end of the installation part 81 are fixed
Connection.The other end of the installation part 81 is fixedly connected with the cushion socket 83.Shock-absorbing ball is provided on the cushion socket 83
831, the shock-absorbing ball 831 is rubber shock-absorbing ball, the shock-absorbing ball 831 be set to the cushion socket 83 and the holder 85 it
Between, can be effectively less or eliminate influence of the low-frequency vibration to the filming apparatus 70.The holder 85 can compensate for described
The offset in target/direction caused by filming apparatus 70 vibrates in a rotational direction and/or the holder 85 can be according to controls
Instruction adjusts the acquisition parameters such as posture, the direction of the filming apparatus 70.In present embodiment, the holder 85 is three axis clouds
Platform, the holder 85 can be around filming apparatus described in course (Yaw) axis, roll (Roll) axis and pitching (Pitch) axial adjustment
70, it will be understood that in other embodiments, the holder 85 may be twin shaft holder or uniaxial holder.
The filming apparatus 70 can have the electronics of image shooting-recording function for camera, video camera, mobile phone, tablet computer etc.
Product, in present embodiment, the filming apparatus 70 is video camera.
Mobile device 100 provided by the invention and capture apparatus 300, due to increase be provided with can be around course (Yaw) axis
And the rocker arm 35 around the rotation of pitching (Pitch) axis, and then scope of activities is increased, and high angle and hanging bat can be readily accomplished
It takes the photograph.Further, the length that contact site is arrived by adjusting the rocker arm 35, being capable of flexible modulation scope of activities.Two axle movement
Rocker arm 35 and three-axis moving holder 85, be capable of providing filming apparatus 70 5 freedom degrees movement, facilitate adjustment shooting dress
Set 70 work.
It is understood that those skilled in the art can also do other variations etc. used in of the invention in spirit of that invention
Design, without departing from technical effect of the invention.These variations that spirit is done according to the present invention, should all be included in
Within scope of the present invention.
Claims (44)
1. a kind of mobile device comprising mobile platform, it is characterised in that: the mobile device further include be movably arranged on it is described
Rocker arm assembly on mobile platform, the rocker arm assembly include runing rest, actuator and rocker arm, and the runing rest is set to
On the mobile platform, for the actuator for driving the runing rest to rotate, the rocker arm is installed in the runing rest
On, the rocker arm is for carrying filming apparatus；
Wherein, the runing rest includes the first runing rest and the second runing rest, and first runing rest is set to institute
It states on mobile platform, second runing rest is rotationally connected with first runing rest, and the rocker arm passes through described second
Runing rest is connect with first runing rest.
2. mobile device as described in claim 1, it is characterised in that: the actuator include the first actuator, described first
Actuator is installed on the mobile platform, and first runing rest is connect with first actuator, first driving
For part for driving first runing rest to rotate, first actuator drives first runing rest to turn around first axle
It is dynamic.
3. mobile device as claimed in claim 2, it is characterised in that: first runing rest is in the shape of the letter V, the V-shaped
Tip be arranged far from the first axle.
4. mobile device as claimed in claim 2, it is characterised in that: first runing rest includes attachment base and cantilever,
The attachment base is connected between first actuator and the cantilever.
5. mobile device as claimed in claim 4, it is characterised in that: the cantilever includes first connecting portion and the second connection
The one end in portion, the first connecting portion is connect by the attachment base with the mobile platform, one end of the second connecting portion
It is connect with the first connecting portion far from the other end of the attachment base, is located at the other end of the second connecting portion described
The top position of first actuator.
6. mobile device as claimed in claim 5, it is characterised in that: between the first connecting portion and the second connecting portion
Angle is formed, the angle is less than 90 degree.
7. mobile device as claimed in claim 4, it is characterised in that: the quantity of the cantilever is two, two cantilevers and institute
Attachment base is stated to connect and be set in distance.
8. mobile device as described in claim 1, it is characterised in that: the rocker arm can adjustably be arranged in second rotation
Turn bracket.
9. mobile device as claimed in claim 8, it is characterised in that: second runing rest includes pedestal and lid, institute
It states and forms installing slot on pedestal, the cover cap is set to the top of the installing slot, and the rocker arm is arranged in the installing slot simultaneously
Positioned at the lower section of the lid；
And/or the mobile device further includes rocker arm actuator, the rocker arm can be relative to second runing rest along institute
The length direction sliding of rocker arm is stated, the rocker arm actuator is for driving the rocker arm sliding relative to second runing rest
It is dynamic, to automatically adjust distance of the filming apparatus relative to second runing rest.
10. mobile device as described in claim 1, it is characterised in that: the rocker arm assembly further includes being installed in the rocker arm
The clump weight of one end, to balance the filming apparatus.
11. mobile device as claimed in claim 10, it is characterised in that: the mobile device further includes clump weight actuator,
The clump weight along the rocker arm length direction slidably, the clump weight actuator is for driving the clump weight described
It is slided on rocker arm, with filming apparatus described in autobalance.
12. mobile device as described in claim 1, it is characterised in that: the mobile platform includes that chassis and the chassis turn
Multiple wheels of dynamic connection, the suspension being arranged corresponding to the multiple wheel, each suspension are set to a wheel and the chassis
Between.
13. mobile device as claimed in claim 12, it is characterised in that: the wheel includes wheel hub, and each suspension includes energy
The bracket enough deformed and the bolster being arranged on the bracket, the bracket be connected to the wheel hub and the chassis it
Between.
14. mobile device as claimed in claim 13, it is characterised in that: the bolster includes damper and is sheathed on institute
The helical spring on damper is stated, the damper is installed on the bracket, and the both ends of the helical spring are held in respectively
The both ends of the damper.
15. mobile device as claimed in claim 14, it is characterised in that: the damper is rod-shaped to stretch comprising mutually
The Multi section bar of socket, between the Multi section bar can opposite sliding, to change the overall length of the damper.
16. mobile device as claimed in claim 13, it is characterised in that: the bolster is damping piece.
17. mobile device as claimed in claim 16, it is characterised in that: the damping piece is liquid damper, air-pressure damping
One of device, magnetic resistance damper.
18. mobile device as claimed in claim 12, it is characterised in that: the mobile platform further includes being set on the chassis
Wheel actuator, the wheel actuator connect with the multiple wheel for driving the wheel.
19. mobile device as claimed in claim 18, it is characterised in that: the quantity of the wheel actuator corresponds to the wheel
Quantity, drive each wheel with independent.
20. a kind of capture apparatus comprising mobile device and be mounted in the mobile device, the load for carrying filming apparatus
Body device, the mobile device include mobile platform, it is characterised in that: the mobile device further includes being movably arranged on the shifting
Rocker arm assembly on moving platform, the rocker arm assembly include runing rest, actuator and rocker arm, and the runing rest is set to institute
It states on mobile platform, for driving the runing rest to rotate, the rocker arm is installed on the runing rest actuator,
The filming apparatus is equipped on the rocker arm；
Wherein, the runing rest includes the first runing rest and the second runing rest, and first runing rest is set to institute
It states on mobile platform, second runing rest is rotationally connected with first runing rest, and the rocker arm passes through described second
Runing rest is connect with first runing rest.
21. capture apparatus as claimed in claim 20, it is characterised in that: the actuator includes the first actuator, and described the
One actuator is installed on the mobile platform, and first runing rest is connect with first actuator, and described first drives
For moving part for driving first runing rest to rotate, first actuator drives first runing rest around first axle
Rotation.
22. capture apparatus as claimed in claim 21, it is characterised in that: first runing rest is in the shape of the letter V, the V word
The tip of shape is arranged far from the first axle.
23. capture apparatus as claimed in claim 21, it is characterised in that: first runing rest includes attachment base and hangs
Arm, the attachment base are connected between first actuator and the cantilever.
24. capture apparatus as claimed in claim 23, it is characterised in that: the cantilever includes first connecting portion and the second connection
The one end in portion, the first connecting portion is connect by the attachment base with the mobile platform, one end of the second connecting portion
It is connect with the first connecting portion far from the other end of the attachment base, is located at the other end of the second connecting portion described
The top position of first actuator.
25. capture apparatus as claimed in claim 24, it is characterised in that: the first connecting portion and the second connecting portion it
Between form angle, the angle is less than 90 degree.
26. capture apparatus as claimed in claim 23, it is characterised in that: the quantity of the cantilever is two, two cantilevers with
The attachment base is connected and is set in distance.
27. capture apparatus as claimed in claim 20, it is characterised in that: the rocker arm can adjustably be arranged in described second
Runing rest.
28. capture apparatus as claimed in claim 27, it is characterised in that: second runing rest includes pedestal and lid,
Installing slot is formed on the pedestal, the cover cap is set to the top of the installing slot, and the rocker arm is arranged in the installing slot
And it is located at the lower section of the lid；
And/or the mobile device further includes rocker arm actuator, the rocker arm can be relative to second runing rest along institute
The length direction sliding of rocker arm is stated, the rocker arm actuator is for driving the rocker arm sliding relative to second runing rest
It is dynamic, to automatically adjust distance of the filming apparatus relative to second runing rest.
29. capture apparatus as claimed in claim 20, it is characterised in that: the rocker arm assembly further includes being installed in the rocker arm
The clump weight of one end, to balance the filming apparatus.
30. capture apparatus as claimed in claim 29, it is characterised in that: the mobile device further includes clump weight actuator,
The clump weight along the rocker arm length direction slidably, the clump weight actuator is for driving the clump weight described
It is slided on rocker arm, with filming apparatus described in autobalance.
31. capture apparatus as claimed in claim 20, it is characterised in that: the mobile platform includes chassis and the chassis
Multiple wheels of rotation connection, the suspension being arranged corresponding to the multiple wheel, each suspension are set to a wheel and the bottom
Between disk.
32. capture apparatus as claimed in claim 31, it is characterised in that: the wheel includes wheel hub, and each suspension includes energy
The bracket enough deformed and the bolster being arranged on the bracket, the bracket be connected to the wheel hub and the chassis it
Between.
33. capture apparatus as claimed in claim 32, it is characterised in that: the bolster includes damper and is sheathed on institute
The helical spring on damper is stated, the damper is installed on the bracket, and the both ends of the helical spring are held in respectively
The both ends of the damper.
34. capture apparatus as claimed in claim 33, it is characterised in that: the damper is rod-shaped to stretch comprising mutually
The Multi section bar of socket, between the Multi section bar can opposite sliding, to change the overall length of the damper.
35. capture apparatus as claimed in claim 33, it is characterised in that: the bolster is damping piece.
36. capture apparatus as claimed in claim 35, it is characterised in that: the damping piece is liquid damper, air-pressure damping
One of device, magnetic resistance damper.
37. capture apparatus as claimed in claim 31, it is characterised in that: the mobile platform further includes being set on the chassis
Wheel actuator, the wheel actuator connect with the multiple wheel for driving the wheel.
38. capture apparatus as claimed in claim 37, it is characterised in that: the quantity of the wheel actuator corresponds to the wheel
Quantity, drive each wheel with independent.
39. capture apparatus as claimed in claim 20, it is characterised in that: the carrier arrangement includes increasing steady component, the increasing
Steady component is installed in one end of the rocker arm, and the filming apparatus is installed on described increase on steady component.
40. capture apparatus as claimed in claim 39, it is characterised in that: it is described that increase steady component include cushion socket and holder,
The cushion socket is connected between the holder and the rocker arm, and the filming apparatus is installed on the holder.
41. capture apparatus as claimed in claim 40, it is characterised in that: be provided with shock-absorbing ball on the cushion socket.
42. capture apparatus as claimed in claim 41, it is characterised in that: the shock-absorbing ball is rubber shock-absorbing ball.
43. capture apparatus as claimed in claim 42, it is characterised in that: the shock-absorbing ball be set to the cushion socket with it is described
Between holder；
And/or the holder is three axis holders.
44. capture apparatus as claimed in claim 20, it is characterised in that: the mobile device further includes power battery, described
Power battery is set on the mobile platform.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092073 WO2018018504A1 (en) | 2016-07-28 | 2016-07-28 | Mobile device and photographic apparatus having mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107110422A CN107110422A (en) | 2017-08-29 |
| CN107110422B true CN107110422B (en) | 2019-03-08 |
Family
ID=59676411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004524.5A Expired - Fee Related CN107110422B (en) | 2016-07-28 | 2016-07-28 | Mobile device and the capture apparatus for having the mobile device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107110422B (en) |
| WO (1) | WO2018018504A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557744B (en) * | 2018-02-09 | 2021-02-23 | 林子华 | Tripod head camera |
| CN108502040B (en) * | 2018-05-30 | 2023-09-08 | 深圳市优必选科技有限公司 | Robot and chassis and suspension system thereof |
| CN110035220B (en) * | 2018-09-11 | 2020-11-20 | 真善美创新科技有限公司 | Device control system and method for photography |
| CN109048843B (en) * | 2018-09-14 | 2024-03-29 | 昆明理工大学 | Ball picking robot |
| WO2020124593A1 (en) * | 2018-12-21 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Suspension mechanism, lifting and lowering device and vehicle |
| CN110155357B (en) * | 2019-04-19 | 2022-09-20 | 同济大学 | Self-balancing ground monitoring system |
| CN110228548A (en) * | 2019-06-21 | 2019-09-13 | 上海灵至科技有限公司 | A kind of robot with doube bridge suspension |
| CN115012623A (en) * | 2021-03-04 | 2022-09-06 | 广东博智林机器人有限公司 | Panel is spread and is pasted equipment |
| CN114263820B (en) * | 2021-12-31 | 2023-07-25 | 沈阳体育学院 | Live broadcast camera shooting mobile shooting mechanism for martial arts games |
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| WO2008107923A1 (en) * | 2007-03-05 | 2008-09-12 | Underbridge, S.R.L. | Crane mounted arm for carrying camera to inspect underside of bridges |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107110422A (en) | 2017-08-29 |
| WO2018018504A1 (en) | 2018-02-01 |
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