CN108259735A - Hand-held holder with three spindle balance assembling structures - Google Patents

Abstract

The present invention relates to camera technology fields, disclose a kind of hand-held holder with three spindle balance assembling structures.The steady of filming apparatus can more effectively be kept.In the present invention, including：Rotatable handles mechanism and pedestal, rotatable handles mechanism includes rotatable handles mechanism shell and the horizontal motor being arranged in inside rotatable handles mechanism shell, rotation axis is fixed at the top of horizontal motor, roll motor is fixed at the top of rotation axis, base interior is equipped with pitching motor and rotating mechanism, and rotating mechanism includes the orthogonal first transmission ring gear of two axis and the second transmission ring gear；Roll motor is engaged by gear and is connect with the first transmission ring gear；Pitching motor is engaged by gear and is connect with the second transmission ring gear；The top of rotation axis is rotatably attached simultaneously with rotating mechanism.

Description

Handheld cloud platform with balanced assembly structure of triaxial

Technical Field

The invention relates to the technical field of camera shooting, in particular to a handheld holder technology.

Background

With the increasing abundance of digital products, portable digital products such as smart phones are beginning to be widely used for photographing and taking pictures. Generally, a user uses a handheld smart phone to shoot, but the hand is easy to shake, which causes image blurring, and especially when shooting a night scene, the user needs a longer exposure time, and the image blurring can be caused by slight shaking. The problem of jitter is particularly acute if it is on a moving vehicle, such as a car or train.

In order to enable a user to more conveniently use a photographing device such as a smartphone to photograph, for example, at a position at a certain height or distance relative to a self-timer, photographing is performed, and shaking is avoided, a self-timer stick has appeared.

From rapping bar mainly by forming from rapping bar, fixed bolster, bluetooth remote control self-timer or bottom button, the fixed bolster can press from both sides cell-phone, camera, panel computer even, and the telescopic link of freely adjusting has brought wider shooting angle, can control the operation through the bluetooth button of pole bottom.

However, there are some disadvantages to the selfie stick that need to be solved. For example, a selfie stick cannot be stabilized well, and when an operator moves or shakes his/her hands, the photographing effect is often affected.

Therefore, a better carrying device is urgently needed in the market, so that the stability of a shooting device such as a smart phone is effectively kept, the influence caused by shaking hands of an operator is reduced, and the shooting effect is ensured.

Disclosure of Invention

The invention aims to provide a handheld cloud deck with a three-axis balance assembly structure, which can effectively keep a shooting device stable.

In order to solve the above technical problem, an embodiment of the present invention discloses a handheld pan/tilt with a three-axis balance assembly structure, including:

a rotatable handle mechanism and a base seat,

the rotatable handle mechanism comprises a rotatable handle mechanism shell and a horizontal motor arranged in the rotatable handle mechanism shell, a rotating shaft is fixed at the top of the horizontal motor, a rolling motor is fixed at the top of the rotating shaft,

a pitching motor and a rotating mechanism are arranged in the base, and the rotating mechanism comprises a first transmission gear ring and a second transmission gear ring, the axes of which are mutually vertical;

the roll motor is connected with the first transmission gear ring through gear engagement;

the pitching motor is connected with the second transmission gear ring through gear engagement;

the top of the rotating shaft is rotatably connected with the rotating mechanism.

In another preferred embodiment, the first and second drive rings are sector rings.

In a further preferred embodiment, the first gear ring has a sector center angle of between 120 and 150 degrees and the second gear ring has a sector center angle of between 30 and 60 degrees.

In another preferred embodiment, the roll motor and the horizontal motor have a predetermined installation angle therebetween, and the installation angle is between 10 degrees and 25 degrees.

In another preferred embodiment, the top of the rotating shaft is a head having a cavity, the roll motor is fixed inside the cavity, and the head is rotatably connected with the rotating mechanism.

In another preferred example, the shafts of the roll motor and the pitch motor are provided with transmission pinions;

the roll motor realizes gear engagement with the first transmission gear ring through the transmission pinion;

the pitching motor realizes gear meshing with the second transmission gear ring through the transmission pinion.

In another preferred embodiment, the device further comprises a position adjusting mechanism arranged on the upper surface of the base, and the position adjusting mechanism is used for fixing the shooting device and adjusting the relative position of the shooting device and the base.

In another preferred embodiment, the device further comprises a weight device which is arranged below the rotatable handle mechanism and is connected with the base through a connecting rod, and the weight device is used for adjusting the gravity center of the base.

In another preferred embodiment, the method further comprises the following steps:

the inertial measurement unit is used for measuring the three-axis attitude angle and the acceleration;

and the control circuit is electrically connected with the inertia measuring unit, generates three control electric signals according to the three-axis attitude angle and the acceleration output by the inertia measuring unit, and respectively outputs the three control electric signals to the horizontal motor, the roll motor and the pitch motor.

In another preferred example, the inertial measurement unit includes a gyroscope and an accelerometer.

Compared with the prior art, the embodiment of the invention has at least the following differences and effects:

the angular adjustment can be effectively performed by three motors in three mutually perpendicular directions so as to achieve three-axis balance. The horizontal direction can be rotatory with arbitrary angle, can set up the angle of fan-shaped transmission ring gear as required in other two directions to with rotatable angle control within certain scope, reduce the risk of falling of equipment such as cell-phone on the cloud platform.

The invention can effectively keep the shooting device stable, avoid the influence of operator movement or hand trembling on the shooting quality, improve the shooting quality and have very wide application prospect.

It is understood that within the scope of the present invention, the above-described technical features of the present invention and the technical features specifically described below (e.g., embodiments and examples) may be combined with each other to constitute new or preferred technical solutions. Not to be reiterated herein, but to the extent of space.

Drawings

Fig. 1 is a schematic structural view of a handheld pan/tilt head according to a first embodiment of the present invention;

fig. 2 is a perspective view of a handheld pan and tilt head in a first embodiment of the present invention;

FIG. 3 is a schematic diagram of a rotatable handle mechanism 200 in one embodiment of the present invention;

FIGS. 4 and 5 are schematic views of the head of the rotating shaft mechanism in different directions according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a rotating shaft mechanism in one embodiment of the present invention;

FIG. 7 is an exploded view of the assembly of the horizontal motor and shaft securing mechanism in one embodiment of the invention;

FIG. 8 is a schematic structural diagram of a base in one embodiment of the present invention;

fig. 9A is an assembly view of the motor bracket 1121 and the tilt motor 115 of the embodiment shown in fig. 8;

fig. 9B is a schematic structural view of the rotating mechanism 113 in the embodiment shown in fig. 8;

fig. 10 is a schematic view of the assembly of the rotating mechanism 113 with the rotatable handle mechanism 200 and the tilt motor 115 of the embodiment shown in fig. 8.

FIG. 11 is a schematic structural view of a position adjustment mechanism 300 in one embodiment of the present invention;

FIG. 12 is a schematic diagram of the structure of the fixing table 315 in the embodiment shown in FIG. 11;

fig. 13 is a schematic view showing the embodiment of fig. 11 in which the clip 318 is fitted to the device holding plate 316;

FIG. 14 is a schematic structural view of the coupling mechanism 400 shown in FIG. 1;

fig. 15 is an exploded view of the rotating shaft mechanism 413 in one embodiment of the present invention;

FIG. 16 is a schematic view of a storage state of the handheld tripod head according to an embodiment of the present invention;

fig. 17 is an exploded view of a counterweight 500 in an embodiment of the invention;

fig. 18 is a schematic diagram of an assembly relationship between a weight adjusting mechanism and a weight in the counterweight according to an embodiment of the present invention.

The following are the main reference numerals referred to in the drawings of the invention:

100 base

200 rotatable handle mechanism (abbreviated as 'handle')

300 position adjusting mechanism

400 connecting mechanism

500 weight device

201 handle casing

211 rotating shaft

212 head

213 opening

214 tablet

2120 head-defined cavity

2121-2124 wall surface of head

215 transverse rolling motor

216 drive pinion

217 hole

218 fixing reinforcement

219 cylindrical bearing

221 shim

222 electric machine cover

223 horizontal motor

224 axle fixing structure

2241 shaft sleeve

2242 fastening screw bolt

2243 nut

111 support surface

112 cradle head shell

1121 small motor support

11211 connecting hole

11212 storage frame

11213 expansion bracket

113 rotating mechanism

1131 first drive ring gear

1132 second drive ring gear

11331134 Gear support bracket

1135 expanding wall

1136 axle hole

114 power supply system

115 pitching motor

311 knob groove

312 track

313 fixed baffle

314 length readable area

315 fixed station

3151 base

3152 connecting bumps

3153 fixing hole

3154 the inclined boss

316 device holding plate

318 clip

3181 hook part

3182 supporting part

319 spring connecting piece

3191 connecting rod

3192 spring

321 card slot

322 knob

411 connecting rod

4111 second connecting rod

4112 first connecting rod

402 upper connecting sheet

401 intermediate connecting sheet

403 lower connecting sheet

412 stabilizer

413 rotating shaft mechanism

4131 connectable assembly

41311 elastic member

41312 Ring with dimples

41313 Ring with protrusions

511 weight of steelyard

512 counterweight shell

5121 bearing shell

5122 coating case

51221 an upper fixing groove

51222 lower fixing plate

51223 Rail

5131 adjusting knob

5132 adjusting rod

5133 regulating block

Detailed Description

In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the following embodiments, the overall structure of the entire handheld tripod head is described first, and then each component is described separately.

Integral structure

Fig. 1 to 2 are schematic structural views of a handheld pan/tilt head according to a first embodiment of the present invention. As shown in FIGS. 1-2,

the handheld cloud platform comprises a base 100, a rotatable handle mechanism 200, a position adjusting mechanism 300, a connecting mechanism 400 and a counterweight device 500; wherein,

the rotatable handle mechanism 200 includes a handle housing 201 and a rotating shaft 211 (shown in fig. 3) partially inserted into the handle housing 201, and the rotatable handle mechanism 200 is located below the base 100 and supports the base 100 by the rotating shaft 211; as shown in fig. 8, the base 100 includes a support surface 111, a pan/tilt head housing 112, and circuitry disposed inside the pan/tilt head housing 112; a position adjusting mechanism 300 is arranged on the support surface 111 for fixing the photographing device and adjusting the relative position of the photographing device and the support surface 111; the weight 500 is disposed below the rotatable handle mechanism 200 and connected to the base 100 by the connection mechanism 400, and the weight 500 is used to adjust the center of gravity of the base 100.

The weight device 500 is arranged below the rotatable handle mechanism 200 and is connected with the base 100 through the connecting mechanism 400, the gravity center of the whole handheld cloud platform can be greatly reduced, the handheld cloud platform is more stable, the gravity center of the whole handheld cloud platform can be further finely adjusted through the weight device and the position adjusting mechanism, and the moment and the power consumption of the automatic balance motor servo system in a balance state are reduced.

The components of the handheld tripod head according to the present invention will be further described with reference to the accompanying drawings. The components are illustrated in order from the proximal side to the distal side at a distance from the hand, and the details of the rotatable handle mechanism 200, the base 100, the position adjustment mechanism 300, the connection mechanism 400, and the weight device 500 are illustrated. The details of the important sub-components will be set forth in the description of the main components to which they pertain.

Rotatable handle mechanism 200

FIG. 3 is a schematic diagram of a rotatable handle mechanism 200 in one embodiment of the present invention. As shown in fig. 3, the rotatable handle mechanism 200 includes a handle housing 201, a motor disposed in the handle housing 201, and a rotation shaft mechanism partially inserted into the handle housing 201, and as shown in fig. 2, the rotatable handle mechanism 200 is installed below the base 100, and is connected to the base 100 through the rotation shaft mechanism. The components of the rotatable handle mechanism are described further below.

As shown in fig. 3, the turning shaft mechanism includes: a rotating shaft 212, a pressing sheet 214, a head 211 with a cavity, a roll motor 215 arranged in the cavity, and a transmission pinion 216 sleeved on an output shaft of the roll motor 215. The rotation shaft 212 is partially inserted and fixed inside the handle case 201, the head 211 has a hollow cavity to accommodate the roll motor 215, and the head 211 further has a fitting hole 217 through which the fitting hole 217 penetrates for further fastening fitting.

Fig. 4 and 5 are schematic structural views of the head portion of the turning shaft mechanism in one embodiment of the invention. Specifically, the head 211 is provided at one end of the rotating shaft 212. The head 211 is approximately a rectangular body having two pairs of generally parallel walls 2121 and 2123, and walls 2122 and 2124, the walls 2121-2124 defining a head cavity for housing the roll motor, the head cavity being approximately a cylindrical body. The wall surfaces 2121-2124 are all provided with preset thicknesses, and the wall surfaces 2121 and 2123 are provided with symmetrical circular through holes, namely the axes of the two circular through holes coincide, and the circular through holes are used for further assembly. The pressing piece 214 is provided on a wall surface perpendicular to one of the pair of parallel wall surfaces, and in the present embodiment, the pressing piece 214 is fitted into the wall surface 2122, the wall surface 2122 has an opening corresponding to the shape of the pressing piece 214 for placing the pressing piece 214 thereon, and the pressing piece 214 is attached to the opening and fixed to the wall surface 2122 by a fixing screw in order to fix the pressing piece 214, and the pressing piece 214 corresponds to an inlet and an outlet of the mounting and dismounting roll motor 215.

Fig. 6 is a schematic structural view of a rotating shaft mechanism in one embodiment of the present invention. Fig. 6 includes, in addition to the components of the turning shaft mechanism shown in fig. 3 to 5, a connecting member for connecting the handle housing 201 and the turning shaft mechanism, and a motor system 220 connected to the turning shaft and disposed inside the handle housing. Specifically, the connector includes a fixing reinforcement 218 and a cylindrical bearing 219, wherein the cylindrical bearing 219 is sleeved on the rotating shaft 211, the fixing reinforcement 218 is respectively clamped at both ends of the cylindrical bearing 219, and the fixing reinforcement 218 is used for determining and fixing the position of the cylindrical bearing 219. The cylindrical bearing 219 has a plurality of layers of regular protrusions, and the handle case 201 is provided with a plurality of layers of grooves having the same shape as the protrusions, so that the handle case is engaged with the protrusions of the cylindrical bearing through the plurality of layers of grooves, thereby enclosing part of the rotating shaft mechanism inside the handle case 201.

As shown in fig. 6, the motor system 220 includes a motor cover 222, a horizontal motor 223, and a shaft fixing mechanism 224. The motor cover 222 is used for connecting the rotating shaft 211 and the horizontal motor 223, and further transmits mechanical energy generated by the horizontal motor 223 to the rotating shaft 211 mechanism, so that the tail part of the horizontal motor 223 is partially sleeved in the motor cover 222. Specifically, the motor cover 222 is approximately a stepped cylindrical member having a small cylinder with an inner diameter D1 and a large cylinder with an inner diameter D2, and the small cylinder and the large cylinder are coaxial, and the small cylinder and the large cylinder may be integrally molded; wherein, the tail of the horizontal motor 223 is sleeved into the large cylinder and can be in interference fit, the rotating shaft 211 is sleeved into the small cylinder and a gasket 221 is further arranged between the upper surface of the small cylinder and the cylindrical bearing 219 for reducing the vibration between the rotating shaft 211 and the horizontal motor 223. The horizontal motor 223 is disposed at the bottom of the rotation shaft 211 to control the rotation of the base 100 in the horizontal direction.

Fig. 7 is an exploded view of the assembly of a horizontal motor and shaft fixing mechanism in one embodiment of the invention. As shown in fig. 7, the shaft fixing mechanism includes: a shaft sleeve 2241, a fastening stud 2242 and a nut 2243; the first part of the fastening stud 2242 is in a circular truncated cone shape and does not have a threaded area, and is used for being sleeved in the shaft sleeve 2241, and the second part of the fastening stud 2242 is a stud with threads and is used for being connected with the nut 2243. The shaft of the horizontal motor 223 is connected with the shaft sleeve 2241 by being sleeved on the first part of the fastening stud 2242, and the shaft of the horizontal motor 223 is covered by the nut 2243, so that the shaft of the horizontal motor 223 is prevented from being damaged.

Base 100

As shown in fig. 1, the overall structure of the handheld tripod head is such that the base 100 is located above a rotatable handle mechanism 200 (simply "handle") which is used to support the base 100 and which can be rotated through an angle >360 degrees around the base 100. The base 100 is used to support the photographing apparatus and change the photographing angle of the photographing apparatus by the angle of the pan/tilt head in the horizontal, left/right, front/rear directions.

Fig. 8 is a schematic structural diagram of a base in an embodiment of the invention. The base 100 includes a support surface 111, a pan-tilt housing 112, and a rotation mechanism 113, a pitch motor 115, and a power supply system 114 installed in the pan-tilt housing 112. As shown, the rotating mechanism 113 and the power system 114 are fixed on the supporting surface 111 and face the pan/tilt head housing 112, the pan/tilt head housing 112 is further provided with a cylindrical cavity 1121 for covering the head 212 of the rotatable handle mechanism 200 and the roll motor 215 disposed on the head 212, and the tilt motor 115 and the rotating mechanism 113 are engaged with each other to control the rotating angle of the supporting surface 111 in the tilt direction, and the specific engaging relationship is described below.

The tilt motor 115 is fixed inside the pan/tilt head housing 112 by a motor bracket 1121. Fig. 9A is an assembly view of the motor bracket 1121 and the tilt motor 115 of the embodiment shown in fig. 8. As shown in fig. 9A, the motor bracket 1121 includes a connecting hole 11211, a storage frame 11212, and an expansion bracket 11213. The fixing strip (such as a screw or a screw) passes through the connecting hole and is meshed with the jack on the inner surface of the holder shell so as to fix the motor bracket. The storage frame is cylindrical and has a volume slightly larger than the pitch motor 115, and the pitch motor 115 is placed in the storage frame 11212. In a preferred embodiment, the axis of the connecting hole 11211 and the axis of the placement frame 11212 are designed to be perpendicular to each other.

The rotating mechanism 113 includes a gear ring set, a gear fixing member and a pitch motor connecting member. Fig. 9B is a schematic structural view of the rotating mechanism 113 in the embodiment shown in fig. 8. Specifically, the set of drive rings includes a first drive ring 1131 and a second drive ring 1132 having axes arranged perpendicular to each other. The shaft of the pitching motor 115 is further sleeved with a transmission pinion which can be meshed with the first transmission gear ring 1131, and the axis of the pitching motor 115 and the axis of the first transmission gear ring 1131 are parallel to each other during installation, and the transmission direction of the force is changed by the meshing of the transmission pinion and the gear ring 1131.

Further, the first driving gear ring 1131 is fixedly disposed on a gear holder, as shown in fig. 9B, which includes gear holders 1133 and 1134, and an expansion bracket 1135, wherein the expansion bracket 1135 is an approximately rectangular frame, and the four wall surfaces of the frame are provided with shaft holes 1136, the shaft holes 1136 are used for connecting a rotatable shaft to the head 212, specifically, the rotatable shaft can hold a part of the four wall surfaces 2121 to 2124 of the head 212 through the shaft holes 1136, the gear holder 1133 is provided with a groove for assembling the first driving gear ring 1131, the gear holder 1134 is also provided with a groove for assembling the second driving gear ring 1132, and the base surfaces of the gear holders 1133 and 1134 are perpendicular to each other. First drive ring 1131 and second drive ring 1132 are fixed to the gear mount and can rotate with the gear mount. Wherein the end face of the second transmission ring 1132 and the end face of the first transmission ring 1131 are also arranged perpendicular to each other.

Fig. 10 is a schematic view of the assembly of the rotating mechanism 113 with the rotatable handle mechanism 200 and the tilt motor 115 of the embodiment shown in fig. 8.

The rotation mechanism 113 is held against the head 212 by a rotatable shaft to be fixed to the rotatable handle mechanism 200, and the roll motor 215 disposed in the cavity of the head 212 is engaged with the second transmission gear ring 1132 by a transmission pinion to allow the gear fixing member to rotate around the head 212 in the space defined by the expansion bracket 1135; in addition, the rotation mechanism 113 is engaged with a drive pinion on the shaft of the tilt motor 215 through the first drive ring 1131, so that the tilt motor 215 can transmit force to the rotation mechanism 113. Further, the motor bracket 1121 may be fixed to the support surface 111 using screws or fixing shafts through the connection holes 11211.

In a preferred embodiment, the first drive ring 1131 is sector shaped and may have a central angle of 135 degrees, and the second drive ring 1132 is also sector shaped and may have a central angle of 45 degrees. In other embodiments, the central angle of the first drive ring 1131 can be a value between 120 and 150 degrees, and the central angle of the second drive ring 1132 can be a value between 30 and 60 degrees. This has the advantage of allowing limited movement of the base 100 in both pitch and roll directions. In other examples, the first and second drive rings may be full gears or other angular sector rings.

The three-axis balance assembly structure composed of the rotating mechanism, the three motors and other related structures can effectively adjust the angles of the three motors in three mutually perpendicular directions so as to realize three-axis balance. The horizontal direction can be rotatory with arbitrary angle, can set up the angle of fan-shaped transmission ring gear as required in other two directions to with rotatable angle control within certain scope, reduce the risk of falling of equipment such as cell-phone on the cloud platform.

The power supply system 114 in the embodiment shown in fig. 8 may include: the spacer group and the power supply placing space, the power supply bearing surface and the pressing piece are limited by the spacer. The spacer group at least comprises a key spacer, a power supply head spacer and a power supply tail spacer. The power supply head spacer and the power supply tail spacer are arranged in parallel and define a power supply placing space, and the pressing member has a thickness larger than that of any one spacer of the spacer group and is arranged between the key spacer and the power supply head spacer for reducing concentrated stress externally applied to the power supply head spacer. The key group comprises a main key and an auxiliary key. The main key and the auxiliary key are used for conducting a power supply system so as to supply electric energy to a small motor of the rotating mechanism, the main key is designed to be assembled on the key spacer, when external force is applied to press the main key, the main key pushes the key spacer to extrude the pressing piece, and the thickness of the key spacer is far smaller than that of the pressing piece, so that the pressing piece can absorb concentrated stress applied to the pressing piece, then the pressing piece extrudes the power supply head spacer, and the power supply head spacer is connected with a power supply through the supporting action of the power supply tail spacer on the power supply so as to connect a circuit of the power supply system. Further, in order to encapsulate the power supply system inside the holder housing, the power supply system is coated with the power supply bearing surface. Specifically, the power supply bearing surface and the supporting surface of the base are arranged in parallel, the power supply bearing surface and the supporting surface are buckled with the holder shell through a buckle and form a detachable integrated structure with the holder shell, and the power supply system is placed on the power supply bearing surface. The auxiliary key is used for helping the main key to switch on the power supply system and is arranged on the same side as the main key.

As shown in fig. 8, the supporting surface 111 may be used for supporting the camera, and may be engaged with the cradle head housing 112 and form an integral appearance, i.e., a base, with the cradle head housing 112. The support surface 111 is shaped to have a streamlined rectangular surface. Specifically, a surface of the supporting surface 111 facing the pan/tilt head housing 112 is used for fixing the motor bracket 1121 and the power system 114 to each other, and the fixing manner may be screw connection or key slot engagement.

The base is also provided with a circuit system, and the circuit system comprises an Inertial Measurement Unit (IMU) and a control circuit. The IMU is used to measure the three-axis attitude angles (or angular rates) and accelerations of the object. Gyroscopes and accelerometers are the main components of an IMU. The control circuit sends control electric signals to the three motors (the horizontal motor, the roll motor and the pitch motor) according to the output of the IMU, so that the three motors output corresponding electric moments to keep the base in a state of horizontal balance and stable posture. When the hand holding the handle shell shakes, the control circuit sends control electric signals to the three motors according to the output of the IMU, and accordingly shake of the hand is compensated. The three-axis balancing algorithm on which the control circuit is based has been implemented in a number of ways known in the art and will not be described in detail here.

Position adjusting mechanism 300

The support surface 111 is provided with a position adjustment mechanism 300 for fixing the imaging device. Fig. 11 is a schematic structural view of a position adjustment mechanism 300 in an embodiment of the present invention.

Specifically, the position adjusting mechanism 300 includes a fixing base 315, a device holding plate 316, and a knob 322, and in order to fix the position adjusting mechanism 300 to the supporting surface 111, a knob slot 311, a fixing stop 313, and a rail 312 are provided at the rear of the supporting surface 111. As shown in fig. 11, the supporting surface 111 has an approximately rectangular outer surface, a knob groove 311 is provided at the rear of the supporting surface for fitting a knob 322, the knob groove is a groove with a rectangular cavity vertically protruding along the outer surface of the supporting surface, and is provided at the center of the rear of the supporting surface and is symmetrical with respect to the long symmetry axis of the supporting surface; two rails 312 are provided, which are respectively provided at positions close to and symmetrical with respect to the knob grooves, for fitting the fixing table 315 and defining a moving track of the fixing table 315, as shown in fig. 11, and fixing flaps 313 which are parallel to each other and symmetrical with respect to the knob grooves are further provided between the rails 312, the fixing flaps 313 being protruded upward perpendicular to the supporting surface 111 for further fitting with the fixing table 315, so that the bottom plate of the fixing table 315 is also provided with grooves having a shape conforming to the shape of the fixing flaps 313. In a preferred embodiment, the fixing stop piece 313 may be provided with a retaining plate that can be engaged into a groove of the bottom plate of the fixing table 315 to hook the bottom plate of the fixing table 315, thereby preventing the fixing table 315 from falling off the supporting surface 111.

Further, a length readable area 314 is provided on the area of the support surface between the fixed flaps 315 for reading the position of the device mounting structure and further adjusting the balance of the base according to the position.

Accordingly, the fixing table 315 can be fixed to the support surface 111 via the rail 312 and the fixing fence 313.

Further, fig. 12 is a schematic structural diagram of the fixing table 315 in the embodiment shown in fig. 11. The fixing table 315 comprises a base 3151, a fixing hole 3153, a connecting bump 3152 and an inclined boss 3154, wherein the base is approximately rectangular and has an inclined boss 3154 symmetrical with respect to the minor axis of the base in the middle, the inclined boss 3154 extends upward perpendicular to the upper surface of the base and the surface of the inclined boss 3154 is not parallel to the upper surface of the base 3151, further, the lower part of the inclined boss 3154 has a groove matched with the fixing stop piece 313 on the supporting surface 111 for forming a moving track of the device holding plate; fixing holes 3153 are respectively arranged at both ends of the base and are symmetrical about the minor axis of the base, the fixing holes 3153 are used for connecting the base 3151 and the device holding plate 316, and specifically, the fixing holes are hole pieces extending upwards perpendicular to the upper surface of the base; the connection protrusion 3152 is rectangular and has a central screw hole for cooperating with the knob 322 and the knob slot 311 at the end of the support surface.

As shown in fig. 11, a device holding plate 316 is mounted to the stationary table 315 perpendicularly to the supporting surface 111 for holding a photographing device such as a mobile phone or the like. The device holding plate 316 is a rectangular plate, and two sides of the lower end of the device holding plate are provided with shaft holes for matching with the fixing hole 3153 of the base 3151 to fix the relative positions of the device holding plate 316 and the fixing table 315. Further, the upper portion of the device supporting plate 316 is further connected with a clamping member 318, and the clamping member 318 includes a supporting portion 3182 and a hook portion 3181 disposed in the middle of the supporting portion 3182. The clamping member 318 is used for clamping the photographing device to be supported on the fixing table 315, and further supporting the photographing device by means of the device supporting plate 316.

Fig. 13 is a schematic view showing the embodiment of fig. 11 in which the clip 318 is fitted to the device holding plate 316. The clamping member 318 is connected to the device supporting plate 316 through a spring connecting member 319, wherein the spring connecting member is respectively embedded at the long side of the device supporting plate, in one embodiment, the spring connecting member comprises a connecting rod and a spring, the connecting rod can be connected at the two sides of the clamping member, so that the shooting device can be supported to the upper surface of the base of the fixing table by controlling the moving distance of the clamping member.

As shown in fig. 13, in use, one side of the photographing device is clamped on the hook portion 3181 by stretching the supporting portion 3182 of the clamping member 318, the spring connecting member 319 is elastically deformed, then the clamping member 318 is released, so that the photographing device is clamped on the upper surface of the inclined boss 3154 of the fixing table 315, and the photographing device can be abutted against the device abutting plate, and meanwhile, because the surface of the inclined boss 3154 is not parallel to the upper surface of the base, the photographing device is more favorably abutted against the fixing table and the device abutting plate.

Further, as shown in fig. 11, the outer surface of the supporting surface 111 is further provided with a locking groove 321, and the locking groove 321 and the hook portion 3181 of the locking member 318 have a matching shape, so that the hook portion 3181 can be matched with the locking groove 321. In this case, when the storage is required, the device holding plate 316 is rotated along the fitting axis between the fixing member and the connecting member by rotating the device holding plate 316, thereby storing the device holding plate 316 on the supporting surface 111, and fixing the device holding plate 316 by engaging the hook portion 3181 in the catch groove 321. Therefore, in the storage state, the device holding plate 316 is folded parallel to the supporting surface 111, and the engaging member 318 is engaged in the engaging groove 321; in use, when the photographing device is fixed on the fixing platform 315, the device holding plate 316 may be folded to form a predetermined angle (e.g. about 90 degrees) with the supporting surface 111, and the photographing device is held on the device holding plate 316 and is clamped between the clamping member 318 and the fixing platform 315.

Further, as shown in fig. 11, the supporting surface 111 includes a knob 322, and the knob 322 includes a cap and a lever that is snapped into the cap. The cap is a stepped cylindrical piece and is provided with an upper cylinder and a lower cylinder which are coaxial, the outer surface of the lower cylinder is provided with uniform teeth along the axial direction, the knob is convenient to rotate, and the cap is provided with a central cavity. The swing arm includes joint portion and screw thread portion, and joint portion is used for assembling the central cavity of cap, and screw thread portion is used for carrying out threaded connection with the internal thread in knob groove and the internal thread of the cylindrical cavity in middle part of connecting the lug. When the device is used, the cap is screwed to drive the rotating rod to rotate, and the rotating rod drives the fixing table to move along the track 312 of the supporting surface 111 through threaded connection, so that the position of the shooting device relative to the supporting surface 111 is changed, and the balance of the base 100 is further adjusted.

In use, as shown in the embodiment of fig. 11, after the camera is fixed to the position adjusting mechanism 300, the device holding plate 316 can rotate around the rotation axis towards the supporting surface 111 or away from the supporting surface 111, so as to change the angle of view of the camera, and the camera is fastened on the supporting surface 315 by matching with the fixing stand 315.

Further, in order to maintain the balance of the base, the front and rear positions of the fixing table 315 on the supporting surface 111 are controlled by rotating the knob 322, thereby changing the center of gravity of the base 100.

The position adjusting mechanism of the handheld cloud deck has the following advantages:

the shooting device can be firmly clamped in a use state; the clamping groove on the supporting surface can be clamped when the device is in a storage state, and the device abutting plate cannot be unfolded due to unexpected external force.

The front position and the rear position of the shooting device can be adjusted through the adjusting knob, so that the gravity center of the whole handheld holder is adjusted, and the triaxial balance of the handheld holder can be realized by using smaller electric moment.

Connection mechanism 400

As shown in fig. 1, a connection mechanism 400 is further provided at the rear portion of the base 100, and the connection mechanism 400 is used for connecting the weight device 500 and the base 100. In a preferred embodiment, the attachment mechanism 400 is arcuate and allows the counterweight 500 to be positioned directly below the rotatable handle mechanism 200.

Fig. 14 is a schematic structural view of the connection mechanism 400 shown in fig. 1. As shown in fig. 14, the connection mechanism 400 includes two connection rods 411 and a stabilizer 412 connecting the two connection rods 411, and the upper and lower ends of the connection rods 411 are respectively provided with an assembling mechanism for connecting the base 100 and the weight device 500. Each connecting rod 411 is arranged side by side and connected through a stabilizing member 412, and the stabilizing member 412 is arranged between the two connecting rods 411, so that the rigidity of the connecting mechanism is increased, and the connecting mechanism is not easy to break.

Further, the connection mechanism 400 further includes a rotation shaft mechanism 413. The rotating shaft mechanism 413 mainly enables the connecting rod 411 to rotate with respect to the stabilizer 412 to fold or unfold the connecting mechanism 400. There are various implementations of the rotating shaft mechanism 413, one preferred embodiment being shown in fig. 15.

Fig. 15 is an exploded view of the rotating shaft mechanism 413 in one embodiment of the present invention. As shown in fig. 15, the rotating shaft mechanism 413 divides the connecting rod 411 into a first connecting rod 4111 and a second connecting rod 4112, so that the connecting rods 4111 and 4112 can be relatively rotated by the rotating shaft mechanism 413.

As shown in fig. 15, the connecting rod 411 includes a first connecting rod 4111 and a second connecting rod 4112, wherein the first connecting rod 4111 has an intermediate connecting plate 401 at one end thereof, and the second connecting rod 4112 has an upper connecting plate 402 and a lower connecting plate 403 at one end thereof. The upper connecting piece 402, the middle connecting piece 401 and the lower connecting piece 403 may be sequentially journaled together by a rotating shaft 404. There are various ways of coupling, for example, screws may be used for coupling, rivets or other means may be used for coupling. The rotating shaft mechanism 413 includes a detent assembly 4131, and as shown, the detent assembly 4131 is disposed between the upper attachment piece 402 and the intermediate attachment piece 401, and between the intermediate attachment piece 401 and the lower attachment piece 403, respectively.

Specifically, the detent assembly 4131 includes two ring-shaped members and an elastic member; the elastic element makes one surfaces of the two ring-shaped elements closely matched with each other by elasticity; for two matched surfaces of the two ring-shaped pieces, one surface comprises a plurality of convex parts, the other surface comprises a plurality of concave parts, and the shapes of the concave parts and the convex parts are matched; for two faces of the two loops that do not match, one face is fixedly connected to the middle web and the other face is fixedly connected to the upper web 402 or the lower web 403. Each part of the clamping component 4131 is provided with a central hole which can be fastened with the upper, middle and lower connecting sheets through a rotating shaft or a screw according to the assembly sequence.

In a preferred embodiment, the ring 41312 has four recesses in the form of sector-shaped grooves and employs wear-resistant reinforcement, and the ring 41313 has three protrusions in the form of sector-shaped protrusions in order to match the recesses and employs wear-resistant reinforcement.

The resilient member 41311 may be a wave washer or an elastic rubber ring, and in a preferred embodiment, the resilient member is a wave washer and is directly fitted on both sides of the intermediate coupling piece 401, and in another embodiment, the wave washers may also be fitted between the upper coupling piece 402 and the ring 41313, and between the lower coupling piece 403 and the ring 41313.

In a preferred embodiment, the second connecting rod 4112 is formed by combining two half pieces that are butted and clamped, wherein one end of one half piece is provided with an upper connecting piece 402, and one end of the other half piece is provided with a lower connecting piece 403. Further, the rotary shaft 404 is formed by a combination of a screw and a nut, and the ring-shaped members 41312 and 41313 are closely matched with each other by the fastening of the screw and the nut and the elasticity of the wave washer 41311.

Further, two decoration pieces are provided at both ends of the rotation shaft 404 for decorating the assembling relationship of the rotation shaft mechanism. In this embodiment, the upper connecting plate 402 and the lower connecting plate 403 form a cavity for accommodating the locking member 4131 and the middle connecting plate 401 after the two half plates of the second connecting rod 4112 are butt-jointed and combined.

In a preferred embodiment, the locking assembly 4131 comprises a ring-shaped member 41313, a ring-shaped member 41312 and a resilient member 41311.

Above-mentioned folding component can realize that two connecting rods can be in stable condition when rotatory to certain angle, just can be in rotatable condition again when external force is big to a certain extent. And there may be a plurality of angles that may be in a steady state.

After the assembly of the rotating shaft mechanism 413 is completed in the assembled relationship in the embodiment shown in fig. 15, the protrusion portion is fitted to the recess portion for positioning the rotation stop position of the second connecting rod 4111 so that the second connecting rod 4111 can rotate about the rotating shaft toward the base 100. The number of bellying and depressed part calculates according to the overall dimension of handheld cloud platform respectively for second connecting rod 4111 can be folded to the position that leans on at the base, is in stable state at this position second connecting rod 4111 moreover, can not rotated by less external force easily.

Folded state

When the handheld cloud platform is not used, the handheld cloud platform can be folded into a structure as shown in fig. 16. Fig. 16 is a schematic view of a storage state of the handheld tripod head according to a preferred embodiment of the present invention. In the storage state, the second connecting rod 4111 can be folded to the front end of the base 100 around the rotating mechanism, and the handle 201 can be rotated until leaning against the rear end of the pan/tilt head 100 and storing the handle 201 in the space defined by the two folded connecting rods 411, and the device holding plate 316 can be turned to the base 100 through the rotating shaft and is clamped on the base 100.

Specifically, the device holding plate 316 is rotated in the direction of the support surface 111 along the rotation axis, and the hook is engaged with the engaging groove 321 of the support surface 111, so that the device can be stored by using the folding bar when the hand-held device is not used, and the occupied space is reduced, thereby facilitating the carrying.

The connecting rod can be folded, and a cavity is formed at the bottom of the base after the connecting rod is folded so as to accommodate the handle folded at the bottom of the base, so that the bottom of the base can be accommodated into a small space.

The device supporting plate can be turned to the upper surface of the base in the storage state and is approximately parallel to the surface, and the device supporting plate is clamped on the base through the elastic component, so that a small space can be stored above the base, and the device supporting plate in the storage state is in a stable state because of being clamped, and is not easy to be unfolded accidentally due to external force.

The connecting rod is divided into an upper part and a lower part, the middle parts are connected by the rotating mechanism, and the rotating mechanism has a clamping function at a storage angle, so that the folded connecting rod and the handle are in a stable state in a storage state and are not easy to be unfolded accidentally due to external force.

Weight device 500

As shown in fig. 1, the weight device 500 is disposed below the rotatable handle mechanism 200 and connected to the base 100 through the connecting rod mechanism 400, and after the photographing device is mounted on the base 100, the center of gravity of the overall structure of the handheld tripod head is adjusted by adjusting the center of gravity thereof, so as to ensure the balance of the handheld tripod head during use and obtain better photographing experience.

Fig. 17 is an exploded view of a weight 500 in an embodiment of the present invention. Fig. 18 is a schematic diagram of an assembly relationship between a weight adjusting mechanism and a weight in the counterweight according to an embodiment of the present invention. As shown in fig. 17 and 18, the counterweight includes a weight 511, a counterweight housing 512, and a weight adjustment mechanism disposed inside the counterweight housing. The sliding weight adjusting mechanism comprises: an adjustment knob 5131, an adjustment rod 5132, and an adjustment block 5133. The adjustment knob 5131 may be an adjustment gear and extend a portion from the surface of the weight housing through an opening, the adjustment rod 5132 is connected at the center of the adjustment knob and extends downward, the adjustment rod may be a non-full threaded stud (i.e., including a non-threaded region and a threaded region), the non-threaded region (screw) is snapped into the center of the adjustment knob, and the threaded region provides a moving distance of the adjustment block. The weight is a plurality of stacked disc-shaped magnetic blocks, the weight of the weight can be changed by increasing or decreasing the number of the magnetic blocks, and the center of the bottom surface of the weight 511 is provided with a shaft which can be axially connected with a shaft hole of the adjusting block 5133, so that the weight 511 is fixed on the adjusting block 5133.

Further, the weight housing 512 includes a load housing 5122 and a containment housing 5121. The bearing housing has a groove of small depth. The bearing shell is approximately rectangular and is provided with a long symmetry axis and a short symmetry axis, and the track 51223 is arranged at the long symmetry axis of the bearing shell and does not completely cross the bearing shell and is used as a connecting channel of the weight and the adjusting block and a moving channel of the weight; further, a fixing structure is arranged in the groove of the bearing shell, and the fixing structure is used for fixing the weight adjusting mechanism and comprises an upper fixing groove 51221 and a lower fixing plate 51222. An upper fixing groove 51221 is provided at an upper end of the rail with a certain distance from the upper end of the rail, and the upper fixing groove 51221 is perpendicular to an inner surface of the bearing housing and extends upward; the lower fixing plate 51222 is provided at the lower end of the rail 51223 with a certain distance from the lower end of the rail 51223, and the lower fixing plate 51222 is perpendicular to the inner surface of the bearing housing and extends upward. The upper fixing groove 51221 is provided with a bayonet, during assembly, the adjusting knob is placed on the upper fixing groove, the thread-free area of the adjusting rod is matched with the bayonet, and the adjusting block and the adjusting rod are assembled and then fixed on the lower fixing plate, so that the weight adjusting mechanism is fixed inside the counterweight shell, and the weight is arranged outside the counterweight shell.

Further, the cover housing 5121 has a groove with a large depth, which can be used to cover the weight adjustment mechanism. In particular, the covering housing can be snapped to the carrier housing and form an integral part of the appearance with the carrier housing. Furthermore, four corners of the bearing shell are also provided with screw holes, and a shaft hole is formed in the inner groove of the coating shell corresponding to the screw hole of the bearing shell, so that during assembly, screws can penetrate through the screw holes until the screws are meshed with the inner threads of the shaft hole, and the bearing shell and the coating shell are fastened more.

Furthermore, the counter weight shell is internally provided with an identification sheet for displaying the moving position of the adjusting block; the outer surface of the cladding shell is provided with scale strips in the same shape corresponding to the positions of the tracks, and the scale strips are matched with the identification sheet to display the rising position of the weight so as to perform balance adjustment on the base.

Furthermore, the upper side of the bearing shell is symmetrically provided with interfaces respectively relative to the long symmetrical shaft, and the interfaces are used for clamping the connecting convex blocks of the lower folding rod, so that the weight device is fixed at the lower end of the connecting mechanism and is used for being matched with the motor system to maintain the balance of the base.

The center of gravity of the whole configurator can be conveniently finely adjusted by rotating the adjusting knob.

Because the balance weight is the superimposed discoid magnetic blocks of polylith, so can conveniently increase or reduce the figure of magnetic block as required to can conveniently change the weight of whole counter weight ware, conveniently adjust the holistic focus of handheld cloud platform at counter weight ware place.

It is noted that, in the present patent application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that a certain action is executed according to a certain element, it means that the action is executed according to at least the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements.

All documents referred to herein are incorporated by reference into this application as if each were individually incorporated by reference. Furthermore, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the above teachings of the present invention, and such equivalents may fall within the scope of the claims of the present application.

Claims (10)

1. A handheld cloud platform with balanced assembly structure of triaxial, its characterized in that includes:

a rotatable handle mechanism and a base seat,

the rotatable handle mechanism comprises a rotatable handle mechanism shell and a horizontal motor arranged in the rotatable handle mechanism shell, a rotating shaft is fixed at the top of the horizontal motor, a rolling motor is fixed at the top of the rotating shaft,

a pitching motor and a rotating mechanism are arranged in the base, and the rotating mechanism comprises a first transmission gear ring and a second transmission gear ring, the axes of which are mutually vertical;

the roll motor is connected with the first transmission gear ring through gear engagement;

the pitching motor is connected with the second transmission gear ring through gear engagement;

the top of the rotating shaft is rotatably connected with the rotating mechanism.

2. A handheld tripod head having a triaxial balancing assembly structure according to claim 1, wherein the first and second transmission rings are sector rings.

3. The handheld tripod head having a triaxial balancing assembly structure of claim 2, wherein the first transmission ring has a sector central angle of between 120 and 150 degrees and the second transmission ring has a sector central angle of between 30 and 60 degrees.

4. The handheld tripod head having a triaxial balance assembly structure of claim 1, wherein the roll motor and the horizontal motor have a predetermined installation angle therebetween, and the installation angle is between 10 degrees and 25 degrees.

5. The handheld tripod head with a triaxial balance assembly structure as set forth in claim 1, wherein the top of the rotation shaft is a head having a cavity, the roll motor is fixed inside the cavity, and the head is rotatably connected to the rotation mechanism.

6. The handheld holder with the triaxial balance assembly structure as set forth in claim 5, wherein the axes of the roll motor and the pitch motor are provided with a transmission pinion;

the roll motor is meshed with the first transmission gear ring through a transmission pinion;

the pitching motor is in gear engagement with the second transmission gear ring through a transmission pinion.

7. The handheld tripod head with a triaxial balance mounting structure according to any one of claims 1 to 6, further comprising a position adjusting mechanism disposed on an upper surface of the base for fixing a photographing device and adjusting a relative position of the photographing device and the base.

8. A handheld holder having a triaxial balance mounting structure according to any one of claims 1 to 6, further comprising a weight disposed below the rotatable handle mechanism and connected to the base by a connecting rod, the weight being for adjusting the center of gravity of the base.

9. A handheld tripod head having a triaxial balancing assembly structure according to any one of claims 1 to 6, further comprising:

the inertial measurement unit is used for measuring the three-axis attitude angle and the acceleration;

and the control circuit is electrically connected with the inertia measuring unit, generates three control electric signals according to the three-axis attitude angle and the acceleration output by the inertia measuring unit, and respectively outputs the three control electric signals to the horizontal motor, the roll motor and the pitch motor.

10. The handheld holder with a triaxial balancing assembly structure according to claim 9, wherein the inertial measurement unit includes a gyroscope and an accelerometer.