CN108259735B

CN108259735B - Handheld cradle head with triaxial balance assembly structure

Info

Publication number: CN108259735B
Application number: CN201611245375.XA
Authority: CN
Inventors: 田瑜; 江文彦
Original assignee: Kunshan Helang Aviation Technology Co ltd
Current assignee: Kunshan Helang Aviation Technology Co ltd
Priority date: 2016-12-29
Filing date: 2016-12-29
Publication date: 2024-03-19
Anticipated expiration: 2036-12-29
Also published as: CN108259735A

Abstract

The invention relates to the technical field of camera shooting, and discloses a handheld cradle head with a triaxial balance assembly structure. The smoothness of the photographing device can be more effectively maintained. The invention includes: the device comprises a rotatable handle mechanism and a base, wherein 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 toothed ring and a second transmission toothed ring, wherein two axes of the first transmission toothed ring and the second transmission toothed ring are mutually perpendicular; the roll motor is connected with the first transmission toothed ring through gear meshing; the pitching motor is connected with the second transmission toothed ring through gear meshing; the top of the rotating shaft is simultaneously rotatably connected with the rotating mechanism.

Description

Handheld cradle head with triaxial balance assembly structure

Technical Field

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

Background

With the continuous abundance of digital products, portable digital products such as smartphones are beginning to be widely used for photography and photographing. A general user shoots by using a handheld smart phone, but the hand is easy to shake, so that an image is blurred, and particularly when a night scene is shot, a long exposure time is required, and the image is blurred due to a little shake. The problem of jitter is particularly acute if it is on a moving vehicle, such as a car, train.

In order to enable a user to more conveniently perform photographing using a photographing device such as a smart phone, for example, photographing at a position at a certain height or distance from a self-timer person, and to avoid shaking, a self-timer stick has appeared.

The automatic racket mainly comprises an automatic racket, a fixed support, a Bluetooth remote control automatic racket or a bottom button, the fixed support can clamp a mobile phone and a camera, even a tablet personal computer, and the freely-adjusted telescopic rod brings a wider shooting angle, and can be controlled to operate through the Bluetooth button at the bottom of the automatic racket.

However, selfie sticks also have some drawbacks that need to be addressed. For example, a self-timer stick cannot be stabilized well, and when an operator moves or shakes his/her hand, the photographing effect is often affected.

Therefore, there is an urgent need in the market for a better bearing device for more effectively maintaining the stability of the photographing device such as a smart phone, reducing the influence of the shake of the hands of the operator, and ensuring the photographing effect.

Disclosure of Invention

The invention aims to provide a handheld cradle head with a triaxial balance assembly structure, which can more effectively keep the stability of a shooting device.

In order to solve the technical problems, an embodiment of the invention discloses a handheld cradle head with a triaxial balance assembly structure, comprising:

The handle mechanism and the base can be rotated,

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 toothed ring and a second transmission toothed ring, wherein the two axes of the first transmission toothed ring and the second transmission toothed ring are mutually perpendicular;

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

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

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

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

In another preferred embodiment, the fan-shaped central angle of the first transmission gear ring is between 120 and 150 degrees and the fan-shaped central angle of the second transmission gear ring is between 30 and 60 degrees.

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

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

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

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

the pitching motor is meshed with the second transmission toothed ring through a transmission pinion.

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

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

In another preferred embodiment, the method further comprises:

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

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

In another preferred embodiment, 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 three motors can effectively adjust the angles in three mutually perpendicular directions so as to realize triaxial balance. The horizontal direction can rotate at any angle, and the angles of the sector transmission toothed rings can be set in other two directions according to the needs, so that the rotatable angles are controlled within a certain range, and the falling risk of equipment such as mobile phones on a cradle head is reduced.

The invention can effectively maintain the stability of the shooting device, avoid the influence of the movement or hand shake of an operator 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 technical features specifically described below (as embodiments and examples) may be combined with each other to constitute new or preferred technical solutions. And are limited to a space, and are not described in detail herein.

Drawings

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

fig. 2 is a perspective view of a handheld cradle head in a first embodiment of the invention;

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

FIGS. 4 and 5 are schematic views of the structure of the head of the rotation shaft mechanism in different directions in one embodiment of the present invention;

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

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

FIG. 8 is a schematic view of a base structure according to an embodiment of the present invention;

FIG. 9A is an assembly view of the motor support 1121 and pitch 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 diagram of the assembly of the turning mechanism 113 with the rotatable handle mechanism 200 and the pitch motor 115 in the embodiment shown in fig. 8.

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

fig. 12 is a schematic structural view of the fixing table 315 in the embodiment shown in fig. 11;

FIG. 13 is a schematic view of the embodiment shown in FIG. 11 with the clip 318 assembled to the device retaining plate 316;

fig. 14 is a schematic structural view of the connection mechanism 400 shown in fig. 1;

FIG. 15 is an exploded view of the rotation shaft mechanism 413 in one embodiment of the invention;

FIG. 16 is a schematic view of a holder in a stored position according to an embodiment of the invention;

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

FIG. 18 is a schematic diagram showing the assembly relationship between a weight adjustment mechanism and a weight in a counterweight according to an embodiment of the invention.

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

100. base seat

200. Rotatable handle mechanism (short for handle)

300. Position adjusting mechanism

400. Connecting mechanism

500. Counterweight device

201. Handle shell

211. Rotating shaft

212. Head part

213. An opening

214. Tabletting

2120. Head-defined cavity

Wall surfaces of 2121 to 2124 heads

215. Transverse rolling motor

216. Transmission pinion

217. Hole(s)

218. Fixing reinforcement

219. Cylindrical bearing

221. Gasket

222. Motor cover

223. Horizontal motor

224. Shaft fixing structure

2241. Shaft sleeve

2242. Fastening stud

2243. Nut

111. Supporting surface

112. Cradle head shell

1121. Small motor bracket

11211. Connecting hole

11212. Storage frame

11213. Expansion bracket

113. Rotating mechanism

1131. First transmission toothed ring

1132. Second transmission toothed ring

1133 1134 gear support frame

1135. Expansion wall

1136. Shaft hole

114. Power supply system

115. Pitching motor

311. Knob groove

312. Rail track

313. Fixed baffle

314. Length readable region

315. Fixed table

3151. Base seat

3152. Connection bump

3153. Fixing hole

3154. Oblique boss

316. Device supporting plate

318. Clamping piece

3181. Hook part

3182. Support part

319. Spring connector

3191. Connecting rod

3192. Spring

321. Clamping groove

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 member

413. Rotation shaft mechanism

4131. Connectable assembly

41311. Elastic piece

41312. Ring-shaped piece with concave part

41313. Ring-shaped piece with protruding part

511. Weight of weighing machine

512. Counterweight shell

5121. Bearing shell

5122. Cladding shell

51221. Upper fixing groove

51222. Lower fixing plate

51223. Rail track

5131. Adjusting knob

5132. Adjusting rod

5133. Adjusting block

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be understood by those skilled in the art that the claimed invention may be practiced without these specific details and with various changes and modifications from the embodiments that follow.

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

In the following embodiments, the overall structure of the entire handheld cradle head will be described first, and each component will be described separately.

Integral structure

Fig. 1 to 2 are schematic structural views of a handheld cradle head according to a first embodiment of the present invention. As shown in figures 1 to 2 of the drawings,

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

the rotatable handle mechanism 200 includes a handle housing 201 and a rotation 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 rotation shaft 211 shaft; as shown in fig. 8, the base 100 includes a support surface 111, a pan-tilt housing 112, and circuitry disposed inside the pan-tilt housing 112; the position adjustment mechanism 300 is disposed 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 provided below the rotatable handle mechanism 200 and connected to the base 100 through the connection mechanism 400, and the weight 500 serves to adjust the center of gravity of the base 100.

The counterweight 500 is disposed below the rotatable handle mechanism 200 and is connected with the base 100 through the connection mechanism 400, so that the center of gravity of the whole handheld tripod head can be greatly reduced, the handheld tripod head is more stable, and the center of gravity of the whole handheld tripod head can be further finely adjusted through the counterweight and the position adjusting mechanism, so that the moment and the power consumption of the automatic balancing motor servo system in a balanced state are reduced.

The components of the handheld cradle head of the present invention will be further described with reference to the accompanying drawings. The components are described in order from near to far at a distance from the hand, first describing the rotatable handle mechanism 200, then describing the base 100, then describing the position adjustment mechanism 300, then describing the connection mechanism 400, and then describing the counterweight 500. 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 invention. As shown in fig. 3, the rotatable handle mechanism 200 includes a handle housing 201, and a motor and a rotation shaft mechanism partially inserted into the handle housing 201, which are disposed in 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 further described below.

As shown in fig. 3, the rotation shaft mechanism includes: a rotating shaft 212, a pressing piece 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 housing 201, the head 211 has a hollow cavity to accommodate the roll motor 215, and the head 211 further has a fitting hole 217 penetrating the hollow cavity, which can be used for further fastening fitting.

Fig. 4 and 5 are schematic structural views of a head portion of a rotation shaft mechanism in one embodiment of the present invention. Specifically, the head 211 is provided at one end of the rotation shaft 212. The head 211 is approximately a rectangular body with two pairs of generally parallel walls 2121 and 2123, and walls 2122 and 2124, the walls 2121-2124 defining a head cavity for placement of the roll motor, the head cavity being approximately a cylindrical body. The walls 2121 to 2124 each have a predetermined thickness, and the walls 2121 and 2123 are provided with symmetrical circular through holes, that is, 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 a pair of parallel wall surfaces, and in this embodiment, the pressing piece 214 is embedded in the wall surface 2122, the wall surface 2122 has an opening with a shape consistent with that of the pressing piece 214 for placing the pressing piece 214, in order to fix the pressing piece 214, the pressing piece 214 can be attached to the opening and fixed to the wall surface 2122 by a fixing screw, and the pressing piece 214 corresponds to an inlet and an outlet of the loading and unloading roll motor 215.

Fig. 6 is a schematic structural view of a rotation shaft mechanism in an embodiment of the present invention. Fig. 6 includes, in addition to the components of the rotation shaft mechanism shown in fig. 3 to 5, a connector for connecting the handle housing 201 and the rotation shaft mechanism, and a motor system 220 connected to the rotation shaft and disposed inside the handle housing. Specifically, the connecting member includes a fixing reinforcement 218 and a cylindrical bearing 219, wherein the cylindrical bearing 219 is coupled to the rotation shaft 211, the fixing reinforcement 218 is respectively coupled to both ends of the cylindrical bearing 219, and the fixing reinforcement 218 is used to determine and fix the position of the cylindrical bearing 219. The cylindrical bearing 219 has a plurality of layers of regular projections, and the handle housing 201 is provided with a plurality of layers of grooves conforming to the shape of the projections, so that the handle housing is engaged with the projections of the cylindrical bearing through the plurality of layers of grooves, thereby enclosing part of the rotation shaft mechanism inside the handle housing 201.

As shown in fig. 6, the motor system 220 includes a motor housing 222, a horizontal motor 223, and a shaft securing mechanism 224. The motor cover 222 is used for connecting the rotating shaft 211 and the horizontal motor 223, and then mechanical energy generated by the horizontal motor 223 is transmitted 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 housing 222 is about 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 formed; wherein the tail of the horizontal motor 223 is sleeved into the large cylinder and may be an interference fit, the rotation shaft 211 is sleeved to the small cylinder and a gasket 221 is further provided between the upper surface of the small cylinder and the cylindrical bearing 219 for reducing vibration between the rotation shaft 211 and the horizontal motor 223. A 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 securing mechanism in one embodiment of the invention. As shown in fig. 7, the shaft fixing mechanism includes: a bushing 2241, a fastening stud 2242, and a nut 2243; the first portion of the fastening stud 2242 is in a truncated cone shape and has no threaded area for being sleeved in the sleeve 2241, and the second portion of the fastening stud 2242 is a threaded stud for being connected with the nut 2243. The shaft of the horizontal motor 223 is connected to the shaft sleeve 2241 through the first portion sleeved on the fastening stud 2242, and the shaft of the horizontal motor 223 is covered by the nut 2243, thereby preventing the shaft of the horizontal motor 223 from being damaged.

Base 100

As shown in fig. 1, the base 100 is located above a rotatable handle mechanism 200 (simply referred to as a "handle") that is used to support the base 100 and that is capable of rotating about the base 100 through an angle of >360 degrees. The base 100 is used to support the photographing device and change the photographing angle of the photographing device by the angles of the pan-tilt in the horizontal, left-right, front-rear directions.

Fig. 8 is a schematic structural view of a base in an embodiment of the present 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 system 114 mounted within the pan-tilt housing 112. As shown, the rotation mechanism 113 and the power supply system 114 are fixed on the support surface 111 and face the pan-tilt housing 112, and the pan-tilt 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 pitch motor 115 cooperates with the rotation mechanism 113 to control the rotation angle of the support surface 111 in the pitch direction, and a specific cooperation relationship is described below.

The pitch motor 115 is fixed to the inside of the pan/tilt housing 112 by a motor bracket 1121. Fig. 9A is an assembly view of the motor support 1121 and the pitch motor 115 in the embodiment shown in fig. 8. As shown in fig. 9A, the motor bracket 1121 includes a connection 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 to be engaged 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 that of the pitching motor 115, and the pitching 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 storage frame 11212 are designed to be perpendicular to each other.

The rotation mechanism 113 includes a drive ring set, a gear mount, and a pitch motor connection. Fig. 9B is a schematic structural view of the rotating mechanism 113 in the embodiment shown in fig. 8. Specifically, the drive ring set includes a first drive ring gear 1131 and a second drive ring gear 1132 having axes disposed 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 toothed ring 1131, and the axis of the pitching motor 115 and the axis of the first transmission toothed ring 1131 are parallel to each other when being installed, and the force transmission direction is changed through the meshing of the transmission pinion and the toothed ring 1131.

Further, the first transmission gear ring 1131 is fixedly placed on a gear fixing member, as shown in fig. 9B, the gear fixing member includes gear support frames 1133 and 1134, and an expansion frame 1135, wherein the expansion frame 1135 is an approximately rectangular frame having four wall surfaces provided with shaft holes 1136, the shaft holes 1136 are used for coupling to the head 212 by connecting rotatable shafts, specifically, the rotatable shafts can be abutted against a part of the four wall surfaces 2121 to 2124 of the head 212 through the shaft holes 1136, the gear support frame 1133 is provided with grooves for fitting the first transmission gear ring 1131, the gear support frame 1134 is also provided with grooves for fitting the second transmission gear ring 1132, and the respective base surfaces of the gear support frames 1133 and 1134 are mutually perpendicular. The first and second drive rings 1131, 1132 are fixed to the gear mount and rotatable therewith. Wherein the end face of the second transmission gear ring 1132 and the end face of the first transmission gear ring 1131 are also arranged perpendicular to each other.

The rotation mechanism 113 holds the head 212 by a rotatable shaft so as to be fixed to the rotatable handle mechanism 200, and the roll motor 215 placed in the cavity of the head 212 is meshed with the second transmission gear ring 1132 by a transmission pinion so that the gear holder can rotate around the head 212 in the space defined by the expansion bracket 1135; in addition, the rotation mechanism 113 is engaged with a transmission pinion on the shaft of the pitch motor 215 through the first transmission gear ring 1131, so that the pitch motor 215 can transmit a force to the rotation mechanism 113. Further, the motor bracket 1121 may be fixed to the support surface 111 through the connection hole 11211 using a screw or a fixed shaft.

In a preferred embodiment, the first drive ring gear 1131 is fan-shaped and may have a central angle of 135 degrees and the second drive ring gear 1132 is also fan-shaped and may have a central angle of 45 degrees. In other embodiments, the central angle of the first drive ring gear 1131 may be a value between 120 and 150 degrees and the central angle of the second drive ring gear 1132 may be a value between 30 and 60 degrees. This has the advantage of allowing limited movement of the base 100 in both the 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 formed by the rotating mechanism, the three motors and other related structures can effectively adjust angles in three mutually perpendicular directions through the three motors so as to realize three-axis balance. The horizontal direction can rotate at any angle, and the angles of the sector transmission toothed rings can be set in other two directions according to the needs, so that the rotatable angles are controlled within a certain range, and the falling risk of equipment such as mobile phones on a cradle head is reduced.

The power supply system 114 in the embodiment shown in fig. 8 may include: the spacer group and the power supply space defined by the spacer, the power supply bearing surface and the pressing piece. The spacer group includes at least button spacer, power head spacer and power tail spacer. The power head spacer and the power tail spacer are placed in parallel and define a placement space for a power source, and the thickness of the pressing member is greater than any one spacer of the spacer group and is disposed between the key spacer and the power head spacer for reducing concentrated stress externally applied to the power head spacer. The key set comprises a main key and an auxiliary key. The main button and the auxiliary button are used for switching on the power supply system so as to provide electric energy for the small motor of the rotating mechanism, and the main button is designed to be assembled on the button spacer, when the main button is pressed by applying external force, the main button pushes the button spacer to press the pressing piece, and because the thickness of the button spacer is far smaller than that of the pressing piece, the pressing piece can absorb concentrated stress applied to the pressing piece, then the pressing piece presses the power head spacer, and the power head spacer is used for switching on the power supply through the supporting action of the power tail spacer, so that the power head spacer is connected with the power supply so as to switch on the circuit of the power supply system. Further, in order to encapsulate the power system inside the holder housing, a power carrying surface is used to cover the power system. Specifically, the power supply bearing surface is parallel to the supporting surface of the base, and is buckled with the cradle head shell through the buckle and forms a detachable integrated structure with the cradle head 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 conduct the power supply system and is arranged on the same side as the main key.

As shown in fig. 8, the support surface 111 may be used to support the imaging device, and may engage with the pan/tilt housing 112 to form an external whole, i.e., a base, with the pan/tilt housing 112. The support surface 111 has a shape of a streamlined rectangular surface. Specifically, the surface of the support surface 111 facing the pan/tilt housing 112 is used to fix the motor support 1121 and the power system 114 to each other, and the fixing manner may be screw connection or key slot engagement.

Circuitry is also provided in the base, the circuitry including an inertial measurement unit (Inertial measurement unit, simply "IMU") and control circuitry. The IMU is used to measure the three-axis attitude angle (or angular rate) and acceleration of an object. Gyroscopes and accelerometers are the main elements of IMUs. The control circuit sends control electric signals to three motors (a horizontal motor, a roll motor and a pitch motor) according to the output of the IMU, so that the three motors output corresponding electric moments to keep the base in a horizontal balanced and stable posture state. 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 the hand shake is compensated. The triaxial balancing algorithm according to which the control circuit is based has been implemented in various ways in the prior art and will not be described in detail here.

Position adjustment mechanism 300

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

Specifically, the position adjustment structure 300 includes a fixing table 315, a device supporting plate 316 and a knob 322, and in order to fix the position adjustment mechanism 300 on the supporting surface 111, a knob slot 311, a fixing stop 313 and a track 312 are disposed at the tail of the supporting surface 111. As shown in fig. 11, the support surface 111 has an outer surface of approximately rectangular shape, a knob groove 311 is provided at the rear of the support surface for fitting the knob 322, the knob groove is a groove with rectangular cavity protruding vertically along the outer surface of the support surface, and is provided at the center of the rear of the support surface and symmetrical about the long symmetry axis of the support surface; the two rails 312 are respectively provided at positions close to the knob grooves and symmetrical with respect to the knob grooves for assembling the fixing table 315 and defining a moving track of the fixing table 315, and as shown in fig. 11, fixing stoppers 313 symmetrical with respect to the knob grooves and parallel to each other are further provided between the rails 312, the fixing stoppers 313 being upwardly protruded perpendicular to the supporting surface 111 for further assembling with the fixing table 315, so that the bottom plate of the fixing table 315 is also provided with grooves conforming to the shape of the fixing stoppers 313. In a preferred embodiment, the retaining tabs 313 may be provided with anti-disengagement plates that can be snapped into slots in the bottom plate of the mounting table 315 and hook onto the bottom plate of the mounting table 315 to prevent the mounting table 315 from being disengaged from the support surface 111.

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

Thus, the fixing table 315 can be fixed to the support surface 111 by the rail 312 and the fixing stopper 313.

Further, fig. 12 is a schematic structural view of the fixing table 315 in the embodiment shown in fig. 11. The fixing table 315 includes a base 3151, a fixing hole 3153, a connection protrusion 3152 and an inclined boss 3154, wherein the base is approximately rectangular and has an inclined boss 3154 symmetrical about a short 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, and further, a groove matched with the fixing baffle 313 on the supporting surface 111 is formed below the inclined boss 3154 for forming a moving track of the device supporting plate; the fixing holes 3153 are respectively provided at both ends of the base and are symmetrical with respect to a short axis of the base, and the fixing holes 3153 are used to connect the base 3151 and the device holding plate 316, specifically, the fixing holes are hole members extending upward perpendicular to an upper surface of the base; the connecting projection 3152 is a rectangular body and is provided with a screw hole in the center for being matched with the knob 322 and the knob groove 311 at the tail part of the supporting surface.

As shown in fig. 11, a device holding plate 316 is fitted to the stationary stage 315 perpendicularly to the support surface 111 for holding a photographing device such as a cellular phone or the like. The device supporting plate 316 is a rectangular plate, and two sides of the lower end of the device supporting plate are provided with shaft holes for being matched and assembled with the fixing holes 3153 of the base 3151 to fix the relative positions of the device supporting plate 316 and the fixing table 315. Further, a clip 318 is further connected to an upper portion of the device holding plate 316, and the clip 318 includes a support portion 3182 and a hook portion 3181 provided in the middle of the support portion 3182. The clamping member 318 is used for clamping the photographing device to be abutted against the fixed table 315, and further abuts against the photographing device by means of the device abutting plate 316.

Fig. 13 is a schematic view of the clip 318 of the embodiment shown in fig. 11 assembled to the device holding plate 316. The clamping member 318 is connected to the device holding plate 316 through a spring connector 319, wherein the spring connector is respectively built in the long side of the device holding plate, in one embodiment, the spring connector includes a connecting rod and a spring, and the connecting rod can be connected to two sides of the clamping member, so that the shooting device can be held against the upper surface of the base of the fixed 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 at the hook 3181 by stretching the support 3182 of the clamping member 318, while the spring connector 319 is elastically deformed, and then the clamping member 318 is released so that the photographing device is clamped at the upper surface of the inclined boss 3154 of the fixing table 315, and the photographing device can be abutted against the device abutment plate, and at the same time, the inclined boss 3154 surface is not parallel to the upper surface of the base, which is more conducive to abutting the photographing device against the fixing table and the device abutment plate.

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

Further, as shown in fig. 11, the support surface 111 includes a knob 322, and the knob 322 includes a cap and a rotating rod engaged inside the cap. The cap is about a stepped cylindrical part and is provided with an upper cylinder and a lower cylinder which are coaxial, uniform teeth along the axial direction are arranged on the outer surface of the lower cylinder, the knob is convenient to rotate, and the cap is provided with a central cavity. The screw rod comprises a clamping part and a threaded part, wherein the clamping part is used for being assembled to the central cavity of the cap, and the threaded part is used for being in threaded connection with the internal threads of the knob groove and the internal threads of the middle cylindrical cavity of the connecting lug. When the camera is used, the cap is screwed to drive the rotary rod to rotate, the rotary rod is used for pushing the fixed table to move along the track 312 of the supporting surface 111 by virtue of the threaded connection, so that the position of the camera relative to the supporting surface 111 is changed, and the balance of the base 100 is further adjusted.

In use, as in the embodiment of fig. 11, after the camera is secured to the position adjustment mechanism 300, the device abutment plate 316 can be rotated about the rotation axis toward the support surface 111 or away from the support surface 111, thereby changing the viewing angle of the camera and securing the camera to the support surface 315 in cooperation with the mounting table 315.

Further, to maintain the balance of the base, the knob 322 is turned to control the front-to-back position of the fixed table 315 on the support surface 111, thereby changing the center of gravity of the base 100.

The position adjusting mechanism of the handheld cradle head has the following advantages:

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

The front and back positions of the shooting device can be adjusted through the adjusting knob, so that the gravity center of the whole handheld cradle head can be adjusted, and triaxial balance of the handheld cradle head can be realized by smaller motor force moment.

Connecting mechanism 400

As shown in fig. 1, a connection mechanism 400 is further provided at the rear of the base 100, and the connection mechanism 400 is used to connect the counterweight 500 and the base 100. In a preferred embodiment, the attachment mechanism 400 is arcuate and positions the counterweight 500 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 assembly mechanism for connection with the base 100 and the counterweight 500. Each connecting rod 411 is arranged side by side and connected through a stabilizing piece 412, and the stabilizing piece 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 rotation shaft mechanism 413 mainly enables the connection rod 411 to rotate with respect to the stabilizer 412 to fold or unfold the connection mechanism 400. There are various implementations of the rotation shaft mechanism 413, a preferred embodiment of which is shown in fig. 15.

Fig. 15 is an exploded view of the rotation shaft mechanism 413 in one embodiment of the invention. As shown in fig. 15, the rotation shaft mechanism 413 divides the connection rod 411 into a first connection rod 4111 and a second connection rod 4112, so that the connection rods 4111 and 4112 can be relatively rotated by the rotation 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 one end of the first connecting rod 4111 is provided with a middle connecting sheet 401, and one end of the second connecting rod 4112 is provided with an upper connecting sheet 402 and a lower connecting sheet 403. The upper connecting piece 402, the middle connecting piece 401 and the lower connecting piece 403 may be sequentially pivoted together by one rotation shaft 404. There are various ways of making the shaft connection, for example, screws may be used, rivets or other means may be used. The rotation shaft mechanism 413 includes a detent assembly 4131, and as shown, the detent assembly 4131 is disposed between the upper and middle connection pieces 402 and 401, and between the middle and lower connection pieces 401 and 403, respectively.

Specifically, the detent assembly 4131 includes two loop members and an elastic member; the elastic piece utilizes elasticity to enable one surfaces of the two ring-shaped pieces to be closely matched with each other; for two faces of the two circles, which are matched, one face comprises a plurality of convex parts, and the other face 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 loop that do not match, one face is fixedly connected to the middle connection piece and the other face is fixedly connected to either the upper connection piece 402 or the lower connection piece 403. The components of the detent assembly 4131 are provided with central holes that can be fastened together with the upper, middle and lower connecting tabs in assembly order by means of shafts or screws.

In a preferred embodiment, the collar 41312 has four recesses and employs a wear reinforcement, the recesses being scalloped, and the collar 41313 has three protrusions and employs a wear reinforcement, the protrusions being scalloped for mating with the recesses.

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

In a preferred embodiment, the second connecting rod 4112 is formed by combining two half pieces that are engaged in a butt manner, wherein one half piece has an upper connecting piece 402 at one end, and the other half piece has a lower connecting piece 403 at one end. Further, the rotation shaft 404 is formed by combining a screw and a nut, and the ring-shaped members 41312 and 41313 are closely matched with each other by tightening the screw and the nut and elasticity of the wave washer 41311.

Further, two decorative pieces are provided at both ends of the rotation shaft 404 for decorating the assembly relationship of the rotation shaft mechanism. In this embodiment, the upper connecting piece 402 and the lower connecting piece 403 form a cavity after the two half pieces of the second connecting rod 4112 are butt-combined, for accommodating the detent assembly 4131 and the intermediate connecting piece 401 therein.

In a preferred embodiment, the detent assembly 4131 is comprised of a loop 41313, a loop 41312 and a spring 41311.

The folding component can realize that the two connecting rods can be in a stable state when rotating to a certain angle, and can be in a rotatable state again only when the external force is large to a certain extent. And there may be multiple angles that may be in a steady state.

After the assembly of the rotation shaft mechanism 413 is completed in the assembly relationship in the embodiment shown in fig. 15, the protruding portion-fitting recessed portion is used to position the rotational stay position of the second connecting rod 4111 so that the second connecting rod 4111 can be rotated about the rotation shaft toward the base 100. The number of the protruding portions and the number of the recessed portions are calculated according to the overall size of the handheld cradle head, so that the second connecting rod 4111 can be folded to a position where the second connecting rod 4111 abuts against the base, and in this position, the second connecting rod 4111 is in a stable state and cannot be easily rotated by small external force.

Folded state

When the handheld head is not in use, the handheld head may be folded into the configuration shown in fig. 16. Fig. 16 is a schematic view showing a holding state of a holder 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 about the rotating mechanism, and can rotate the handle 201 until it abuts against the rear end of the pan-tilt 100 and stores the handle 201 in the space defined by the two folded connecting rods 411, and the device holding plate 316 can be turned toward the base 100 by the rotating shaft and engaged on the base 100.

Specifically, the device holding plate 316 is rotated along the rotation axis in the direction of the support surface 111, and the hook is engaged with the engagement 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 in use, and the occupied space is reduced, so that the hand-held device is convenient to carry.

The connecting rod is foldable, and a cavity is formed at the bottom of the base after the connecting rod is folded so as to accommodate the handle folded to 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 over to the upper surface of the base in the accommodating state and is approximately parallel to the upper surface of the base, and the device supporting plate is clamped on the base through the elastic component, so that the upper side of the base can be accommodated into a small space, and the device supporting plate in the accommodating state is in a stable state because of being clamped, and is not easy to be accidentally unfolded due to external force.

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

Counterweight 500

As shown in fig. 1, the counterweight 500 is disposed below the rotatable handle mechanism 200 and is connected with the base 100 through the connecting rod mechanism 400, and after the photographing device is assembled on the base 100, the center of gravity of the handheld cradle head is adjusted by adjusting the center of gravity of the handheld cradle head, so as to ensure the balance of the handheld cradle head during use, and the better photographing experience is obtained.

Fig. 17 is an exploded view of a counterweight 500 in one embodiment of the invention. FIG. 18 is a schematic diagram showing the assembly relationship between a weight adjustment mechanism and a weight in a counterweight according to an embodiment of the invention. As shown in fig. 17 and 18, the balance weight includes a weight 511, a balance weight housing 512, and a weight adjusting mechanism disposed inside the balance weight housing. The weight adjusting mechanism comprises: an adjustment knob 5131, an adjustment lever 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 to 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 to 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 reducing 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 connected with the 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 carrier housing 5122 and a cover housing 5121. The bearing shell is provided with a groove with a small depth. The bearing shell is approximately rectangular and has a long symmetry axis and a short symmetry axis, and the rail 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 disposed in the groove of the bearing housing, and the fixing structure is used for fixing the weight adjusting mechanism, and includes an upper fixing groove 51221 and a lower fixing plate 51222. An upper fixing groove 51221 is provided at and spaced apart from the upper end of the rail, and the upper fixing groove 51221 is perpendicular to the inner surface of the carrier housing and extends upward; the lower fixing plate 51222 is provided at a lower end of the rail 51223 with a certain distance from a lower end of the rail 51223, and the lower fixing plate 51222 is perpendicular to an inner surface of the carrier 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 unthreaded area of the adjusting rod is matched with the bayonet, and the adjusting block is fixed on the lower fixing plate after being assembled with the adjusting rod, so that the weight adjusting mechanism is fixed inside the weight shell, and the weight is placed outside the weight shell.

Further, the cover housing 5121 has a groove with a large depth, which can be used to cover the weight adjusting mechanism. Specifically, the cover housing can be snapped to the carrier housing and form an apparent whole with the carrier housing. Further, screw holes are further formed in four corners of the bearing shell, and shaft holes are formed in the inner grooves of the cladding shell, corresponding to the screw holes of the bearing shell, so that when the bearing shell is assembled, screws can penetrate through the screw holes until the screws are meshed with internal threads of the shaft holes, and the bearing shell and the cladding shell are fastened more.

Further, a marker piece is arranged in the counterweight shell and used for displaying the moving position of the regulating block; the outer surface of the cladding shell is provided with scale strips with the same shape corresponding to the positions of the rails, and the scale strips are matched with the identification pieces to display the ascending positions of the weights so as to perform balance adjustment of the base.

Further, the upper side of the bearing shell is symmetrically provided with interfaces about the long symmetry axis respectively for clamping the connecting convex blocks of the lower folding rod, so that the counterweight 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 fine-tuned by rotating the adjusting knob.

Because the weight is a plurality of stacked disc-shaped magnetic blocks, the number of the magnetic blocks can be conveniently increased or reduced according to the requirement, so that the weight of the whole counterweight device can be conveniently changed, and the gravity center of the whole handheld cradle head where the counterweight device is located can be conveniently adjusted.

It should be 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. Moreover, 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, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, and two cases are included: the act is performed solely on the basis of the element and is performed on the basis of the element and other elements.

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

Claims

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

the handle mechanism and the base can be rotated,

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 transverse rolling motor is fixed at the top of the rotating shaft,

the top of the rotating shaft is simultaneously rotatably connected with the rotating mechanism;

The first and second drive gear rings are sector gear rings;

the fan-shaped central angle of the first transmission gear ring is between 120 and 150 degrees, and the fan-shaped central angle of the second transmission gear ring is between 30 and 60 degrees.

2. The handheld cradle head with a three-axis balanced fitting structure according to claim 1, wherein the roll motor and the horizontal motor have a preset mounting angle therebetween, the mounting angle being between 10 degrees and 25 degrees.

3. The handheld cradle head with a triaxial balance assembly structure according to claim 1, wherein the top of the rotating shaft is a head with a cavity, the roll motor is fixed inside the cavity, and the head is rotatably connected with the rotating mechanism.

4. The handheld tripod head with the three-axis balance assembly structure of claim 3, wherein the shafts of said roll motor and pitch motor are provided with transmission pinions;

the roll motor is in gear engagement with the first transmission toothed ring through a transmission pinion;

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

5. The holder according to any one of claims 1 to 4, further comprising a position adjusting mechanism provided on an upper surface of the base for fixing the photographing device and adjusting a relative position of the photographing device and the base.

6. The holder according to any one of claims 1 to 4, further comprising a weight provided 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.

7. The handheld cradle head with a three-axis balanced fitting structure according to any one of claims 1 to 4, further comprising:

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

8. The handheld cradle head with a three-axis balanced fitting structure according to claim 7, wherein the inertial measurement unit comprises a gyroscope and an accelerometer.