CN108513605A - Three axis holders and its control method - Google Patents
Three axis holders and its control method Download PDFInfo
- Publication number
- CN108513605A CN108513605A CN201780004523.5A CN201780004523A CN108513605A CN 108513605 A CN108513605 A CN 108513605A CN 201780004523 A CN201780004523 A CN 201780004523A CN 108513605 A CN108513605 A CN 108513605A
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- China
- Prior art keywords
- component
- armshaft
- axis
- locked
- yaw
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000005611 electricity Effects 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 10
- 210000002421 cell wall Anatomy 0.000 claims description 6
- 230000000930 thermomechanical effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
Abstract
Provide three axis holders of one kind and its control method, wherein, three axis holders (1) include three groups of armshaft components (11,12,13), every group of armshaft component includes electric machine assembly and keeps the rotation arm component (110,120 being drivingly connected with electric machine assembly, 130), three groups of armshaft components include at least one set of armshaft component to be locked.Three axis holders further include the locking device (30) being connected with armshaft component to be locked, when the electric machine assembly of armshaft component to be locked is closed, the electric machine assembly of armshaft component to be locked and rotation arm component mutually to be locked.This three axis holder is when the electric machine assembly of armshaft component to be locked is closed, the electric machine assembly of armshaft component to be locked and rotation arm component can mutually be locked by locking device, three axis holders are switched into two axle The Cloud Terraces or the effect of uniaxial holder to realize.
Description
Technical field
The present invention relates to tripod head equipment technical field, more particularly to a kind of three axis holders and its control method.
Background technology
In order to which the shooting experience and more good shooting effect, holder that reach more rich are more and more applied to shooting
In, usual device for shooting is to be mounted on holder to be shot, and holder may be implemented the fixation of device for shooting, adjust the appearance of device for shooting
State (such as：Change height and the direction of device for shooting) and device for shooting is made to be stably held in determining posture, to realize device for shooting
Stabilization, smoothness and multi-angled shooting.
Holder, two axle The Cloud Terraces and uniaxial holder are held currently, relatively conventional cradle head structure includes three axis.Wherein, three axis
Although the effect of holder three-axis stability augmentation, than more prominent, its quick trace performance declines, shoot fast-moving target when
It waits, can not catch up with.Two axle The Cloud Terraces are steady due to that can only realize the increasing of two axis, when user needs to increase steady situation simultaneously in three axis
Under can only change three axis holders to use, likewise, uniaxial holder is even more multiduty to be deposited in use not in the case that above-mentioned
Just.Therefore, there is presently no a holders can be used with but also when two axle The Cloud Terraces or uniaxial holder when three axis holders, or
It says, existing three axis holder does not have the function of switching to two axle The Cloud Terraces pattern or uniaxial holder pattern.
Invention content
The present invention provides three axis holders of one kind and its control method.
According to a first aspect of the embodiments of the present invention, a kind of three axis holders, including three groups of armshaft components are provided, described in every group
Armshaft component includes electric machine assembly and keeps the rotation arm component being drivingly connected, three groups of armshaft groups with the electric machine assembly
Part includes at least one set of armshaft component to be locked, and the three axis holder further includes being connected with the armshaft component to be locked
The locking device connect, the locking device by described when the electric machine assembly of the armshaft component to be locked is closed, waiting for
The electric machine assembly of the armshaft component of locking and the rotation arm component are mutually locked.
According to a second aspect of the embodiments of the present invention, a kind of control method of three axis holder, the three axis holder packet are provided
It includes：Three groups of armshaft components, armshaft component described in every group include motor, and three groups of armshaft components include that at least one set waits locking
Fixed armshaft component；The control method includes：
Close the motor of the armshaft component to be locked；
The targeted attitude for controlling the armshaft component to be locked is equal with the holding of practical posture；
It calculates the targeted attitude of other armshaft components and the deviation of practical posture and eliminates the deviation.
The three axis holders of the present invention can by locking device when the electric machine assembly of armshaft component to be locked is closed
The electric machine assembly of armshaft component to be locked and rotation arm component are mutually locked, three axis holders are switched into two axis to realize
The effect of holder or uniaxial holder.
The control method of the three axis holders of the present invention by the motor of closing armshaft component to be locked, then controls and waits locking
The targeted attitude of fixed armshaft component is equal with the holding of practical posture, then calculates the targeted attitude and reality of other armshaft components
The deviation of posture simultaneously eliminates the deviation, to lock armshaft component to be locked, realizes three axis holders switching to two axis clouds
The effect of platform or uniaxial holder.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the stereoscopic schematic diagram of three axis holders shown in one embodiment of the invention.
Fig. 2 is the exploded perspective view of three axis holders shown in one embodiment of the invention.
Fig. 3 is stereoscopic schematic diagram of the locking device of three axis holders shown in one embodiment of the invention under a visual angle.
Fig. 4 is stereoscopic schematic diagram of the locking device of three axis holders shown in one embodiment of the invention under another visual angle.
Fig. 5 is the exploded perspective view of the locking device of three axis holders shown in one embodiment of the invention.
Fig. 6 is the flow diagram of the control method of three axis holders shown in one embodiment of the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
It is the purpose only merely for description specific embodiment in terminology used in the present invention, is not intended to limit the invention.
It is also intended to including majority in the present invention and "an" of singulative used in the attached claims, " described " and "the"
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
Below in conjunction with the accompanying drawings, the three axis holders and its control method of the present invention are described in detail.In the feelings not conflicted
Under condition, the feature in following embodiment and embodiment can be combined with each other.
Shown in referring to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of three axis holders 1, including three groups of armshaft components, that is, bows
Axis armshaft component 11, roll axis armshaft component 12 and yaw axis armshaft component 13 are faced upward, every group of armshaft component includes motor group
Part and the rotation arm component that drive connection is kept with the electric machine assembly.Three groups of armshaft components include that at least one set waits locking
Fixed armshaft component, the three axis holder 1 further includes the locking device 30 being connected with the armshaft component to be locked, described
Locking device 30 is to when the electric machine assembly of the armshaft component to be locked is closed, by the armshaft component to be locked
Electric machine assembly and the rotation arm component are mutually locked.Optionally, the three axis holder 1 further includes translation shaft armshaft component 14,
Yaw axis armshaft component 13 is connect with translation shaft armshaft component 14, and translation shaft armshaft component 14 connects with roll axis armshaft component 12
It connects, roll axis armshaft component 12 is connect with pitch axis armshaft component 11, and pitch axis armshaft component 11 is for carrying device for shooting 90.
The three axis holders 1 of the present invention pass through 30 energy of locking device when the electric machine assembly of armshaft component to be locked is closed
It is enough mutually to lock the electric machine assembly of armshaft component to be locked and rotation arm component, three axis holders 1 are switched to realize
The effect of two axle The Cloud Terraces or uniaxial holder.That is, (can be pitching when the quantity of armshaft component to be locked is one group
Any one group in axis armshaft component 11, roll axis armshaft component 12 and yaw axis armshaft component 13), armshaft group to be locked
A locking device 30 can be connected on part, and the motor group of the armshaft component to be locked is locked by the locking device 30
Part and rotation arm component, to realize the effect that three axis holders 1 are switched to two axle The Cloud Terraces.When the number of armshaft component to be locked
(it can be appointing in pitch axis armshaft component 11, roll axis armshaft component 12 and yaw axis armshaft component 13 when amount is two groups
Anticipate two groups), a locking device 30 can be separately connected on two groups of armshaft components to be locked, and pass through respective locking device
30 lock respective electric machine assembly and rotation arm component, to realize three axis holders 1 are switched to the effect of uniaxial holder.
Shown in Fig. 1 to Fig. 5, in an embodiment of the present invention, the locking device 30 includes locking block main body 300
With the first retaining mechanism 310, the locking block main body 300 is installed in electric machine assembly or the rotation of the armshaft component to be locked
On arm component, first retaining mechanism 310 is to by the locking block main body 300 and the rotation arm component or the motor
Component is mutually locked.
Further, first retaining mechanism 310 includes the first locking for being movably connected on the locking block main body 300
Block 312.When the locking block main body 300 is installed on the electric machine assembly, first latch segment 312 can hold tightly and
It unclamps and converts between the electric machine assembly.When the locking block main body 300 is installed on the rotation arm component, described first
Latch segment 312 can be converted between holding tightly and unclamping the rotation arm component.
Shown in Fig. 1 to Fig. 5, in an embodiment of the present invention, the locking device 30 further includes the second locking machine
Structure 320, second retaining mechanism 320 by the locking block main body 300 being fixed on the armshaft component to be locked
On the electric machine assembly or the rotation arm component, and then locking block main body 300 is installed in the armshaft component to be locked
The electric machine assembly or the rotation arm component on.
Further, the electric machine assembly of the armshaft component to be locked or the rotation arm component are equipped with clamping
End, second retaining mechanism 320 include the second latch segment 322 for being connected to the locking block main body 300, second locking
Block 322 includes support division 3221, and the support division 3221 is to support the joint end, and then by the locking block main body 300
It is fixed on the electric machine assembly or the rotation arm component of the armshaft component to be locked.
Shown in Fig. 1 to Fig. 5, in an embodiment of the present invention, the electric machine assembly of the armshaft component to be locked
Or rotation arm component is equipped with the first axially disposed connecting hole 101, the locking block main body 300 is equipped with and described first
101 compatible second connecting hole 306 of connecting hole.The locking device 30 further includes locking pin 330, and the locking pin 330 is worn
Set on second connecting hole 306 and first connecting hole 101, can by the locking block main body 300 with it is described to be locked
Armshaft component electric machine assembly or rotation arm component mutually lock, ensure that along with second latch segment 322 with it is described
The electric machine assembly of armshaft component to be locked or the rotation arm component support on the perpendicular direction in direction, the lock
It will not tightly occur between block main body 300 and the electric machine assembly or the rotation arm component of the armshaft component to be locked
The phenomenon that displacement.
Below by taking the armshaft component to be locked is yaw axis armshaft component 13 as an example, to the knot of the locking device 30
Structure and operation principle illustrate.
Shown in referring to Fig. 1 and Fig. 2, in an embodiment of the present invention, the armshaft component to be locked is yaw axis axis
The electric machine assembly of arm component 13, i.e., the described armshaft component to be locked is yaw axis electric machine assembly, the armshaft group to be locked
The rotation arm component of part is that yaw axis rotates arm component.The locking device 30 is to inclined when the yaw axis armshaft component 13
When the spindle motor component that navigates is closed, the yaw axis electric machine assembly of the yaw axis armshaft component 13 and yaw axis are rotated into arm component phase
Mutually locking.
Shown in Fig. 3 to Fig. 5, the locking device 30 includes locking block main body 300 and the first retaining mechanism 310, institute
Stating locking block main body 300 can be installed on the yaw axis electric machine assembly of the yaw axis armshaft component 13, first locking
Mechanism 310 can be used for the locking block main body 300 and the yaw axis of the yaw axis armshaft component 13 rotating arm component phase
Mutually locking.Certainly, the locking block main body 300 can also be installed on the yaw axis rotation arm component, first locking
Mechanism 310 can also be used to the yaw axis electric machine assembly mutually lock the locking block main body 300.
The yaw spindle motor group of the yaw axis armshaft component 13 is installed in the locking block main body 300 further below
For on part, to first retaining mechanism 310 by it is described locking block main body 300 and the yaw axis armshaft component 13 yaw
The realization method that shaft rotation movable arm-set is mutually locked illustrates.It should be noted that the structure about the locking device 30
And operation principle, it is equally applicable to be installed in the situation on the yaw axis rotation arm component when the locking block main body 300.
Shown in Fig. 1 and Fig. 2, in an embodiment of the present invention, the yaw shaft rotation of the yaw axis armshaft component 13
Movable arm-set includes yaw axis cursor 130, and the yaw axis electric machine assembly of the yaw axis armshaft component 13 includes 100 He of round platform
The yaw spindle motor for driving the round platform 100 to be relatively rotated with the yaw axis cursor 130.The round platform 100 is installed in institute
It states on yaw axis cursor 130, the yaw spindle motor is placed in the yaw axis cursor 130, and yaw axis electricity
The driving end of machine is protruded the yaw axis cursor 130 and is simultaneously arranged in round platform 100, so drive the round platform 100 with it is described
Yaw axis cursor 130 relatively rotates.The locking block main body 300 is installed on the round platform 100, first retaining mechanism
310 to lock the round platform 100 and the yaw axis cursor 130, by the first retaining mechanism 310 by the latch segment
Main body 300 and the yaw axis rotation arm component of the yaw axis armshaft component 13 are mutually locked, and then are realized the yaw axis
Yaw axis electric machine assembly and yaw axis the rotation arm component of armshaft component 13 are mutually locked to reach locking yaw axis armshaft component
13 effect.
Shown in Figure 5, in an embodiment of the present invention, first retaining mechanism 310 includes being movably connected on institute
The first latch segment 312 of locking block main body 300 is stated, first latch segment 312 can hold the round platform 100 tightly and unclamp institute
It states and converts between round platform 100.
Further, in conjunction with shown in Fig. 4 and Fig. 5, the yaw axis cursor 130 of the yaw axis armshaft component 13 is equipped with
The driving end of boss 102, the yaw spindle motor is arranged in round platform 100, and the yaw spindle motor can drive the round platform
100 relatively rotate with the boss 102.First latch segment 312 includes holding portion 3123, and the holding portion 3123 includes supporting
It holds end 3126 and set on the holding slot 3124 supported on end 3126, the boss 102 is matched with the holding slot 3124.
When the round platform 100 is held in the holding portion 3123 tightly and then locks the round platform 100 and the yaw axis cursor 130,
The holding slot 3124 is held in the boss 102.That is, locking block main body 300 is installed in the round platform 100 of yaw axis electric machine assembly
On, it can be by the round platform 100 of yaw axis electric machine assembly and described by the first latch segment 312 of first retaining mechanism 310
The boss 102 of yaw axis cursor 130 is mutually locked, and then is realized the yaw spindle motor group of the yaw axis armshaft component 13
Part and yaw axis rotation arm component are mutually locked to achieve the effect that lock yaw axis armshaft component 13.
Shown in Figure 5, in an embodiment of the present invention, first latch segment 312 is rotationally connected with the locking
Block main body 300, first retaining mechanism 310 further include fastening assembly 311, and the fastening assembly 311 is rotating described
One latch segment 312 and hold the yaw axis cursor 130 tightly when first latch segment 312 turns to the holding portion 3123
When boss 102, first latch segment 312 is locked, to keep the first latch segment 312 of the first retaining mechanism by the round platform
100 and the state held tightly of the boss 102, and then keep yaw axis armshaft 13 in the state of locking.
Further, the first screw hole 305 is offered in the locking block main body 300, the fastening assembly 311 includes and institute
305 matched first knob screw 3111 of the first screw hole is stated, the first knob screw 3111 is arranged in first locking
Block 312 can make first latch segment 312 towards close to the yaw axis when rotating the first knob screw 3111
The direction of the boss 102 of cursor 130 rotates or is directed away from the direction rotation of the boss 102 of the yaw axis cursor 130.
Make first latch segment 312 towards close to the convex of the yaw axis cursor 130 when rotating the first knob screw 3111
When the direction rotation of platform 102, shape that the first latch segment 312 can be kept to hold the round platform 100 and the boss 102 tightly
State.First latch segment 312 is set to be directed away from the yaw axis cursor 130 when rotating the first knob screw 3111
When the direction rotation of boss 102, the first latch segment 312 can be unclamped so that the round platform 100 is restored to the boss 102
The state that can mutually rotate
Optionally, the fastening assembly 311 further includes the first knob part 3112, and the first knob part 3112 is from described
Side far from the locking block main body 300 on one latch segment 312 is sheathed on the first knob screw 3111.When rotation first
Knob part 3112 drives the first knob screw 3111 to drive first latch segment 312 towards close to the yaw shaft rotation
When the direction rotation of the boss 102 of swing arm 130, the first knob part 3112 can cooperate with first screw hole 305, compress
State of first latch segment 312 to keep the first latch segment 312 to hold the round platform 100 and the boss 102 tightly.Work as rotation
First knob part 3112 drives the first knob screw 3111 that first latch segment 312 is driven to be directed away from the yaw
The boss 102 of shaft rotation swing arm 130 direction rotation when, the first latch segment 312 can be unclamped so that the round platform 100 with it is described
Boss 102 is restored to the state that can mutually rotate.
Shown in Figure 5, in an embodiment of the present invention, the locking device 30 further includes being fixedly connected on the lock
The link block 301 of tight block main body 300, the link block 301 are equipped with first rotating shaft 302, and first latch segment 312 passes through institute
First rotating shaft 302 is stated to be rotatablely connected with the link block 301.Optionally, the locking block main body 300 is equipped with the first mounting hole
3081, the connecting hole 301 is equipped with second mounting hole 3082 corresponding with first mounting hole 3081, passes through fastener
309 are arranged in the second mounting hole 3082 and the first mounting hole 3081, and then link block 301 is fixedly connected on the latch segment
Main body 300.Wherein, the first mounting hole 3081 and the second mounting hole 3082 can be screw holes, and fastener 309 can be threadedly coupled
Part.And the quantity of first mounting hole 3081, the second mounting hole 3082 and fastener 309 can be multiple, and correspond.
Further, the link block 301 is equipped with guide hole 303, and the first rotating shaft 302 is arranged in the guide hole 303
It is interior, and the both ends of the first rotating shaft 302 protrude out the guide hole 303 respectively.First latch segment 312 includes two articulated sections
3121, the articulated section 3121 is equipped with hinge hole 3122 compatible with the first rotating shaft 302, two articulated section 3121
It is articulated with the first rotating shaft 302 from the both sides of the link block 301 by the hinge hole 3122 respectively, and then is made described
First latch segment 312 is rotatablely connected by the first rotating shaft 302 and the link block 301.Optionally, the link block 301
It is equipped with accommodating hole 3011, is accommodated in the accommodating hole 3011 and is provided with counterpart 304, opened up on the counterpart 304
State the first screw hole 305.That is, the first knob screw 3111 makes first latch segment 312 towards close to the yaw shaft rotation
When the direction rotation of the boss 102 of swing arm 130, the first knob screw 3111 is bolted in first on counterpart 304
Screw hole 305, the first knob screw 3111 cooperate with the counterpart 304, and the first latch segment 312 is compressed to keep
The state that first latch segment 312 holds the round platform 100 and the boss 102 tightly.
It, can also be by way of axis pin connection by the locking block main body 300 and institute in an embodiment of the present invention
State the locking of yaw axis cursor 130.Wherein, the first fastener hole, institute are offered on the boss 102 of the yaw axis cursor 130
It states and offers the second fastener hole compatible with first fastener hole on round platform 100, offered in the locking block main body 300
Third fastener hole compatible with second fastener hole.First retaining mechanism 310 includes holding pin, and the holding pin is worn
In the third fastener hole, second fastener hole and first fastener hole, so by the round platform 100 with it is described convex
Platform 102 is locked, and then the locking block main body 300 is locked with the yaw axis cursor 130.
Be described above and how mutually to lock the locking block main body 300 and the yaw axis cursor 130, below into
The how described locking block main body 300 of one step introduction is installed on the round platform 100 of the yaw axis electric machine assembly.
Shown in Figure 5, in an embodiment of the present invention, the locking device 30 further includes the second retaining mechanism 320,
Second retaining mechanism 320 by the locking block main body 300 being fixed on the round platform 100 of the yaw axis electric machine assembly
On, and then locking block main body 300 is installed on the round platform 100.
Further, the round platform 100 of the yaw axis electric machine assembly is equipped with joint end, second retaining mechanism 320
The second latch segment 322 including being connected to the locking block main body 300, second latch segment 322 includes support division 3221, institute
Support division 3221 is stated to support the joint end of the round platform 100, and then the locking block main body 300 and the yaw axis is electric
Thermomechanical components are fixed to each other.That is, second latch segment 322 is held in the round platform 100 along the radial direction of round platform 100, and then by institute
Locking block main body 300 is stated to be fixed to each other with the yaw axis electric machine assembly.
Optionally, the joint end of the round platform 100, which has, tilts cell wall, the support division 3221 of second latch segment 322
Support inclined-plane 3222 including compatible with the inclination cell wall, the support division 3221 support inclined-plane 3222 be held in it is described
When the inclination cell wall of joint end, cooperation is mutually supported with cell wall is tilted by supporting inclined-plane 3222, can preferably ensure the
Two latch segments 322 are tightly secured on round platform 100, and then ensure the company of fastening between locking block main body 300 and round platform 100
It connects.
In an embodiment of the present invention, second latch segment 322 is slideably positioned in the locking block main body 300, institute
It further includes drive component 321 to state the second retaining mechanism 320, and the driving component 321 drives second latch segment 322 along close
It slides in the direction of the round platform 100 of the yaw axis electric machine assembly so that the support division 3221 is held in the joint end, to protect
It holds between the second latch segment 322 and the round platform 100 in the state being fastenedly connected.
Further, offer the second screw hole 3223 on second latch segment 322, the driving component 321 include with
Second screw hole, 3223 matched second knob screw 3211, the second knob screw 3211 pass through the latch segment master
Body 300 is simultaneously bolted in second latch segment 322.Make second latch segment 322 when rotating the second knob screw 3211
When along the sliding of the direction of the round platform 100 close to the yaw axis electric machine assembly, the support division 3221 of the second latch segment 322 can be made
It is held in the joint end of the round platform 100.Make second latch segment 322 along separate when rotating the second knob screw 3211
When the direction sliding of the round platform 100 of the yaw axis electric machine assembly, the support division 3221 of the second latch segment 322 can be made to be detached from institute
The joint end for stating round platform 100, in order to dismantle the locking block main body 300 from the round platform 100.
Optionally, the driving component 321 further includes the second knob part 3212, and the second knob part 3212 is from described
Side far from the locking block main body 300 on two latch segments 322 is sheathed on the second knob screw 3211.When rotation second
Knob part 3212 drives the second knob screw 3211 to drive second latch segment 322 along close to the yaw spindle motor
When the direction sliding of the round platform 100 of component, the support division 3221 of the second latch segment 322 can be made to be held in the round platform 100
Joint end.When rotating the second knob part 3212, the second knob screw 3211 is driven to drive second latch segment 322 along remote
When the direction sliding of the round platform 100 from the yaw axis electric machine assembly, the support division 3221 of the second latch segment 322 can be made to be detached from
The joint end of the round platform 100, and then second latch segment 322 is unlocked with the round platform 100, in order to by the locking
Block main body 300 is dismantled from the round platform 100.
In an embodiment of the present invention, second screw hole 3223 runs through second latch segment 322, second rotation
Button screw 3211 further includes the extended segment for protruding from second latch segment 322.The driving component 321 further includes locating part,
The locating part is connected to the extension from the second knob screw 3211 close to the side of the locking block main body 300
Section.After the locking block main body 300 is disassembled from the round platform 100, the second knob part 3212 of rotation can drive described
Second knob screw 3211 drives second latch segment 322 to be slided along far from 300 direction of locking block main body, described at this time
Locating part can play position-limiting action to the second latch segment 322, prevent the second latch segment 322 from the locking block main body 300
It falls off.And when needing to dismantle the second latch segment 322 from the locking block main body 300, first by the locating part from described
It is dismantled on two knob screws 3211, you can dismantle the second latch segment 322 from the locking block main body 300.
The radial direction by second latch segment 322 along round platform 100 is described above and is held in the round platform 100, in turn
The locking block main body 300 is fixed to each other with the yaw axis electric machine assembly.But with second latch segment 322 with
The round platform 100 supports on the perpendicular direction in direction, and the locking block main body 300 is with the round platform 100 it is possible to meeting
The phenomenon that being displaced.It is described further below between how avoiding the occurrence of the locking block main body 300 and the round platform 100 still
The case where being displaced.
Shown in Fig. 2, Fig. 3 and Fig. 5, in an embodiment of the present invention, the round platform of the yaw axis electric machine assembly
100 are equipped with the first connecting hole 101 being axially arranged along round platform 100, and the locking block main body 300 is equipped with and described first
101 compatible second connecting hole 306 of connecting hole.The locking device 30 further includes locking pin 330, and the locking pin 330 is worn
It, can be by the locking block main body 300 and the circle in second connecting hole 306 and first connecting hole 101
Platform 100 mutually locks, and ensure that and is supporting the perpendicular side in direction along with second latch segment 322 and the round platform 100
Upwards, the phenomenon that will not being displaced between the locking block main body 300 and the round platform 100.
Further, it offers on the outer wall of the locking block main body 300 and is opened with what second connecting hole 306 was connected
Oral area 307.The locking device 30 further includes push button element 340, and 340 part of the push button element is arranged in the opening portion 307 simultaneously
Affixed with the locking pin 330, the push button element 340 can drive the locking pin 330 along the aperture of second connecting hole 306
It moves in direction.In conjunction with shown in Fig. 5, make the locking pin 330 along second connecting hole 306 when driving the push button element 340
When aperture direction moves down, the locking pin 330 can be made to be arranged in second connecting hole 306 and first connection
In hole 101, and then the locking block main body 300 and the round platform 100 are mutually locked.Make institute when driving the push button element 340
State locking pin 330 along the aperture direction of second connecting hole 306 be moved upward to the locking pin 330 be detached from it is described first connect
When connecing hole 101, and then the locking block main body 300 and the round platform 100 are mutually unlocked, then by second latch segment 322
It is unlocked with the round platform 100, you can dismantle the locking block main body 300 from the round platform 100.
Optionally, the locking pin 330 is equipped with the third connecting hole 331 being disposed radially, and is set on the push button element 340
There are the convex extension part 341 for being arranged in the opening portion 307, the convex extension part 341 to be fixed in the third connecting hole 331, in turn
The push button element 340 is fixedly connected with the locking pin 330.
Shown in Fig. 1 and Fig. 2, in an embodiment of the present invention, the three axis holder 1 further includes holder holding rod
20, the locking device 30 is installed between the holder holding rod 20 and the yaw axis armshaft component 13, the locking dress
30 are set for the yaw axis of the holder holding rod 20 and the yaw axis armshaft component 13 to be rotated to the rotation between arm component
Locking.
Further, the top of the round platform 100 of the yaw axis electric machine assembly of the yaw axis armshaft component 13 is equipped with first
The bottom of dovetail groove 410, the locking block main body 300 is equipped with and first dovetail groove, 410 matched second dovetail groove
420.The bottom of the holder holding rod 20 be equipped with third dovetail groove 430, it is described locking block main body 300 top be equipped with it is described
430 matched 4th dovetail groove 440 of third dovetail groove.The holder holding rod 20 and the locking block main body 300 pass through the
Three dovetail grooves 430 and the 4th dovetail groove 440 coordinate and are fixed to each other.The locking block main body 300 and the round platform 100 pass through the
The cooperation of one dovetail groove 410 and the second dovetail groove 420 and be fixed to each other.
It so, be by the locking device 30 by the inclined of the holder holding rod 20 and the yaw axis armshaft component 13
Rotation locking between shaft rotation movable arm-set of navigating.First, second latch segment 322 is first passed through to support along the radial direction of round platform 100
In the round platform 100, the locking block main body 300 and the round platform 100 of the yaw axis electric machine assembly are fixed to each other, ensure that
In supporting on direction along second latch segment 322 and the round platform 100, the locking block main body 300 and the round platform 100
Preliminary locking.Then, by driving the push button element 340 to make the locking pin 330 along the aperture of second connecting hole 306
Direction is moved downward to the locking pin 330 and is arranged in second connecting hole 306 and first connecting hole 101, will
The locking block main body 300 is mutually locked with the round platform 100, ensure that on edge and second latch segment 322 and the circle
Platform 100 supports on the perpendicular direction in direction, will not be moved between the locking block main body 300 and the round platform 100
The phenomenon that position.That is, operated by above two step, it can be complete by the locking block main body 300 and the round platform 100
Locking.Finally, make the first latch segment 312 by the round platform 100 and described convex by rotating the first knob screw 3111
Platform 102 is held tightly, and then the locking device 30 is rotated to 130 phase of the yaw axis cursor interlocking of arm component with the yaw axis
Tightly, being also achieved that will be between the yaw axis of the holder holding rod 20 and the yaw axis armshaft component 13 rotation arm component
Rotate the effect of locking.
Shown in Figure 2, in an embodiment of the present invention, the armshaft component to be locked is to carry device for shooting
The electric machine assembly of 90 pitch axis armshaft component 11, the armshaft component to be locked is pitch axis electric machine assembly, described to wait locking
The rotation arm component of fixed armshaft component is pitch axes arm component.The locking device 30 is working as the pitching spindle motor
When component is closed, the pitch axis electric machine assembly and the pitch axes arm component are mutually locked.
It should be noted that when the armshaft component to be locked is pitch axis armshaft component 11, pitch axis electric machine assembly
The setting boss can be saved, the pitching spindle motor of pitch axis electric machine assembly can be placed in the roll shaft rotation swing arm 120
In, the driving end of pitching spindle motor can be directly arranged in pitch axes arm 110 after protruding the roll shaft rotation swing arm 120
To drive pitch axes arm 110 to rotate.It is above-mentioned by the armshaft component to be locked be yaw axis armshaft component 13 for
Description in embodiment and embodiment about the other structures of the locking device 30 is still applied to the armshaft to be locked
The case where component is pitch axis armshaft component 11.
Shown in Figure 2, in an embodiment of the present invention, the translation shaft armshaft component 14 includes translation shaft cursor
140, the armshaft component to be locked is roll axis armshaft component 12, and the electric machine assembly of the armshaft component to be locked is cross
The rotation arm component of roller motor component, the armshaft component to be locked is roll shaft rotation movable arm-set.The locking device
30 to when the roll spindle motor component is closed, by the roll spindle motor component and the roll shaft rotation movable arm-set phase
Mutually locking.
It should be noted that when the armshaft component to be locked is roll axis armshaft component 12, roll spindle motor component
The setting boss can be saved, the roll spindle motor of roll spindle motor component can be placed in translation shaft cursor 140, horizontal
The driving end of roller motor can be directly arranged in roll shaft rotation swing arm 120 after protruding the translation shaft cursor 140 to drive
Dynamic roll shaft rotation swing arm 120 rotates.The above-mentioned implementation by taking the armshaft component to be locked is yaw axis armshaft component 13 as an example
Description in mode and embodiment about the other structures of the locking device 30 is still applied to the armshaft component to be locked
For roll axis armshaft component 12 the case where.
In the following, the present invention in conjunction with the drawings and the specific embodiments, introduces a kind of control method of three axis holder, above-mentioned embodiment party
The description as described in the three axis holder in formula and embodiment is equally applicable to the control method of the three axis holders of the present invention.Referring to
Shown in Fig. 6, the embodiment of the present invention provides a kind of control method of three axis holder, and the three axis holder includes：Three groups of armshaft components,
Armshaft component described in every group includes motor, and three groups of armshaft components include at least one set of armshaft component to be locked, this
The control method of three axis holders of invention, including：
Step S01：The motor for closing the armshaft component to be locked, by locking device by armshaft component to be locked
It is locked.
Step S02：The targeted attitude for controlling the armshaft component to be locked is equal with the holding of practical posture.
Step S03：It calculates the targeted attitude of other armshaft components and the deviation of practical posture and eliminates the deviation.
The control method of the three axis holders of the present invention by the motor of closing armshaft component to be locked, then controls and waits locking
The targeted attitude of fixed armshaft component is equal with the holding of practical posture, then calculates the targeted attitude and reality of other armshaft components
The deviation of posture simultaneously eliminates the deviation, to lock armshaft component to be locked, realizes three axis holders switching to two axis clouds
The effect of platform or uniaxial holder.
In an embodiment of the present invention, the three axis holder includes processor.Above-mentioned steps S01 may further include
Step S011：The motor that the armshaft component to be locked is controlled by the processor stops.
In an embodiment of the present invention, the three axis holder further includes Inertial Measurement Unit and electron speed regulator, described
Electron speed regulator is connect with the motor of the Inertial Measurement Unit, the processor and the armshaft component to be locked.It is above-mentioned
Step S011 may further include step：0 signal is sent to the electron speed regulator by the Inertial Measurement Unit, in turn
The motor of the armshaft component to be locked is set to stop.
In an embodiment of the present invention, above-mentioned steps S02 may further include step：The axis to be locked is set
The targeted attitude of arm component is equal with the value of practical posture.Optionally, above-mentioned steps S02 can further include step：
The value of the practical posture of the armshaft component to be locked is directly assigned to targeted attitude, and then makes the armshaft group to be locked
The targeted attitude of part is equal with the holding of practical posture.
In an embodiment of the present invention, the three axis holder includes being connect with the motor of the armshaft component to be locked
The first encoder.Above-mentioned steps S02 may further include step：The value of first encoder is set as 0, and then is made
The targeted attitude of the armshaft component to be locked is equal with the holding of practical posture.
In an embodiment of the present invention, the three axis holder includes processor and the motor one with other armshaft components
One second encoder being correspondingly connected with.Above-mentioned steps S03 may further include：
Step S031：Calculate the deviation of the targeted attitude and practical posture of other armshaft components.
Step S032：The deviation is transferred to the processor.
Step S033：By the processor according to the electricity of other armshaft components of the set value calculation of the second encoder
Machine, which turns to, keeps the targeted attitude of other armshaft components equal with practical posture, and then eliminates the deviation.
Below by taking three axis holders switch to two axle The Cloud Terraces as an example, the control method of the three axis holders of the present invention is said
It is bright.Three groups of armshaft components are respectively yaw axis armshaft component, pitch axis armshaft component and roll axis armshaft component, described
Yaw axis armshaft component includes yaw spindle motor, and the pitch axis armshaft component includes pitching spindle motor, the roll axis armshaft
Component includes roll spindle motor.Three groups of armshaft components include one group of armshaft component to be locked, the axis to be locked
Arm component is the yaw axis armshaft component.The control method of the three axis holders of the present invention, including：
The yaw spindle motor is closed, is locked yaw axis armshaft component by locking device；
It is equal with the holding of practical posture to control the yaw axis targeted attitude；
Calculate the deviation and the roll axis targeted attitude and practical posture of the pitch axis targeted attitude and practical posture
Deviation, and the attitude misalignment of the pitching spindle motor and the attitude misalignment of the roll spindle motor are eliminated using feedback control,
And then the three axis holder is switched into two axle The Cloud Terraces, to achieve the purpose that it is steady that twin shaft increases.
Below by taking three axis holders switch to uniaxial holder as an example, the control method of the three axis holders of the present invention is said
It is bright.Three groups of armshaft components are respectively yaw axis armshaft component, pitch axis armshaft component and roll axis armshaft component, described
Yaw axis armshaft component includes yaw spindle motor, and the pitch axis armshaft component includes pitching spindle motor, the roll axis armshaft
Component includes roll spindle motor.Three groups of armshaft components include two groups of armshaft components to be locked, the axis to be locked
Arm component is the yaw axis armshaft component and the pitch axis armshaft component.The control method of the three axis holders of the present invention, packet
It includes：
The yaw spindle motor and the pitching spindle motor are closed, locking device yaw axis armshaft component and pitching are passed through
Axis armshaft component is locked；
Control the yaw axis targeted attitude equal with the holding of practical posture and the pitch axis targeted attitude and practical appearance
State keeps equal；
The deviation of the roll axis targeted attitude and practical posture is calculated, and the roll axis electricity is eliminated using feedback control
The attitude misalignment of machine, and then the three axis holder is switched into uniaxial holder, to achieve the purpose that uniaxial increasing is steady.
The control method of three axis holders for a better understanding of the present invention, the three axis holder can also include that electricity adjusts system
System, the electric operation dispatching system may include three electric-regulating devices, and three groups of respective motors of armshaft component correspond to an electricity and adjust dress respectively
It sets.Each electric-regulating device may include that electricity adjusts unit and electric-motor drive unit.The electricity adjusts unit to be electrically connected to the motor
Driving unit.The electric-motor drive unit is electrically connected to corresponding motor.
It is appreciated that the electric operation dispatching system can also include the Inertial Measurement Unit.The Inertial Measurement Unit can be with
Including at least one inertia measurement sensor and a controller, the inertia measurement sensor may include gyroscope and acceleration
Device, the inertia measurement sensor for detecting holder or the state parameter of load, such as the angular speed of holder or load and/or
The parameters such as acceleration, the controller send out control signal to each electricity based on the state parameter and unit, each electricity are adjusted to adjust unit institute right
The control signal is sent to corresponding motor by the electric-motor drive unit answered, and to control motor rotation, and then is convenient for described three
Axis holder carries out holder pose adjustment according to the state parameter, to realize steady shot.
It is appreciated that the electricity, which adjusts unit, to be microprocessor, and the electric-motor drive unit can be power amplification
Unit.The microprocessor is used to receive the control signal of the controller, and the power amplification unit is for believing the control
Number it is amplified to corresponding motor, to control motor rotation.
It is appreciated that the electric-regulating device can receive remote control instruction (such as remote controler send out control instruction,
The instruction etc. that control instruction that face base station is sent out, ground control centre are sent out), in three motors for controlling three groups of armshaft components
At least one angle for changing shooting and/or direction.
It is appreciated that independent first power supply (i.e. positive pole) and the first electricity can be used in three electric-motor drive units
Source ground (i.e. power cathode), and then individual current supply circuit is formed, to eliminate electric-motor drive unit because operating current is larger right
The interference effect that other function modules generate.The electricity adjusts unit and other each function modules to may connect to one independent
Second source (i.e. positive pole) and second source ground (i.e. power cathode), to form an individual current supply circuit.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
Method and apparatus are provided for the embodiments of the invention above to be described in detail, it is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent＆Trademark Office and archives or should
Patent discloses.
Claims (35)
1. a kind of three axis holders, including three groups of armshaft components, armshaft component described in every group include electric machine assembly and with the electricity
Thermomechanical components keep the rotation arm component being drivingly connected, which is characterized in that three groups of armshaft components include that at least one set waits locking
Fixed armshaft component, the three axis holder further include the locking device being connected with the armshaft component to be locked, the lock
Tight device is to when the electric machine assembly of the armshaft component to be locked is closed, by the motor of the armshaft component to be locked
Component and the rotation arm component are mutually locked.
2. three axis holder according to claim 1, which is characterized in that the locking device includes locking block main body and first
Retaining mechanism, the locking block main body are installed in the electric machine assembly of the armshaft component to be locked or the cursor group
On part, first retaining mechanism to by it is described locking block main body and the armshaft component to be locked the cursor group
Part or the electric machine assembly are mutually locked.
3. three axis holder according to claim 2, which is characterized in that the locking block main body is installed in described to be locked
On the electric machine assembly of armshaft component, first retaining mechanism includes the first lock for being movably connected on the locking block main body
Tight block, first latch segment can turn between holding tightly and unclamping the electric machine assembly of the armshaft component to be locked
It changes.
4. three axis holder according to claim 3, which is characterized in that first latch segment includes holding portion, described armful
Tight portion includes supporting end and set on the holding slot supported on end, the rotation arm component of the armshaft component to be locked
It is equipped with boss, the boss is matched with the holding slot；When the holding portion is by the institute of the armshaft component to be locked
When stating electric machine assembly with rotation arm component locking, the holding slot is held in the boss.
5. three axis holder according to claim 4, which is characterized in that first latch segment is rotationally connected with the locking
Block main body, first retaining mechanism further includes fastening assembly, and the fastening assembly is rotating first latch segment and work as
When first latch segment turns to the holding portion holding boss, first latch segment is locked.
6. three axis holder according to claim 5, which is characterized in that the first screw hole is offered in the locking block main body,
The fastening assembly includes being arranged in described with the matched first knob screw of first screw hole, the first knob screw
First latch segment can make first latch segment towards close to described to be locked when rotating the first knob screw
The direction of the rotation arm component of armshaft component rotates.
7. three axis holder according to claim 6, which is characterized in that the fastening assembly further includes the first knob part, institute
It states side of the first knob part far from the locking block main body from first latch segment and is sheathed on the first knob screw.
8. three axis holder according to claim 5, which is characterized in that the locking device further include be fixedly connected on it is described
Lock block main body link block, the link block be equipped with first rotating shaft, first latch segment by the first rotating shaft with
The link block rotation connection.
9. three axis holder according to claim 8, it is characterised in that：
The link block is equipped with guide hole, and the first rotating shaft is arranged in the guide hole, and the both ends of the first rotating shaft point
The guide hole is not protruded out；
First latch segment includes two articulated sections, and the articulated section is equipped with hinge hole compatible with the first rotating shaft,
Two articulated section is articulated with the first rotating shaft from the both sides of the link block by the hinge hole respectively.
10. three axis holder according to claim 2, which is characterized in that the locking device further includes the second retaining mechanism,
Second retaining mechanism by the locking block main body being fixed on the electric machine assembly of the armshaft component to be locked
Or on the rotation arm component.
11. three axis holder according to claim 10, which is characterized in that the electric machine assembly is equipped with joint end, described
Second retaining mechanism includes the second latch segment for being connected to the locking block main body, and second latch segment includes support division, institute
Support division is stated to support the joint end, and then the locking block main body is fixed on to the institute of the armshaft component to be locked
It states on electric machine assembly or the rotation arm component.
12. three axis holder according to claim 11, which is characterized in that the joint end, which has, tilts cell wall, described to support
The portion of holding includes compatible with the inclination cell wall supporting inclined-plane.
13. three axis holder according to claim 11, which is characterized in that second latch segment is slideably positioned in the lock
Tight block main body, second retaining mechanism further include drive component, and the driving component drives second latch segment along close
The direction sliding of the electric machine assembly of the armshaft component to be locked or the rotation arm component so that the support division supports
It is held in the joint end.
14. three axis holder according to claim 13, which is characterized in that offer the second spiral shell on second latch segment
Hole, the driving component include passing through institute with the matched second knob screw of second screw hole, the second knob screw
It states locking block main body and is bolted in second latch segment.
15. three axis holder according to claim 14, which is characterized in that the driving component further includes the second knob part,
Side of the second knob part far from the locking block main body from second latch segment is sheathed on the second knob spiral shell
Silk.
16. three axis holder according to claim 14, which is characterized in that second screw hole is locked through described second
Block, the second knob screw include the extended segment for protruding from second latch segment；The driving component further includes locating part,
The locating part is connected to the extended segment from the second knob screw close to the side of the locking block main body.
17. three axis holder according to claim 2, which is characterized in that on the electric machine assembly or the rotation arm component
Equipped with the first axially disposed connecting hole, the locking block main body is equipped with compatible with first connecting hole second and connects
Connect hole；The locking device further includes locking pin, and the locking pin is arranged in second connecting hole and first connection
In hole.
18. three axis holder according to claim 17, which is characterized in that it is described locking block main body outer wall on offer with
The opening portion that second connecting hole is connected；The locking device further includes push button element, and the push button element part is arranged in institute
Opening portion and affixed with the locking pin is stated, the push button element can drive the locking pin along the aperture side of second connecting hole
To movement.
19. cradle head structure according to claim 18, which is characterized in that the locking pin is equipped with the be disposed radially
Three connecting holes, the push button element are equipped with the convex extension part for being arranged in the opening portion, and the convex extension part is fixed on the third and is connected
It connects in hole.
20. the three axis holders according to any one of claim 2 to 19, which is characterized in that the armshaft to be locked
Component is yaw axis armshaft component, and the electric machine assembly of the armshaft component to be locked is yaw axis electric machine assembly, described to wait locking
The rotation arm component of fixed armshaft component is that yaw axis rotates arm component；The locking device is working as the yaw spindle motor group
When part is closed, the yaw axis electric machine assembly and yaw axis rotation arm component are mutually locked.
21. three axis holder according to claim 20, it is characterised in that：
The yaw axis rotation arm component includes yaw axis cursor, and the yaw axis electric machine assembly includes described in round platform and driving
The yaw spindle motor that round platform is relatively rotated with the yaw axis cursor；The round platform is installed on the yaw axis cursor,
The yaw spindle motor is placed in the yaw axis cursor, and the yaw axis is protruded at the driving end of the yaw spindle motor
Cursor is simultaneously arranged in the round platform；
The locking block main body is installed on the round platform, and first retaining mechanism is to by the round platform and the yaw axis
Cursor is locked.
22. three axis holder according to claim 21, which is characterized in that it is tight to offer first on the yaw axis cursor
Solid hole offers the second fastener hole compatible with first fastener hole on the round platform, is opened up in the locking block main body
There is third fastener hole compatible with second fastener hole；First retaining mechanism includes holding pin, and the holding pin is worn
In the third fastener hole, second fastener hole and first fastener hole, and then by the round platform and the yaw
Shaft rotation swing arm is locked.
23. three axis holder according to claim 20, which is characterized in that further include holder holding rod, the locking device
It is installed between the holder holding rod and the yaw axis armshaft component, the locking device is used for the holder holding rod
The rotation between arm component is rotated with the yaw axis to lock.
24. three axis holder according to claim 23, which is characterized in that the top of the yaw axis electric machine assembly is equipped with the
The bottom of one dovetail groove, the locking block main body is equipped with and matched second dovetail groove of first dovetail groove；The holder
The bottom of holding rod is equipped with third dovetail groove, and the top of the locking block main body is equipped with and the third dovetail groove matched the
Four dovetail grooves.
25. the three axis holders according to any one of claim 2 to 19, which is characterized in that the armshaft to be locked
Component is to carry the pitch axis armshaft component of device for shooting, and the electric machine assembly of the armshaft component to be locked is pitch axis electricity
The rotation arm component of thermomechanical components, the armshaft component to be locked is pitch axes arm component；The locking device is working as
When the pitch axis electric machine assembly is closed, the pitch axis electric machine assembly and the pitch axes arm component are mutually locked.
26. the three axis holders according to any one of claim 2 to 19, which is characterized in that the armshaft to be locked
Component is roll axis armshaft component, and the electric machine assembly of the armshaft component to be locked is roll spindle motor component, described to wait locking
The rotation arm component of fixed armshaft component is roll shaft rotation movable arm-set；The locking device is working as the roll spindle motor group
When part is closed, the roll spindle motor component and the roll shaft rotation movable arm-set are mutually locked.
27. a kind of control method of three axis holder, the three axis holder include：Three groups of armshaft components, armshaft component described in every group
Include motor, which is characterized in that three groups of armshaft components include at least one set of armshaft component to be locked；The control
Method includes：
Close the motor of the armshaft component to be locked；
The targeted attitude for controlling the armshaft component to be locked is equal with the holding of practical posture；
It calculates the targeted attitude of other armshaft components and the deviation of practical posture and eliminates the deviation.
28. the control method of three axis holder according to claim 27, which is characterized in that the three axis holder includes processing
Device；The motor of the armshaft component to be locked is closed, including：The armshaft component to be locked is controlled by the processor
Motor stop.
29. the control method of three axis holder according to claim 28, which is characterized in that the three axis holder further includes being used to
Property measuring unit and electron speed regulator, the electron speed regulator and the Inertial Measurement Unit, the processor and described wait locking
The motor of fixed armshaft component connects；The motor that the armshaft component to be locked is controlled by the processor stops, including：
0 signal is sent to the electron speed regulator by the Inertial Measurement Unit, and then makes the electricity of the armshaft component to be locked
Machine stops.
30. the control method of three axis holder according to claim 27, which is characterized in that the control armshaft to be locked
The targeted attitude of component is equal with the holding of practical posture, including：The targeted attitude and reality of the armshaft component to be locked are set
The value of border posture is equal.
31. the control method of three axis holder according to claim 30, which is characterized in that the three axis holder includes and institute
State the first encoder of the motor connection of armshaft component to be locked；Control the targeted attitude of the armshaft component to be locked with
Practical posture keeps equal, including：The value of first encoder is set as 0, and then makes the armshaft component to be locked
Targeted attitude it is equal with the holding of practical posture.
32. the control method of three axis holder according to claim 30, which is characterized in that the control armshaft to be locked
The targeted attitude of component is equal with the holding of practical posture, including：The value of the practical posture of the armshaft component to be locked is straight
It connects and is assigned to targeted attitude, and then keep the targeted attitude of the armshaft component to be locked equal with the holding of practical posture.
33. the control method of three axis holder according to claim 27, which is characterized in that the three axis holder includes processing
Device and the second encoder to connect one to one with the motors of other armshaft components；Calculate the targeted attitude of other armshaft components
And the deviation of practical posture simultaneously eliminates the deviation, including：
Calculate the deviation of the targeted attitude and practical posture of other armshaft components；
The deviation is transferred to the processor；
Being turned to according to the motor of the set value calculation of the second encoder other armshaft components by the processor makes it
The targeted attitude of his armshaft component is equal with practical posture, and then eliminates the deviation.
34. the control method of three axis holder according to claim 27, which is characterized in that three groups of armshaft components difference
For yaw axis armshaft component, pitch axis armshaft component and roll axis armshaft component, the yaw axis armshaft component includes yaw
Spindle motor, the pitch axis armshaft component include pitching spindle motor, and the roll axis armshaft component includes roll spindle motor；It is described
Three groups of armshaft components include one group of armshaft component to be locked, and the armshaft component to be locked is the yaw axis armshaft group
Part；The control method includes：
Close the yaw spindle motor；
It is equal with the holding of practical posture to control the yaw axis targeted attitude；
Calculate the pitch axis targeted attitude and practical posture deviation and the roll axis targeted attitude and practical posture it is inclined
Difference, and the attitude misalignment of the pitching spindle motor and the attitude misalignment of the roll spindle motor are eliminated using feedback control, in turn
The three axis holder is switched into two axle The Cloud Terraces.
35. the control method of three axis holder according to claim 27, which is characterized in that three groups of armshaft components difference
For yaw axis armshaft component, pitch axis armshaft component and roll axis armshaft component, the yaw axis armshaft component includes yaw
Spindle motor, the pitch axis armshaft component include pitching spindle motor, and the roll axis armshaft component includes roll spindle motor；It is described
Three groups of armshaft components include two groups of armshaft components to be locked, and the armshaft component to be locked is the yaw axis armshaft group
Part and the pitch axis armshaft component；The control method includes：
Close the yaw spindle motor and the pitching spindle motor；
It controls the yaw axis targeted attitude equal with the holding of practical posture and the pitch axis targeted attitude and practical posture is protected
It holds equal；
The deviation of the roll axis targeted attitude and practical posture is calculated, and the roll spindle motor is eliminated using feedback control
Attitude misalignment, and then the three axis holder is switched into uniaxial holder.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/073768 WO2018148899A1 (en) | 2017-02-16 | 2017-02-16 | Three-axis mount and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108513605A true CN108513605A (en) | 2018-09-07 |
| CN108513605B CN108513605B (en) | 2020-04-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780004523.5A Expired - Fee Related CN108513605B (en) | 2017-02-16 | 2017-02-16 | Three-axis pan-tilt and control method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108513605B (en) |
| WO (1) | WO2018148899A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113994134A (en) * | 2020-10-15 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Stability-increasing cradle head and movable platform |
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| CN104965527A (en) * | 2015-07-03 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Cradle head control method and cradle head |
| CN105090699A (en) * | 2015-08-27 | 2015-11-25 | 深圳市大疆创新科技有限公司 | Cradle head |
| CN105667818A (en) * | 2016-01-05 | 2016-06-15 | 零度智控（北京）智能科技有限公司 | Cradle head |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105059528B (en) * | 2015-07-23 | 2017-12-12 | 致导科技（北京）有限公司 | A kind of folding unmanned plane |
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2017
- 2017-02-16 WO PCT/CN2017/073768 patent/WO2018148899A1/en active Application Filing
- 2017-02-16 CN CN201780004523.5A patent/CN108513605B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10044717A1 (en) * | 2000-09-04 | 2002-03-14 | Sim Security & Electronic Syst | Pivot and inclination device for surveillance camera uses setting drive for movement of multi-part housing receiving camera relative to different perpendicular axes |
| CN102662407A (en) * | 2012-05-04 | 2012-09-12 | 中国科学院光电技术研究所 | Tracking control method of three-axis telescope |
| CN103672340A (en) * | 2013-12-05 | 2014-03-26 | 张锦海 | Handheld three-shaft shooting pan and tilt head |
| CN104360690A (en) * | 2014-11-05 | 2015-02-18 | 桂林飞宇电子科技有限公司 | Handheld triaxial head |
| CN104482370A (en) * | 2014-11-20 | 2015-04-01 | 深圳一电科技有限公司 | Photographing equipment fixing device, photographing system as well as control method of photographing system |
| CN104965527A (en) * | 2015-07-03 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Cradle head control method and cradle head |
| CN105090699A (en) * | 2015-08-27 | 2015-11-25 | 深圳市大疆创新科技有限公司 | Cradle head |
| CN105667818A (en) * | 2016-01-05 | 2016-06-15 | 零度智控（北京）智能科技有限公司 | Cradle head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108513605B (en) | 2020-04-07 |
| WO2018148899A1 (en) | 2018-08-23 |
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