CN110770496B

CN110770496B - Cloud platform, handheld cloud platform and handheld shooting device

Info

Publication number: CN110770496B
Application number: CN201880038816.XA
Authority: CN
Inventors: 李玉; 刘国尧
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-08-24
Filing date: 2018-08-24
Publication date: 2021-10-01
Anticipated expiration: 2038-08-24
Also published as: WO2020037640A1; CN110770496A

Abstract

A head (10) comprising a first shaft assembly (12) and a second shaft assembly (14), the first shaft assembly (12) being adapted to connect to a load (40) and to drive the load (40) in rotation about a first axis (R); the second shaft assembly (14) is used for driving the first shaft assembly (12) to swing around a second shaft (P); the second shaft (P) is a driving shaft for driving the first shaft assembly (12) to swing by the second shaft assembly (14); the head (10) is configured for bringing the centre of gravity (41) of the load (40) closer to the second axis (P) with respect to the centre of gravity (121) of the first axis assembly (12); opposite sides of a vertical plane (S) in which the second axis (P) lies are used to center the center of gravity (121) of the first axis assembly (12) and the center of gravity (41) of the load (40). A handheld pan-tilt (100) and a handheld camera (1000) are also disclosed.

Description

Cloud platform, handheld cloud platform and handheld shooting device

Technical Field

The application relates to cloud platform technical field, in particular to cloud platform, handheld cloud platform and handheld shooting device.

Background

In the related art, when a handheld shooting device shoots, a shot picture usually shakes or blurs due to shaking of a body and an arm of a user, and therefore a handheld pan-tilt is required to stabilize the shooting device. However, the handheld holder stability augmentation device is usually too large in size and inconvenient to carry, and user experience is affected. Therefore, how to design a portable and small-sized handheld tripod head becomes a technical problem to be solved.

Disclosure of Invention

In view of this, this application provides a cloud platform, handheld cloud platform and handheld shooting device, can reduce unnecessary counter weight for the cloud platform volume reduces and conveniently carries, is favorable to improving user experience.

The application provides a cloud platform, it includes first axle subassembly and second axle subassembly, first axle subassembly is used for connecting the load and drives the load to rotate around first axle; the second shaft assembly is used for driving the first shaft assembly to swing around a second shaft; the second shaft is a driving shaft for driving the first shaft assembly to swing by the second shaft assembly; the pan/tilt head is configured to bring the center of gravity of the load closer to the second axis relative to the center of gravity of the first axis assembly; the second shaft assembly is disposed on a vertical plane opposite the first shaft assembly and is configured to center the center of gravity of the load.

The application provides a handheld cloud platform, it includes handheld portion and above-mentioned cloud platform, the second axle unit mount is in on the handheld portion.

The application provides a handheld shooting device, it includes imaging device and the above-mentioned handheld cloud platform, handheld cloud platform be used for imaging device increases steady or control imaging device's gesture.

In the cloud platform, handheld cloud platform and handheld shooting device of this application, because the first axle subassembly of second axle subassembly drive swings for thereby the second axle is close to the weight setting as far as possible and makes more the weight of first axle subassembly participate in the focus trim on the second axle. Therefore, redundant counter weights can be reduced, the size of the holder is reduced, the holder is convenient to carry, and the user experience is improved.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic perspective view of a portion of a handheld camera in accordance with an embodiment of the present application;

fig. 2 is a perspective view of a pan/tilt head according to an embodiment of the present application;

fig. 3 is another perspective view of a pan and tilt head according to an embodiment of the present application;

FIG. 4 is an exploded view of a pan and tilt head according to an embodiment of the present application;

fig. 5 is a schematic plan view of a head according to an embodiment of the present application;

FIG. 6 is a schematic cross-sectional view of the head of FIG. 5 taken along the line A-A;

fig. 7 is another schematic plan view of a head according to an embodiment of the present application;

fig. 8 is another schematic sectional view of a pan/tilt head according to an embodiment of the present application.

Description of the main elements of the drawings:

the handheld photographing device 1000, the handheld pan/tilt head 100, the pan/tilt head 10, the first shaft assembly 12, the center of gravity 121 of the first shaft assembly, the first motor 122, the second stator 1222, the second rotor 1224, the rotating shaft 1226 of the second rotor, the end housing 124, the accommodating cavity 1242, the load connector 126, the second shaft assembly 14, the voice coil motor 142, the first stator 1422, the first rotor 1224 4, the swing arm 144, the third accommodating groove 1442, the protruding portion 1444, the rotating shaft 1446 of the second shaft assembly, the third shaft assembly 16, the shaft arm 162, the second motor 164, the base 18, the inner side surface 182, the first accommodating groove 1822, the second accommodating groove 1824, the fourth accommodating groove 184, the shaft groove 186, the second interface portion 19, the handheld portion 20, the first interface portion 21, the housing 22, the operating portion 23, the mounting interface 28, the load 40, the center of gravity 41 of the load, the imaging device 200, the first shaft R, the second shaft P, the third shaft Y, and the vertical plane S.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the application and for simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, fig. 2 and fig. 3 together, a handheld camera 1000 according to an embodiment of the present disclosure includes an imaging device 200 and a handheld pan/tilt head 100 according to an embodiment of the present disclosure. The handheld tripod head 100 is used for stabilizing the imaging apparatus 200 or controlling the posture of the imaging apparatus 200.

The handheld tripod head 100 of the present embodiment includes a handheld portion 20 and the tripod head 10 of the present embodiment, and the tripod head 10 can be installed on the handheld portion 20.

A head 10 according to an embodiment of the present disclosure includes a first shaft assembly 12 and a second shaft assembly 14, the first shaft assembly 12 being configured to couple to a load 40 (e.g., an imaging device 200) and to drive the load 40 to rotate about a first axis R; the second shaft assembly 14 is used for driving the first shaft assembly 12 to swing around a second shaft P; the second shaft P is a driving shaft for driving the first shaft assembly 12 to swing by the second shaft assembly 14; the head 10 is configured for bringing the center of gravity 41 of the load 40 closer to the second axis P with respect to the center of gravity 121 of the first axis assembly 12; the opposite sides of the vertical plane S in which the second axis P lies serve to center the center of gravity 121 of the first shaft assembly 12 and the center of gravity 41 of the load 40.

In the cloud platform 10, handheld cloud platform 100 and handheld shooting device 1000 of this application embodiment, because the swing of second axle subassembly 14 drive primary shaft subassembly 12 for thereby the secondary shaft P sets up near load 40 as far as possible and makes more primary shaft subassembly 12's weight participate in the focus balancing on the secondary shaft P, consequently, can reduce unnecessary counter weight like this, make cloud platform 10 volume reduce and conveniently carry, be favorable to improving user experience.

It will be appreciated that, in general, the weight of load 40 is greater than the weight of the shaft assembly in head 10. In order to increase stability, avoid the corresponding structure in the pan/tilt head 10 from rotating to any angle, without generating rotation torque, and reduce the output torque generated by the driving device in the pan/tilt head 10 for resisting uneven center of gravity, the handheld shooting device 1000 can consider the counterweight problem of the pan/tilt head 10. Wherein, can be through installing the balancing weight additional on the axle subassembly and come the weight of balanced load 40 for handheld camera 1000 is more stable. However, the counterweight block is not beneficial to miniaturization of the pan/tilt head structure based on the consideration of portability, and the smaller the counterweight block is, the more beneficial to improvement of user experience is. In the present embodiment, since the second axis P is closer to the center of gravity 41 of the load 40 and is far from the center of gravity 121 of the first axis assembly 12, the self weight of the first axis assembly 12 can be used for balancing the load 40 more, and it is possible to achieve the center of gravity balance of the corresponding structure in the pan/tilt head 10 on the second axis P without adding a counter weight. In addition, since the total weight required for balancing is constant under the condition that the structure of the pan/tilt head 10 is constant, when the proportion of the self weight of the first shaft assembly 12 for balancing is greater, even if a balancing weight needs to be additionally configured, the additionally configured balancing weight can be greatly reduced. Therefore, the overall volume and weight of the holder 10 can be reduced, and the holder is convenient for users to use and carry.

Note that the first axis R and the second axis P are both rotating axes of the pan/tilt head, and the dotted lines shown in the figure are the axes of the first axis R and the second axis P.

The first shaft assembly 12 is configured such that the axis of the first shaft R passes through the load 40. Specifically, the axis of the first shaft R may pass vertically through the load 40, or may pass obliquely through the load 40; the axis of the first axis R may or may not pass through the center of gravity 41 of the load 40. The specific form in which the axis of the first shaft R passes through the load 40 is not limited herein.

It will be appreciated that the first shaft assembly 12 may also be configured such that the axis of the first shaft R does not pass through the load 40, and no limitation is made herein as to whether the axis of the first shaft R passes through the load 40.

In some embodiments, the head 10 includes a shaft arm 162, and the shaft arm 162 is coupled to the second shaft assembly 14. As such, the axle arm 162 may provide support for the second axle assembly 14, and the second axle assembly 14 may drive the first axle assembly 12 and the load 40 to oscillate about the second axis P relative to the axle arm 162.

Referring to fig. 4, 5 and 6, in some embodiments, the second shaft assembly 14 includes a voice coil motor 142, and the voice coil motor 142 includes a first stator 1422 and a first rotor 1424; the shaft arm 162 is rotatably connected with the first rotor 1424, and the shaft arm 162 is fixedly connected with the first stator 1422; the first rotor 1424 is connected to the first shaft assembly 12.

In this manner, the first rotor 1424 is swingable about the second axis P with respect to the first stator 1422, so that the first rotor 1424 is swingable about the second axis P with respect to the shaft arm 162 fixedly connected to the first stator 1422. The voice coil motor 142 is a direct drive motor and has a small volume, so that the voice coil motor not only has sensitive response, but also is beneficial to reducing the volume of the holder 10.

Specifically, in fig. 4, in an orthographic projection along the P-axis direction, the planar shape of the first rotor 1424 may be substantially rectangular, and the planar shape of the first stator 1422 may be substantially arc-shaped. Of course, the first stator 1422 and the first rotor 1424 may have other shapes, and are not limited herein.

In some embodiments, head 10 includes a base 18, base 18 being disposed at one end of an axle arm 162; the second shaft assembly 14 further comprises a swing arm 144, the swing arm 144 being rotatably connected to the base 18 and to the first shaft assembly 12; the first stator 1422 may be at least partially housed within the base 18, and the first rotor 1424 may be at least partially housed within the swing arm 144.

Thus, the space occupied by the voice coil motor 142 can be reduced, so that the cradle head 10 is compact in structure.

In some embodiments, the swing arm 144 and the first rotor 1424 are both at least partially housed within the base 18. Therefore, the structure of the holder 10 can be more compact, which is beneficial to reducing the volume of the holder 10.

Referring to fig. 4, 5 and 6, in some embodiments, the inner surface 182 of the base 18 is provided with a first receiving groove 1822 and a second receiving groove 1824, the second receiving groove 1824 is adjacent to the first receiving groove 1822, and the second receiving groove 1824 is disposed outside the first receiving groove 1822; the first stator 1422 is at least partially accommodated in the first accommodation slot 1822, and the swing arm 144 and the first rotor 1424 are both at least partially accommodated in the second accommodation slot 1824; a third receiving groove 1442 is formed in a side surface of the swing arm 144 facing the inner side surface 182, and the first rotor 1424 is at least partially received in the third receiving groove 1442.

In this way, the second shaft assembly 14 and the base 18 are more compact and fit more closely, which facilitates the reduction of the volume and the beautification of the appearance of the head 10. In addition, the first receiving groove 1822 can receive the first stator 1422, and can limit the position of the first stator 1422 in the production process, thereby improving the assembly efficiency and the production efficiency. Similarly, the second receiving groove 1824 and the third receiving groove 1442 also function as a position limiting groove, and are not described herein again.

Preferably, the first stator 1422 is completely received in the first receiving groove 1822, and the first rotor 1424 is completely received in the third receiving groove 1442. Thus, the first stator 1422 does not protrude from the first receiving groove 1822, and the first rotor 1424 does not protrude from the third receiving groove 1442, so that the swing arm 144 and the base are more tightly fitted.

Referring to fig. 1 and 4, in some embodiments, the first stator 1422 and the first rotor 1424 are disposed on one side of the vertical plane S, on which the center of gravity 121 of the first shaft assembly 12 is located, on opposite sides of the vertical plane S.

In this manner, it is possible to avoid that a large part of the volume of the base 18 is located on one of the opposite sides of the vertical plane S, on which the center of gravity 41 of the load 40 is located, thereby preventing a change in the manner of connection of the base 18 to the load 40 and rotational influences. For example, if the load 40 is a mobile phone, the mobile phone may be horizontally or vertically carried on the cradle head 10 when the first stator 1422 and the first rotor 1424 are disposed on one side of the vertical plane S where the center of gravity 121 of the first axis assembly 12 is located, but if the first stator 1422 and the first rotor 1424 are disposed on one side of the vertical plane S where the center of gravity 41 of the load 40 is located, the mobile phone may not be horizontally carried on the cradle head 10 due to the influence of the base 18, and in this case, if the mobile phone needs to be horizontally carried on the cradle head 10, the length of the swing arm 144 may need to be extended, which is not favorable for miniaturization of the cradle head, or the mobile phone may be installed in a direction away from the base 18, which may cause the center of gravity of the cradle head 10 not to be balanced, such as the center of gravity of the corresponding structure in the cradle head 10 on the second axis P is balanced. Therefore, by the above-mentioned position arrangement of the first stator 1422 and the first rotor 1424, the weight and volume of the cradle head 10 can be reduced, which is convenient for the user to carry and use.

Of course, the first stator 1422 and the first rotor 1424 may also be provided on the side of the load 40 on which the center of gravity 41 is located, among the opposite sides of the vertical plane S, in possible design cases. The specific positions of the first stator 1422 and the first rotor 1424 are not limited herein.

In some embodiments, the first stator 1422 is a motor coil and the first rotor 1424 is a motor magnet.

In this manner, a specific configuration of the first stator 1422 and the first rotor 1424 is realized. Wherein, relative to the base 18, the motor magnet is close to the outer side of the base 18, and the motor coil is far away from the outer side of the base 18 relative to the motor magnet, so that the influence of dust and the like on the motor coil can be reduced, and the damage of dust and the like on the voice coil motor can be reduced.

It can be understood that the voice coil motor is a direct drive motor, and can directly convert electric energy into mechanical energy without any intermediate conversion transmission device, and the structure is simplified. Moreover, the voice coil motor can be made small and flat, which is beneficial to the compactness and miniaturization of the cradle head 10. In addition, the motor coil can generate a magnetic field when being energized to generate an acting force on the motor magnet, based on which the first rotor 1424 and the first stator 1422 can generate a relative motion, that is, the first rotor 1424 rotates around the second axis P relative to the first stator 1422, so as to drive the first axis assembly and the load to swing around the second axis P.

Of course, in some embodiments, the first stator 1422 may be a motor magnet and the first rotor 1424 may be a motor coil.

In some embodiments, the shaft arm 162 and the base 18 cooperate to form a fourth receiving groove 184, the swing arm 144 is at least partially received in the fourth receiving groove 184, and both sides of the swing arm 144 and the fourth receiving groove 184 are rotatably connected; the base 18 is disposed on one of two sides of the fourth receiving groove 184.

In this way, the position of the swing arm 144 can be defined, so that the swing of the swing arm 144 is more stable. In addition, the structure of the shaft arm 162 can be utilized, so that the structure of the pan/tilt head 10 is more compact.

Specifically, the swing arm 144 is formed with a rotation shaft 1446 of the second shaft assembly 14, i.e., the second shaft P. The rotation shaft 1446 of the second shaft assembly 14 protrudes from the swing arm 144 to both sides. The base 18 and the shaft arm 162 are formed with a shaft groove 186 adapted to the rotation shaft 1446 of the second shaft assembly 14, and the rotation shaft 1446 of the second shaft assembly 14 is rotatably disposed in the shaft groove 186.

In some embodiments, the fourth receiving groove 184 is substantially U-shaped. In this way, the second shaft assembly 14 is sandwiched by the base 18 and the shaft arm 162, so that the movement of the second shaft assembly 14 in the direction of the second shaft P is limited, which is beneficial to the stability of the swing of the second shaft assembly 14. Of course, the fourth receiving groove 184 may have other shapes. The specific shape of the fourth receiving groove 184 is not limited herein.

In some embodiments, the base 18 is a unitary structure with the axle arm 162. Therefore, the number of parts can be reduced, the assembly is convenient, and the production efficiency is improved. Specifically, the base 18 and the shaft arm 162 may be integrally formed by injection molding. Of course, the base 18 and the shaft arm 162 may be formed separately, and are not limited herein.

In some embodiments, one end of the swing arm 144 may be coupled to the load 40 and the other end of the swing arm 144 may be coupled to the first shaft assembly 12 along a direction perpendicular to the second axis P.

In this manner, the swing arm 144 may swing the load 40 and the first shaft assembly 12 about the second axis P. Note that "connected" herein may mean directly connected or indirectly connected. Specifically, one end of swing arm 144 may be directly coupled to load 40 or may be indirectly coupled to load 40 via load coupling 126. Of course, swing arm 144 may be indirectly connected to load 40 by other structures.

It will be appreciated that the load coupling 126 may be provided as an element part of the first shaft assembly 12 or may be separate from the first shaft assembly 12.

Referring to fig. 7 and 8 together, in some embodiments, the first shaft assembly 12 includes a first motor 122, the first motor 122 including a second stator 1222 and a second rotor 1224; the second stator 1222 is fixedly connected to the swing arm 144, the second rotor 1224 is rotatably connected to the swing arm 144, and the second rotor 1224 is configured to be fixedly connected to the load 40.

In this way, the swing arm 144 can swing the first shaft assembly 12 around the second axis P via the second stator 1222, and the first shaft assembly 12 can drive the load 40 to rotate around the first axis R via the second rotor 1224.

In some embodiments, the rotational axis 1226 of the second rotor 1224 extends through the swing arm 144 in a direction toward the load 40 along the first axis R and is fixedly coupled to the load 40.

In this manner, connection of the second rotor 1224 to the load 40 is achieved. Specifically, the rotational shaft 1226 of the second rotor 1224 may be directly coupled to the load 40, indirectly coupled to the load 40 via the load coupling 126, or indirectly coupled to the load 40 via other structures.

In some embodiments, the end of the swing arm 144 connected to the second stator 1222 is provided with a protrusion 1444, the second stator 1222 is arranged at the outer periphery of the protrusion 1444, and the rotating shaft 1226 of the second rotor 1224 passes through the swing arm 144 from the protrusion 1444; the first shaft assembly 12 further includes an end housing 124, a receiving cavity 1242 is formed at an end of the end housing 124 connected to the rotating shaft 1226, and the second stator 1222 and the protruding portion 1444 are at least partially received in the receiving cavity 1242.

Thus, the second stator 1222 and the protruding portion 1444 are accommodated without being exposed, which is beneficial to the appearance of the pan/tilt head 10, and can prevent dust from entering the inside of the first motor 122 and affecting the normal operation of the first motor 122.

Specifically, the end housing 124 may be part of the second rotor 1224. In addition, the counterweight of the head 10 on the second axis P may also be integrated in the second rotor 1224. Like this can reduce part quantity, like the balancing weight, be favorable to improving production efficiency and assembly efficiency.

In certain embodiments, the first shaft assembly 12 further includes a load coupling member 126, the load coupling member 126 being fixedly coupled to the second rotor 1224, the load coupling member 126 being adapted to couple to the load 40.

In this manner, the load coupling 126 provides for coupling of the load 40 to the first shaft assembly 12. The load 40 may be removably mounted to the load connector 126.

It is understood that the load coupling 126 may also be part of the first motor 122, such as a protective shaft for the second rotor 1224 of the first motor 122.

In certain embodiments, load coupling 126 includes, but is not limited to, a clamp coupling or a magnetic coupling. The load 40 is simple to mount and dismount, and can be conveniently used by a user, so that the user experience is improved.

It will be appreciated that when holder attachment is employed in holder head 10, the holder attachment may hold load 40 in place on first shaft assembly 12 such that first shaft assembly 12 provides stability augmentation for load 40 in first axis R. When the cradle head 10 employs a magnetic connector, the magnetic connector may be provided with a magnet, and the load 40 is provided with a ferromagnetic material or the housing of the load 40 is itself a ferromagnetic material, so that the load 40 is magnetically attracted to the magnetic connector. Thus, the load 40 is easy to mount and dismount, and can be conveniently used by a user. In the illustrated example, load coupling 126 is a magnetic coupling.

In some embodiments, the head 10 further includes a third shaft assembly 16, the third shaft assembly 16 being configured to support the first and

second shaft assemblies

12, 14 and to permit rotation of the load 40 about a third axis Y.

It will be appreciated that in such an embodiment, the head 10 is a three-axis head, and the load 40 is pivotable about the first axis R and the third axis Y and pivotable about the second axis P, such that the head 10 can stabilize the load 40 or control the attitude of the load 40 in three different axes, such that the load 40 can be maintained in a preferred and more operational state.

In some embodiments, the third shaft assembly 16 may include a shaft arm 162 and a second motor 164, the second motor 164 being configured to drive the shaft arm 162 to rotate so as to rotate the first shaft assembly 12 and the second shaft assembly 14 about the third axis Y. In this manner, the first and

second shaft assemblies

12, 14 of the head 10 are caused to rotate about the third axis Y.

In some embodiments, the shaft arm 162 is fixedly coupled to the rotor 1642 of the second motor 164. In this manner, the first and

second shaft assemblies

12, 14 of the head 10 may be rotated about the third axis Y by the rotor 1642 of the second motor 164 rotating about the third axis Y relative to the stator 1644 of the second motor 164.

In some embodiments, the first shaft assembly 12 may be a roll shaft assembly, the second shaft assembly 14 may be a pitch shaft assembly, and the third shaft assembly 16 may be a yaw shaft assembly, with the motor of the yaw shaft assembly (i.e., the second motor 164) being located below the motor of the roll shaft assembly (i.e., the first motor 122) and the motor of the pitch shaft assembly (i.e., the voice coil motor 142).

In this way, the first shaft assembly 12 can control the attitude of the load 40 in the roll direction, the second shaft assembly 14 can control the attitude of the load 40 in the pitch direction, the third shaft assembly 16 can control the attitude of the load 40 in the yaw direction, the pan-tilt 10 can realize three-axis stability enhancement and attitude control for the load 40, and the load 40 can be maintained at a preferred attitude. Thus, the three-axis pan-tilt has only one axis arm 162, so that the space increased by using a plurality of axis arms is reduced, and the vertical size of the axis arm 162 can be reduced as much as possible, so that the pan-tilt 10 has a smaller volume and is convenient for a user to carry.

It will be appreciated that the first motor 122 of the first shaft assembly 12, the voice coil motor 142 of the second shaft assembly 14, and the second motor 164 of the third shaft assembly 16 may be arranged in other orders, such as from outside to inside when disposed laterally, and in this case, the relationship between the first shaft assembly 12, the second shaft assembly 14, and the third shaft assembly 16 and the roll shaft assembly, the pitch shaft assembly, and the yaw shaft assembly will change accordingly, i.e., the first shaft assembly 12 is not limited to the roll shaft assembly, the second shaft assembly 14 is not limited to the pitch shaft assembly, and the third shaft assembly 16 is not limited to the yaw shaft assembly.

In some embodiments, the center of gravity of the load 40 may lie on the first axis R, the center of gravity of the load 40 and the roll axle assembly may lie on the second axis P, and the center of gravity of the load 40, the roll axle assembly, the pitch axle assembly, and the yaw axle assembly may lie on the third axis Y.

So, cloud platform 10 can keep the focus balanced, can not produce the rotation torque around the rotatory overall assembly of each axle, is favorable to increasing cloud platform 10 structural stability, and cloud platform 10's reliability is better, and can reduce the uneven moment of torsion output of corresponding motor for the focus of antagonism corresponding structure. It will be appreciated that, in order to achieve the structural stability of the head 10, the structural design of the head 10 may be adjusted as desired.

In some embodiments, the second axis P is orthogonal to the first axis R, and the second axis P is orthogonal to the third axis Y.

Thus, the tripod head 10 is an orthogonal tripod head, and can provide stability augmentation and attitude control for the load 40 in three mutually perpendicular directions, thereby improving the flexibility of the tripod head 10.

In some embodiments, the angle formed between the third axis Y and the second axis P may be non-orthogonal.

Thus, non-orthogonal pan/tilt heads can also be implemented.

In some embodiments, the load 40 may be one of a sensor, an imaging device, and a mobile terminal.

It can be understood that when the sensors, the imaging device, the mobile terminal and the like collect the environmental information, a certain posture is usually required to be maintained to acquire more accurate information. Thus, the cradle head 10 can provide stability augmentation and attitude control for sensors, imaging devices, mobile terminals, and the like, so that the cradle head can work in a better attitude, thereby acquiring more accurate information.

The sensors may be attitude sensors (e.g., acceleration sensors, angle sensors, inertial measurement units, etc., the imaging devices may be cameras, video cameras, etc., and the mobile terminals may be mobile phones, tablet computers, smart wearable devices, etc. it is understood that the imaging devices may also be some mobile terminals, such as mobile phones, tablet computers, smart wearable devices, etc. with photographing and video recording functions, or some imaging devices, in the cradle head 10 of the present embodiment, the load 40 is illustrated as a mobile phone.

Specifically, in the handheld shooting device 1000, the load 40 of the handheld cradle head 100 is the imaging device 200, and the handheld cradle head 100 is the imaging device 200, so that the imaging device 200 is kept in a better working posture by stability enhancement and posture control in a corresponding direction, so as to achieve a better shooting effect and improve the quality of images collected by the imaging device 200.

In some embodiments, head 10 is a two-axis head. Therefore, the volume can be kept small, and the carrying by a user is convenient.

In certain embodiments, the second shaft assembly 14 is mounted on the hand piece 20.

In this embodiment, the handheld tripod head 100 may be a two-axis handheld tripod head, that is, the handheld tripod head 100 includes two shaft assemblies, namely, the first shaft assembly 12 and the second shaft assembly 14. At this point, the second shaft assembly 14 may be mounted on the hand-held portion 20, and the head 10 may provide stability augmentation and attitude control for the load 40 in two different directions.

In some embodiments, when holder 10 includes third shaft assembly 16, third shaft assembly 16 is mounted on handpiece 20, and second shaft assembly 14 is supported by third shaft assembly 16.

Thus, when the user holds the cradle head 100, the cradle head 10 can provide stability augmentation and attitude control for the load 40 in three different directions. Specifically, in some embodiments, the handheld portion 20 is provided with a first interface portion 21 connected to the cradle head 10, and the cradle head 10 includes a second interface portion 19 for cooperating with the first interface portion 21; when the cradle head 10 is supported on the handle portion 20, the first interface portion 21 and the second interface portion 19 cooperate to form a mechanical connection and an electrical connection between the cradle head 10 and the handle portion 20.

In some embodiments, when handpiece 20 is detached from head 10, head 10 is in wired or wireless communication connection with handpiece 20.

Therefore, the user can operate the handheld part 20 to control the operation of the cradle head 10 through wired or wireless communication, and the operation convenience of the cradle head 10 is improved.

Specifically, the handheld portion 20 includes a housing 22, an operation portion 23, and a controller, the housing 22 is provided with the operation portion 23, the housing 22 is provided with the controller, the operation portion 23 is configured to receive input information, and the controller is configured to perform corresponding operations according to the input information.

In this manner, the user can input information through the operation part 23 in order to control the cradle head 10 to change the attitude of the load 40, for example, when using the handheld cradle head 100, the user can input information through the operation part 23 to determine a preset attitude at which the load 40 operates, so that the load 40 can obtain a preset desired effect.

The operation portion 23 may include a rocker and a key, and a user may rock the rocker to control the first shaft assembly 12, the first shaft assembly 14 and the third shaft assembly 16 of the pan/tilt head 10 to operate, so as to adjust the load 40 at a preset posture. The user may control the operation of the load 40 by pressing keys, such as taking a picture, recording a video, etc.

A battery is disposed within the housing 22. In this manner, the battery may provide power to head 10 and/or load 40. Specifically, the hand-held portion 20 may be provided with a charging interface and a power supply interface. In one example, the battery may be a rechargeable lithium battery.

In some embodiments, handheld tripod head 100 further includes an attitude sensor for measuring an attitude of load 40, and the controller is configured to control operation of tripod head 10 according to the attitude of load 40.

Wherein, the attitude sensor may be directly connected to the load 40, so that by determining the attitude of the load 40, the attitude of the cradle head 10 may be determined, and thus the current attitude of the cradle head 10 may be adjusted.

In this way, the handheld tripod head 100 can adjust the posture of the load 40 according to the posture information detected by the posture sensor, so that the load 40 can work in a preset posture, and a desired effect can be obtained.

In some embodiments, the bottom of the housing 22 is provided with a mounting interface 26. Thus, the handheld cloud platform 100 can be installed on a bracket or other fixed components through the installation interface 26, and the handheld cloud platform 100 can adapt to different working environments, so as to realize more functions.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. The utility model provides a cloud platform, includes first axle subassembly and second axle subassembly, its characterized in that:

the first shaft assembly is used for connecting a load and driving the load to rotate around a first shaft;

the second shaft assembly is used for driving the first shaft assembly to swing around a second shaft;

the second shaft is a driving shaft for driving the first shaft assembly to swing by the second shaft assembly;

the pan/tilt head is configured to bring the center of gravity of the load closer to the second axis relative to the center of gravity of the first axis assembly;

the two opposite sides of the vertical plane where the second shaft is located are used for dividing the gravity center of the first shaft assembly and the gravity center of the load;

the first shaft assembly comprises a first motor and a load connecting piece, the load connecting piece is used for connecting the load, the first motor is connected with the load connecting piece and used for driving the load connecting piece to rotate around the first shaft so as to drive the load to rotate around the first shaft.

2. A head according to claim 1, wherein said head comprises an axial arm connected to said second shaft assembly.

3. A head according to claim 2, wherein said second shaft assembly comprises a voice coil motor comprising a first stator and a first rotor;

the shaft arm is rotatably connected with the first rotor and fixedly connected with the first stator;

the first rotor is connected with the first shaft assembly.

4. A head according to claim 3, wherein said head comprises a base provided at one end of said axial arm;

the second shaft assembly further comprises a swing arm which is rotatably connected with the base and is connected with the first shaft assembly;

the first stator is at least partially housed within the base, and the first rotor is at least partially housed within the swing arm.

5. A head according to claim 4, wherein said swing arm and said first rotor are each housed at least partially within said base.

6. A head according to claim 5, wherein the inner lateral surface of said base is provided with a first receiving recess and a second receiving recess, said second receiving recess being adjacent to said first receiving recess and said second receiving recess being disposed outside said first receiving recess;

the first stator is at least partially accommodated in the first accommodating groove, and the swing arm and the first rotor are both at least partially accommodated in the second accommodating groove;

a third accommodating groove is formed in one side face, facing the inner side face, of the swing arm, and the first rotor is at least partially accommodated in the third accommodating groove.

7. A head according to any one of claims 3 to 6, wherein said first stator and said first rotor are provided on the side of the opposite sides of said vertical plane on which the centre of gravity of said first shaft assembly is located.

8. A head according to any one of claims 3 to 6, wherein said first stator is a motor coil and said first rotor is a motor magnet.

9. A head according to any one of claims 4 to 6, wherein said axial arm is associated with said base so as to define a fourth receiving recess, said oscillating arm being at least partially received in said fourth receiving recess and being rotatably connected to said fourth receiving recess on both sides thereof;

the base is arranged on one of two side edges of the fourth accommodating groove.

10. A head according to claim 9, wherein said fourth receiving slot is substantially U-shaped.

11. A head according to any one of claims 4 to 6, wherein said base is of integral construction with said shaft arm.

12. A head according to any one of claims 4 to 6, wherein, in a direction perpendicular to said second axis, one end of said swing arm is adapted to be connected to said load, and the other end of said swing arm is connected to said first axis assembly.

13. A head according to any one of claims 4 to 6, wherein said first motor comprises a second stator and a second rotor;

the second stator is fixedly connected with the swing arm, the second rotor is rotatably connected with the swing arm, and the second rotor is fixedly connected with the load.

14. A head according to claim 13, wherein the axis of rotation of said second rotor extends rotatably through said swing arm and is adapted to be fixedly coupled to said load in a direction along said first axis towards said load.

15. A head according to claim 14, wherein said swing arm has an end connected to said second stator provided with a projection, said second stator being provided around the outer periphery of said projection, the axis of rotation of said second rotor passing through said swing arm from said projection;

the first shaft assembly further comprises an end shell, an accommodating cavity is formed in one end, connected with the rotating shaft, of the end shell, and the second stator and the protruding portion are at least partially accommodated in the accommodating cavity.

16. A head according to claim 13, wherein said load coupling member is fixedly connected to said second rotor.

17. A head according to claim 16, wherein said load coupling comprises a clamping coupling or a magnetic coupling.

18. A head according to any one of claims 2 to 4, wherein said head further comprises a third shaft assembly for supporting said first and second shaft assemblies and for permitting rotation of said load about a third shaft.

19. A head according to claim 18, wherein said third shaft assembly comprises said shaft arm and a second motor for driving said shaft arm in rotation so as to cause said first shaft assembly and said second shaft assembly to rotate about said third shaft.

20. A head according to claim 19, wherein said shaft arm is fixedly connected to the rotor of said second motor.

21. A head according to claim 18, wherein the first shaft assembly is a roll shaft assembly, the second shaft assembly is a pitch shaft assembly and the third shaft assembly is a yaw shaft assembly, the motors of the yaw shaft assembly being located below the motors of the roll shaft assembly and the pitch shaft assembly.

22. A head according to claim 21, wherein the centre of gravity of the load lies on the first axis, the centre of gravity of the load and the roll axis assembly lie on the second axis, and the centre of gravity of the load, the roll axis assembly, the pitch axis assembly and the yaw axis assembly lie on the third axis.

23. A head according to claim 18, wherein said second axis is orthogonal to said first axis and said second axis and said third axis are orthogonal to each other.

24. A head according to any one of claims 1 to 4, wherein said load is one of a sensor, an imaging device, a mobile terminal.

25. A hand-held head, comprising a hand-held portion and a head according to any one of claims 1 to 24, said second shaft assembly being mounted on said hand-held portion.

26. A hand-held head according to claim 25, wherein, when the head comprises a third shaft assembly, the third shaft assembly is mounted on the hand-held portion, and the second shaft assembly is supported by the third shaft assembly.

27. A handheld holder according to claim 25, wherein the holder is in wired or wireless communication with the handheld portion when the handheld portion is detached from the holder.

28. A handheld camera apparatus, comprising an imaging apparatus and the handheld tripod head of any one of claims 25 to 27, wherein the handheld tripod head is configured to stabilize or control the attitude of the imaging apparatus.