CN203703540U - High-precision quick-response triaxial pan-tilt - Google Patents

High-precision quick-response triaxial pan-tilt Download PDF

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Publication number
CN203703540U
CN203703540U CN201420086632.XU CN201420086632U CN203703540U CN 203703540 U CN203703540 U CN 203703540U CN 201420086632 U CN201420086632 U CN 201420086632U CN 203703540 U CN203703540 U CN 203703540U
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CN
China
Prior art keywords
support
motor
response
capture
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201420086632.XU
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Chinese (zh)
Inventor
杨格
齐锐
卞用方
杨彦
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HEILONGJIANG KEDA TECHNOLOGY DEVELOPMENT Co Ltd
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HEILONGJIANG KEDA TECHNOLOGY DEVELOPMENT Co Ltd
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Priority to CN201420086632.XU priority Critical patent/CN203703540U/en
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Publication of CN203703540U publication Critical patent/CN203703540U/en
Expired - Fee Related legal-status Critical Current
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Abstract

A high-precision quick-response triaxial pan-tilt belongs to the field of monitoring technology. The high-precision quick-response triaxial pan-tilt comprises a photographing device, a fixing connecting rack, a first support, a first motor, a second support, a second motor, a third support and a third motor, wherein the photographing device is fixed onto the first support, the first support is perpendicularly and rotatably connected with the second support, the second support is perpendicularly and rotatably connected with the third support, the first motor which is used for driving the first support to rotate relative to the second support is connected with the first support and the second support, and the third motor which is used for driving the third support relative to the fixing connecting rack is connected with the third support and the fixing connecting rack. According to the high-precision quick-response triaxial pan-tilt, a mode of driving the supports directly through the motors is low in energy consumption, short in response time and capable of rapidly achieving position adjustment of the supports; due to the fact that the motors can achieve stepless adjustment and uniform speed change and accordingly can continuously and freely achieve triaxial adjustment of the photographing device within an allowable speed range.

Description

A kind of highi degree of accuracy is response three axle The Cloud Terraces fast
Technical field
The utility model relates to a kind of highi degree of accuracy response three axle The Cloud Terraces fast, belongs to monitoring technique field.
Background technique
The Cloud Terrace of the prior art all adopts mechanical gear to drive to adjust the rotation of carrier, thereby realize the rotation of vidicon camera on carrier or photographic camera, but because the transmission of mechanical gear exists hysteresis quality, so when carrier is turned, hovers, is risen, when the posture such as decline or inclination, cause the The Cloud Terrace response time long, make carrier be difficult to adjust timely angle, and the precision of angle adjustment is not high, thereby has affected the Image quality of vidicon camera or photographic camera; In addition, because the stability of The Cloud Terrace is bad, cause in carrier generation postural change process vidicon camera or photographic camera to rock comparatively violent, the Image quality of therefore shooting is not high, cannot meet monitoring demand.
Summary of the invention
The utility model provides a kind of highi degree of accuracy response three axle The Cloud Terraces fast, to solve, existing The Cloud Terrace employing gear transmission causes response time length, adjustment angle not in time and precision is not high, the problem of the Image quality that impact is shot, the utility model adopts following technological scheme for this reason:
A kind of highi degree of accuracy is response three axle The Cloud Terraces fast, comprise capture apparatus, be fixedly connected with frame, the first support, the first motor, the second support, the second motor, the 3rd support and the 3rd motor, wherein, capture apparatus is fixed on the first support, the first support and the second support vertical are rotationally connected, the second support and the 3rd support vertical are rotationally connected, be connected with the first support and the second support respectively for the first motor that drives the first support to rotate with respect to the second support, for drive the 3rd support with respect to the 3rd motor that is fixedly connected with frame and rotates respectively with the 3rd support be fixedly connected with frame and be connected.
The highi degree of accuracy that the utility model mode of execution provides fast response three axle The Cloud Terraces is used the mode of motor direct-drive support to consume energy little, response time is short, adjusting pole position quickly, because motor can be realized step-less adjustment, velocity variations is even, therefore can carry out three axle adjustings to capture apparatus continuously and at random in the velocity range allowing.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment's technological scheme, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of highi degree of accuracy described in the utility model structural representation of response three axle The Cloud Terraces fast.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technological scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment who obtains under creative work prerequisite, all belong to the scope of the utility model protection.
A kind of highi degree of accuracy providing at the utility model mode of execution is response three axle The Cloud Terraces fast, as shown in the structural representation of Fig. 1, comprise capture apparatus 1 and be fixedly connected with frame 8, the first support 2, the first motor 3, the second support 4, the second motor 5, the 3rd support 6 and the 3rd motor 7, wherein, capture apparatus 1 is fixed on the first support 2, the first support 2 is connected with the second support 4 vertical rotation, the second support 4 is connected with the 3rd support 6 vertical rotation, for driving the first motor 3 that the first support 2 rotates with respect to the second support 4 to be connected with the first support 2 and the second support 4 respectively, for drive the 3rd support 6 with respect to the 3rd motor 7 that is fixedly connected with frame 8 and rotates respectively with the 3rd support 6 be fixedly connected with frame 8 and be connected.
Particularly, capture apparatus 1 can be the equipment such as photographic camera or vidicon camera, and it is not limited to the square structure in Fig. 1, can also be circular or other shape.The first support 2 in X-axis direction is connected with the second support 4 vertical rotation in Y direction, the running shaft of the first support 2 is X-axis, the running shaft of the second support 4 is Y-axis, the 3rd support 6 is arranged in the Z-direction vertical with Y-axis plane with X-axis, the second support 4 in Y direction is connected with the 3rd support 6 vertical rotation in Z-direction, and the running shaft of the 3rd support 6 is Z axis.
As optionally, capture apparatus 1 and the first support 2 center of gravity as a whole time is in X-axis, capture apparatus 1, the first support 2 and the second support 4 center of gravity as a whole time is in Y-axis, and capture apparatus 1, the first support 2, the second support 4 and the 3rd support 6 center of gravity as a whole time is on Z axis.Drop point by center of gravity selects to make any bracket moment that all can not rotate in the time being rotated, be that support can not rock back and forth because of moment, improve the stability of capture apparatus 1 in rotation process, in the time of the carrier smooth running at The Cloud Terrace place, without in motor-driven situation, each support and capture apparatus 1 also can be in dynamic balance states.
Further, the stator of the first motor 3 is fixed on the first support 2, and the rotor of the first motor 3 and the second support 4 are fixedly installed; Or the stator of the first motor 3 is fixed on the second support 4, the rotor of the first motor 3 and the first support 2 are fixedly installed.The stator of the second motor 5 is fixed on the second support 4, and the rotor of the second motor 5 and the 3rd support 6 are fixedly installed; Or the stator of the second motor 5 is fixed on the 3rd support 6, the rotor of the second motor 5 and the second support 4 are fixedly installed.The stator of the 3rd motor 7 is fixed on the 3rd support 6, the rotor of the 3rd motor 7 be fixedly connected with frame 8 and be fixedly installed; Or the stator of the 3rd motor 7 is fixed on and is fixedly connected with on frame 8, the rotor of the 3rd motor 7 and the 3rd support 6 are fixedly installed.
As optionally, above-mentioned three axle The Cloud Terraces can also comprise the control unit of respectively the first motor 3, the second motor 5 and the 3rd motor 7 being controlled for detection of the angle transducer of the pose information of capture apparatus 1 with for the pose information of the capture apparatus 1 that detects according to angle transducer.Particularly, described control unit can comprise processor, circuit board and connecting line etc.
Particularly, the working method that responds fast three axle The Cloud Terraces by above-mentioned highi degree of accuracy is: the pose information of the capture apparatus detecting in real time 1 is fed back to control unit by angle transducer, feedback cycle can be real-time or scheduled time or in the time that the pose information of capture apparatus 1 changes, control unit is realized respectively the control to the first motor 3, the second motor 5 and the 3rd motor 7 according to the pose information of the capture apparatus 1 receiving, to realize the angle of shooting of the driving of support being adjusted to capture apparatus 1.
Particularly, the first support 2 is rotated and is arranged on the second support 4 by the bearing pin of end, realize the new line of capture apparatus 1 and the rotation of bowing by the first support 2 with respect to the rotation of the second support 4, in order to keep the invariant position of capture apparatus 1, with the stationarity that ensures to take pictures or make a video recording, in the time that the carrier generation "Left"-deviationist at The Cloud Terrace place or Right deviation are rotated, The Cloud Terrace and capture apparatus 1 entirety should be carried out Contrary compensation, that is: carry out adaptively Right deviation or left-leaning rotation, , the second support 4 is rotated to drive the first support 2 and capture apparatus 1 entirety to carry out Right deviation or "Left"-deviationist around its running shaft Y-axis, the first motor 3 drives the rotation around its running shaft X-axis to the first support 2, the second motor 5 drives the rotation around its running shaft Y-axis to the second support 4.The 3rd support 6 is rotated to drive the second support 4, the first support 2 and capture apparatus 1 entirety to carry out the rotation of X-axis and Y-axis place plane around its running shaft Z axis.
Further, described highi degree of accuracy fast response three axle The Cloud Terraces is connected with carrier by being fixedly connected with frame 8, particularly, carrier can be aircraft, automobile, steamer, robot or human body, for example: in the time that human body is directly held The Cloud Terrace, this The Cloud Terrace is a handheld device, can dynamically take or photograph.
The utility model is the angle of shooting with adjustment capture apparatus by motor direct-drive support, it adopts motor to drive the support power consumption of The Cloud Terrace less as motive force, good energy-conserving effect, motor drives and can realize step-less adjustment simultaneously, action response time is short, can start fast, stop or adjusting in time rotating speed size to adjust the position of capture apparatus, thereby adapting to the various postures of capture apparatus, because motor is less to the impact of support, therefore improved the shooting stability of capture apparatus.
The above; it is only preferably embodiment of the utility model; but protection domain of the present utility model is not limited to this; any be familiar with those skilled in the art the utility model embodiment disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of claim.

Claims (8)

1. highi degree of accuracy response three axle The Cloud Terraces fast, comprise capture apparatus (1) and be fixedly connected with frame (8), it is characterized in that, also comprise: the first support (2), the first motor (3), the second support (4), the second motor (5), the 3rd support (6) and the 3rd motor (7), wherein, capture apparatus (1) is fixed on the first support (2), the first support (2) is connected with the second support (4) vertical rotation, the second support (4) is connected with the 3rd support (6) vertical rotation, the first motor (3) that is used for driving the first support (2) to rotate with respect to the second support (4) is connected with the first support (2) and the second support (4) respectively, be used for driving the 3rd support (6) with respect to the 3rd motor (7) that is fixedly connected with frame (8) and rotates respectively with the 3rd support (6) be fixedly connected with frame (8) and be connected.
2. a kind of highi degree of accuracy according to claim 1 response three axle The Cloud Terraces fast, it is characterized in that, the first support (2) in X-axis direction is connected with the second support (4) vertical rotation in Y direction, the running shaft of the first support (2) is X-axis, the running shaft of the second support (4) is Y-axis, the 3rd support (6) is arranged in the Z-direction vertical with Y-axis plane with X-axis, the second support (4) in Y direction is connected with the 3rd support (6) vertical rotation in Z-direction, and the running shaft of the 3rd support (6) is Z axis.
3. a kind of highi degree of accuracy according to claim 2 response three axle The Cloud Terraces fast, it is characterized in that, capture apparatus (1) and the first support (2) center of gravity as a whole time is in X-axis, capture apparatus (1), the first support (2) and the second support (4) center of gravity as a whole time is in Y-axis, and capture apparatus (1), the first support (2), the second support (4) and the 3rd support (6) center of gravity as a whole time is on Z axis.
4. a kind of highi degree of accuracy according to claim 1 response three axle The Cloud Terraces fast, it is characterized in that, it is upper that the stator of the first motor (3) is fixed on the first support (2), and the rotor of the first motor (3) and the second support (4) are fixedly installed; Or it is upper that the stator of the first motor (3) is fixed on the second support (4), the rotor of the first motor (3) and the first support (2) are fixedly installed.
5. a kind of highi degree of accuracy according to claim 1 response three axle The Cloud Terraces fast, it is characterized in that, it is upper that the stator of the second motor (5) is fixed on the second support (4), and the rotor of the second motor (5) and the 3rd support (6) are fixedly installed; Or it is upper that the stator of the second motor (5) is fixed on the 3rd support (6), the rotor of the second motor (5) and the second support (4) are fixedly installed.
6. a kind of highi degree of accuracy according to claim 1 response three axle The Cloud Terraces fast, it is characterized in that, it is upper that the stator of the 3rd motor (7) is fixed on the 3rd support (6), the rotor of the 3rd motor (7) be fixedly connected with frame (8) and be fixedly installed; Or the stator of the 3rd motor (7) is fixed on and is fixedly connected with frame (8) above, the rotor of the 3rd motor (7) and the 3rd support (6) are fixedly installed.
7. according to the response three axle The Cloud Terraces fast of a kind of highi degree of accuracy described in claim 1-6 any one, it is characterized in that, also comprise the control unit of respectively the first motor (3), the second motor (5) and the 3rd motor (7) being controlled for detection of the angle transducer of the pose information of capture apparatus (1) with for the pose information of the capture apparatus (1) that detects according to angle transducer.
8. a kind of highi degree of accuracy according to claim 7 response three axle The Cloud Terraces fast, is characterized in that, described control unit comprises processor, circuit board and connecting line.
CN201420086632.XU 2014-02-27 2014-02-27 High-precision quick-response triaxial pan-tilt Expired - Fee Related CN203703540U (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104360690A (en) * 2014-11-05 2015-02-18 桂林飞宇电子科技有限公司 Handheld triaxial head
CN104914649A (en) * 2015-06-30 2015-09-16 桂林飞宇电子科技有限公司 Stabilizer suitable for moving camera shooting
WO2016049921A1 (en) * 2014-09-30 2016-04-07 深圳市大疆创新科技有限公司 Retaining device and remote controller using the same
CN106004700A (en) * 2016-06-29 2016-10-12 广西师范大学 Stable omnibearing shooting trolley
CN108253271A (en) * 2016-12-29 2018-07-06 昊翔电能运动科技(昆山)有限公司 Hand-held holder method for adjusting gravity center
CN109618079A (en) * 2018-12-07 2019-04-12 高新兴科技集团股份有限公司 A kind of ball machine based on direct driving motor driving

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016049921A1 (en) * 2014-09-30 2016-04-07 深圳市大疆创新科技有限公司 Retaining device and remote controller using the same
US10222794B2 (en) 2014-09-30 2019-03-05 SZ DJI Technology Co., Ltd. Remote controller using retaining device
CN104360690A (en) * 2014-11-05 2015-02-18 桂林飞宇电子科技有限公司 Handheld triaxial head
CN104914649A (en) * 2015-06-30 2015-09-16 桂林飞宇电子科技有限公司 Stabilizer suitable for moving camera shooting
CN106004700A (en) * 2016-06-29 2016-10-12 广西师范大学 Stable omnibearing shooting trolley
CN108253271A (en) * 2016-12-29 2018-07-06 昊翔电能运动科技(昆山)有限公司 Hand-held holder method for adjusting gravity center
CN108253271B (en) * 2016-12-29 2019-07-23 昊翔电能运动科技(昆山)有限公司 Hand-held holder method for adjusting gravity center
CN109618079A (en) * 2018-12-07 2019-04-12 高新兴科技集团股份有限公司 A kind of ball machine based on direct driving motor driving

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EXPY Termination of patent right or utility model
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Granted publication date: 20140709

Termination date: 20150227