CN206694770U - A three-axis pan-tilt and shooting robot - Google Patents

Abstract

A three-axis pan-tilt and shooting robot comprises a base, a roll shaft motor, a pitch shaft motor and a course shaft motor, wherein the course shaft motor is installed on the base; the pitching shaft motor is arranged on the third connecting piece, the pitching shaft motor is also connected with a second connecting piece, and the pitching shaft motor drives the second connecting piece to rotate circumferentially; the transverse roller motor is installed in the second connecting piece, a first control module is arranged in the second connecting piece, the first control module is connected with the transverse roller motor, a first connecting piece used for being connected with a load is further connected onto the first control module, and the transverse roller motor drives the first connecting piece to rotate circumferentially. The utility model discloses it is effectual to follow the track, can reach when shooing in the target movement and control rapidly and steadily and shoot the effect that the device keeps on definite gesture.

Description

A three-axis pan-tilt and shooting robot

technical field

The utility model relates to a three-axis cloud platform and a shooting robot adopting the three-axis platform.

Background technique

The automatic pan-tilt device is a supporting workbench for installing the shooting device. The shooting device is installed on the pan-tilt. Through the control of the pan-tilt, the pan-tilt is adjusted to make the shooting device rotate steadily towards the shooting target, so as to achieve tracking target shooting. And when shooting while moving, the effect of quickly and stably controlling the shooting device to keep on a certain posture can be achieved.

Most of the existing automatic pan-tilt devices follow the structure of the drone pan-tilt. During the shooting process, the main pursuit is the effect of stabilization, which is not suitable for the shooting scene of tracking the target.

As shown in Figure 1, it is a traditional three-axis gimbal device, including a yaw axis motor for controlling the yaw axis, a pitch axis motor for controlling the pitch axis, and a roll axis motor for controlling the roll axis, and the yaw axis is connected to the roll axis. , the pitch axis is connected to the roll axis. The initial default is horizontal mode, and all three axes are available for horizontal mode. When changing from a horizontal shot to a vertical shot, as shown in Figure 2, the roll axis rotates 90 degrees. At this time, the pitch axis is parallel to the yaw axis, and the pitch function is lost. The platform loses the pitch axis adjustment function, and the gimbal loses the three-axis working ability. In order to ensure that the three axes can be used for horizontal and vertical shooting, the rotation angle of the roll axis is limited within a certain range, generally within the range of +45 degrees to -45 degrees. When the shooting device is placed on the gimbal, it can only take horizontal or vertical shots, and it cannot be used in shooting behaviors that require camera angle changes (horizontal shooting-vertical shooting, vertical shooting-horizontal shooting).

In addition, the existing yaw axis motors are usually connected with electrical circuits on both sides. Since the lines are distributed on both sides, the motor of the yaw axis will be restricted during the rotation process and cannot rotate in a circle without limit. If the rotation angle is too large, it will inevitably cause the lines to be entangled. Therefore, the rotation angle of the yaw axis is also limited within a certain range, generally within the range of +270 degrees to -270 degrees. The device was unable to complete the capture.

Utility model content

The technical problem to be solved by the utility model is to provide a three-axis pan-tilt and a shooting robot with good tracking and shooting effects.

In order to solve the above technical problems, the utility model takes the following technical solutions:

A three-axis cloud platform, comprising a base, a roll axis motor, a pitch axis motor and a yaw axis motor, the yaw axis motor is installed on the base, the base is equipped with a third connecting piece, and the third connecting piece is equipped with There is a second control module, the second control module is connected with the motor of the yaw axis, and the motor of the yaw axis drives the third connecting piece to rotate in a circle;

The pitch axis motor is installed on the third connecting piece, and the pitch axis motor is also equipped with a second connecting piece, and the pitch axis motor drives the second connecting piece to rotate in a circle;

The roll axis motor is installed in the second connecting piece, the second connecting piece is provided with a first control module, the first control module is connected with the roll axis motor, and the first control module is also connected with a The first connecting piece, the rolling axis motor drives the first connecting piece to rotate in a circle;

The second control module includes a battery, a power management module and a pan/tilt control module, and the roll axis motor, the pitch axis motor and the pan axis motor are all connected to the battery, the power management module, and the pan/tilt control module through lines.

The bottom surface of the yaw axis motor is installed in direct contact with the base. The battery and power management module in the second control module are connected to the upper end of the yaw axis motor through lines. The second control module is driven by the yaw axis motor to rotate synchronously.

The third connecting piece includes a connecting rod and a connecting seat, the connecting seat is arranged on the base and contains the panning axis motor and the second control module, the lower part of the connecting rod is connected with the connecting seat, and the pitching axis motor is installed on the upper part of the connecting rod .

The second connecting member is a shell with a cavity inside, the pitch axis motor is mounted on the outer surface of the shell, and the roll axis motor and the first control module are arranged inside the shell.

The bottom surface of the base is provided with mounting holes.

The first control module includes a wireless communication module, an image processing module and an image storage module, and the second control module also includes an audio collection and processing module.

A shooting robot includes a load and a three-axis platform, the load is connected to a first connecting piece, and the load is connected to a second connecting piece.

The utility model has strong tracking ability, and the three axes can be used normally in the horizontal shooting mode, vertical shooting mode and rotating shooting mode, which improves the tracking shooting effect.

Description of drawings

Accompanying drawing 1 is the schematic diagram of the three-dimensional structure of the three-axis cloud platform in the prior art;

Accompanying drawing 2 is the state schematic diagram when three-axis pan-tilt in the prior art is in vertical shooting;

Accompanying drawing 3 is the schematic diagram of the three-dimensional structure of the shooting robot formed after the three-axis pan-tilt of the present invention is assembled with a camera;

Accompanying drawing 4 is the sectional structure schematic diagram of accompanying drawing 3;

Accompanying drawing 5 is the state schematic diagram when vertical shooting among the utility model;

Accompanying drawing 6 is a schematic diagram of the state of the utility model rotation shooting;

Accompanying drawing 7 is the state two schematic diagrams of the utility model rotation shooting;

Accompanying drawing 8 is the state three schematic diagrams of the utility model rotation shooting;

Accompanying drawing 9 is the three-dimensional structure schematic diagram of another viewing angle of the utility model.

detailed description

In order to facilitate the understanding of those skilled in the art, the utility model will be further described below in conjunction with the accompanying drawings.

As shown in accompanying drawings 3, 4 and 5, the utility model discloses a three-axis pan-tilt, comprising a base 10, a roll axis motor 4, a pitch axis motor 6 and a yaw axis motor 9, and the yaw axis motor 9 is installed On the base 10, a third connecting piece 7 is installed on the base 10, and a second control module 8 is arranged in the third connecting piece 7, and the second control module 8 is connected with the yaw axis motor 9, and the yaw axis motor 9 drives The third connecting piece 7 rotates in a circle; the pitching axis motor 6 is installed on the third connecting piece 7, and the pitching axis motor 6 is also equipped with a second connecting piece 5, and the pitching axis motor 6 drives the second connecting piece 5 to rotate in a circle; The roller motor 4 is installed in the second connecting piece 5, and the first control module 3 is arranged in the second connecting piece 5, and the first control module 3 is connected with the rolling axis motor 4, and the first control module 3 is also connected with There is a first connecting part 2 for connecting with the load (camera) 1, and the rolling axis motor 4 drives the first connecting part 2 to rotate in a circle. Thereby realizing three-axis motion. The load 1 can be assembled with the second connection part 5 and simultaneously connected with the first control module 3 through the first connection part 2 . The second control module 8 includes a battery, a power management module and a pan/tilt control module, and the roll axis motor, the pitch axis motor and the pan axis motor are all connected to the battery, the power management module, and the pan/tilt control module through lines. The battery and power management module supply power to each motor and provide circuit control, and the pan/tilt control module is used to control the specific action of each motor.

The bottom surface of the yaw axis motor 9 is installed in direct contact with the base 10. The battery and the power management module in the second control module are connected to the upper end of the yaw axis motor through lines to supply power. The second control module is driven by the yaw axis motor to rotate synchronously. By arranging the electrical circuit on the upper end of the panning axis motor, and electrically and mechanically connecting and fixing the panning axis motor with the second control module, it is ensured that the panning axis motor drives the second control module to rotate synchronously. Therefore, there are no distribution lines on both sides of the panning axis motor, thereby ensuring that the rotation of the panning axis motor is not restricted, so that the rotation of the panning axis motor on the circumference is not limited, so as to achieve better tracking and shooting.

The third connecting piece 7 includes a connecting rod 71 and a connecting seat 72. The connecting seat 72 is arranged on the base 10 and accommodates the yaw axis motor 9 and the second control module 8. The lower part of the connecting rod 71 is connected to the connecting seat 72. , The pitch axis motor 6 is installed on the top of the connecting rod 71 .

The second connecting member 5 is a shell with a cavity inside, the pitch axis motor 6 is mounted on the outer surface of the shell, and the roll axis motor and the first control module are arranged inside the shell. When the rolling axis motor 4 drives the first control module 3 and the first connecting part 2 to rotate, the second connecting part 5 remains still. When the pitch axis motor 6 drives the second connecting piece 5 to rotate, the roll axis motor and the first control module etc. installed in the second connecting piece also rotate together, and the rotation direction is the same as that of the rolling axis motor driving the first connecting piece to rotate. The direction is vertical.

As shown in Figure 9, the bottom surface of the base 10 is provided with an installation hole 11, which can be easily installed and fixed with a tripod or fixedly connected with other supports.

The first control module includes a wireless communication module, an image processing module, and an image storage module, and is mainly used for communicating with external terminals, and performing image processing, transmission, and storage. The second control module also includes an audio collection and processing module.

As shown in Figures 3 and 5 , a shooting robot includes a payload (camera) 1 and a three-axis pan/tilt, the payload 1 is connected to a first connecting member 2 , and the payload 1 is connected to a second connecting member 5 . The roll axis motor drives the camera to rotate in the roll axis direction, the pitch axis motor drives the camera to rotate in the pitch axis direction, and the yaw axis motor drives the camera to rotate in the yaw axis direction. This makes it easier to track and shoot.

According to shooting requirements, the shooting mode is converted, and the shooting mode includes a horizontal shooting mode, a vertical shooting mode and a rotating shooting mode.

If it is in landscape mode, the roll axis motor, pitch axis motor and pan axis motor can all operate normally.

If the horizontal mode is changed to the vertical mode, the rotation of the roll axis motor drives the first control module and the first connecting part to rotate 90 degrees, so that the camera rotates 90 degrees to enter the vertical mode, and the second connecting part remains motionless. At this time, the roll axis motor, pitch axis motor and pan axis motor can all run normally.

If it is in the rotation shooting mode, the yaw axis motor drives the third connecting part to rotate in a circle, drives the second connecting part to rotate, and then drives the shooting camera to rotate.

In the utility model, there are horizontal shooting, vertical shooting and rotating shooting modes, and in each mode, the rolling axis motor, the pitch axis motor and the heading axis motor do not interfere with each other and can be used normally.

As shown in FIG. 3 , it is a horizontal shooting mode. At this time, the roll axis motor, pitch axis motor and pan axis motor can all perform respective actions according to needs. You can also lock the motor of the roll axis, and the other two motors will move, so as to achieve different and convenient tracking shooting.

As shown in Figure 4, when the mode is converted from the model shooting mode to the vertical shooting mode, the pitch axis motor remains at the original position and will not interfere with the pan axis motor, and each can still rotate freely and be used normally. In this mode, the roll axis motor, pitch axis motor and pan axis motor can also be used normally.

As shown in Figure 3, 6-8, it is a single rotation shooting mode. At this time, first put the camera in the horizontal shooting mode or the vertical shooting mode, then temporarily lock the roll axis motor or the pitch axis motor, and only start the pan axis motor. Able to spin freely. Or do not lock the motor of the roll axis and the motor of the pitch axis. When the motor of the pan axis drives the rotation of the third link, the motor of the roll axis and the motor of the pitch axis can also be activated to drive the first link and the second link. Rotate to achieve more accurate tracking shooting. Since the upper end of the yaw axis motor is electrically and mechanically connected to the second control module, the yaw axis motor drives the second control module and the third connecting piece to rotate synchronously in a circle, drives the second connecting piece to rotate, and then drives the shooting camera to rotate. Therefore, during the rotation of the yaw axis motor, it will not be limited by the line, and the circular rotation angle will not be limited.

That is to say, no matter in which shooting mode, the roll axis motor, pitch axis motor and pan axis motor will not interfere with each other, they can work normally with each other, and have strong tracking and shooting capabilities.

It should be noted that the above description is not a limitation to the technical solution of the utility model, and any obvious replacements are within the protection scope of the utility model without departing from the inventive concept of the utility model.

Claims (7)

1. a kind of three axle heads, including base, roll spindle motor, pitching spindle motor and course spindle motor, it is characterised in that described Course spindle motor is arranged on base, and the 3rd connector is equiped with the base, and the second control mould is provided with the 3rd connector Block, second control module are connected with course spindle motor, and course spindle motor drives the 3rd connector circle rotation；

Pitching spindle motor is arranged on the 3rd connector, and the pitching spindle motor also attaching has the second connector, pitch axis motor belt motor Dynamic second connector circular-rotation；

Roll spindle motor is arranged in the second connector, and the first control module is provided with second connector, the first control mould Block is connected with roll spindle motor, is also associated with the first control module for the first connector with load connection, roll axle electricity Machine drives the first connector circular-rotation；

Second control module includes battery, power management module and cradle head control module, roll spindle motor, pitching spindle motor and Course spindle motor is connected by circuit with the battery, power management module and cradle head control module.

2. three axles head according to claim 1, it is characterised in that the bottom surface of the course spindle motor directly connects with base Touch and install, the battery, power management module in the second control module are connected by circuit with the upper end of course spindle motor, and this second Control module drives synchronous axial system by course spindle motor.

3. three axles head according to claim 2, it is characterised in that the 3rd connector includes connecting rod and connection Seat, connecting seat are located on base and course spindle motor, the second control module are housed in interior, connecting rod bottom and connecting seat company Connect, pitching spindle motor is arranged on connecting rod top.

4. three axles head according to claim 3, it is characterised in that second connector is the internal shell with cavity Body, pitching spindle motor are installed in the outer surface of the housing, and roll spindle motor and the first control module are located at the inside of the housing.

5. three axles head according to claim 4, it is characterised in that the bottom surface of the base is provided with peace attachment hole.

6. three axles head according to claim 5, it is characterised in that first control module includes radio communication mold Block, image processing module and image storage module, the second control module also include audio collection and processing module.

7. one kind shooting robot, including load and three axle heads any one of claim 1-6, load connect with first Fitting is connected, and the load is connected with the second connector.