CN206694770U - A kind of three axle heads and shooting robot - Google Patents
A kind of three axle heads and shooting robot Download PDFInfo
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- CN206694770U CN206694770U CN201720311068.0U CN201720311068U CN206694770U CN 206694770 U CN206694770 U CN 206694770U CN 201720311068 U CN201720311068 U CN 201720311068U CN 206694770 U CN206694770 U CN 206694770U
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- spindle motor
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Abstract
A kind of three axle heads and shooting robot, including base, roll spindle motor, pitching spindle motor and course spindle motor, the course spindle motor is arranged on base, the 3rd connector is equiped with the base, the second control module is provided with 3rd connector, second control module is 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 driven the second connector circular-rotation；Roll spindle motor is arranged in the second connector, the first control module is provided with second connector, first control module is connected with roll spindle motor, is also associated with driving the first connector circular-rotation for the first connector with load connection, roll spindle motor in the first control module.The utility model track up effect is good, controls filming apparatus to be maintained at the effect in the posture of determination with reaching immediate stability when can be shot in target movement.
Description
Technical field
It the utility model is related to a kind of three axles head and the shooting robot using the three axles head.
Background technology
Automatic cradle head device is the support works platform for installing filming apparatus, and filming apparatus is arranged on head, passed through
Control to head, head is adjusted, make rotation of the filming apparatus towards photographic subjects stabilization, to realize tracking target shooting, with
And filming apparatus is controlled to be maintained at the effect in the posture of determination with reaching immediate stability when being shot in movement.
Existing automatic cradle head equipment follows the structure of unmanned machine head more.In shooting process, main pursue increases steady effect
Fruit, it is poor for applicability for the photographed scene of tracking target shooting.
As shown in Figure 1, it is three traditional axle cradle head devices, including the course spindle motor of control course axle, control pitching
The pitching spindle motor of axle and the roll spindle motor of control roll axle, course axle and roll axis connection, pitch axis and roll axis connection.
It is defaulted as shake-hands grip state when initial, three axles are available during shake-hands grip.When being converted to perpendicular clap by shake-hands grip, as shown in Figure 2, roll axle
90 degree are rotated, now pitch axis is parallel with course axle, loses pitching function, the only surplus course of head and the s function of roll two, head
Pitching axial adjustment function is lost, head loses three axle abilities to work.Three axles are available during to ensure shake-hands grip and perpendicular bat, therefore roll axle
Rotational angle is limited in certain scope, is generally limited in the range of+45 degree to -45 degree.Capture apparatus be placed in head it
When upper, shake-hands grip or bat can only can only be erected, and changed needing camera shooting angle（-- perpendicular to clap, erect and the clap -- shake-hands grip of shake-hands grip）Shooting
It can not be used in behavior.
In addition, existing course spindle motor is typically to carry out the connection of electric wiring in both sides.Because circuit is distributed in two
Side, therefore course spindle motor will be restricted during rotation, can not unconfined carry out circular-rotation, if rotated
Angle is excessive, circuit will certainly be caused to wind.Therefore, axle rotational angle in course is also limited in certain scope, general limitation
In the range of+270 degree to -270 degree, in the case where following the trail of target photographed scene, when photographic subjects surround filming apparatus in one direction
During rotation, above-mentioned automatic cradle head equipment can not be completed to shoot.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of good three axle heads and camera of track up effect
Device people.
In order to solve the above-mentioned technical problem, the utility model takes following technical scheme：
A kind of three axle heads, including base, roll spindle motor, pitching spindle motor and course spindle motor, the course axle electricity
Machine is arranged on base, and the 3rd connector is equiped with the base, is provided with the second control module in the 3rd connector, this second
Control module is 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 electricity
Machine drives the second connector circular-rotation；
Roll spindle motor is arranged in the second connector, and the first control module is provided with second connector, first control
Molding block is connected with roll spindle motor, is also associated with the first control module for the first connector with load connection, roll
Spindle motor drives the first connector circular-rotation；
Second control module includes battery, power management module and cradle head control module, roll spindle motor, pitch axis electricity
Machine and course spindle motor are connected by circuit with the battery, power management module and cradle head control module.
The bottom surface of the course spindle motor directly contacts installation with base, battery, power management in the second control module
Module is connected by circuit with the upper end of course spindle motor, and second control module drives synchronous axial system by course spindle motor.
3rd connector includes connecting rod and connecting seat, and connecting seat is located on base and by course spindle motor, second
In control module is housed in, connecting rod bottom is connected with connecting seat, and pitching spindle motor is arranged on connecting rod top.
Second connector is the internal housing with cavity, and pitching spindle motor is installed in the outer surface of the housing, horizontal
Roller motor and the first control module are located at the inside of the housing.
The bottom surface of the base is provided with peace attachment hole.
First control module includes wireless communication module, image processing module and image storage module, the second control
Module also includes audio collection and processing module.
One kind shooting robot, including load and three axle heads, load are connected with the first connector, and the load and the
Two connectors connect.
The utility model ability of tracking is strong, shake-hands grip, it is perpendicular clap and rotary taking pattern under, three axles can normal use, carry
High track up effect.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram of three axles head of the prior art；
Accompanying drawing 2 is the view that three axles head of the prior art is in perpendicular when clapping；
Accompanying drawing 3 is the dimensional structure diagram that the axle head of the utility model three assembles the shooting robot formed after camera；
Accompanying drawing 4 is the cross-sectional view of accompanying drawing 3；
Accompanying drawing 5 is that view when clapping is erected in the utility model；
Accompanying drawing 6 is the schematic diagram of state one of the utility model rotary taking；
Accompanying drawing 7 is the schematic diagram of state two of the utility model rotary taking；
Accompanying drawing 8 is the schematic diagram of state three of the utility model rotary taking；
Accompanying drawing 9 is the dimensional structure diagram at another visual angle of the utility model.
Embodiment
For the ease of 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 drawing 3,4 and 5, the utility model discloses a kind of three axle heads, including base 10, roll spindle motor 4,
Pitching spindle motor 6 and course spindle motor 9, the course spindle motor 9 are arranged on base 10, and the 3rd company is equiped with the base 10
Fitting 7, the second control module 8 is provided with the 3rd connector 7, second control module 8 is connected with course spindle motor 9, course
Spindle motor 9 drives the circle rotation of the 3rd connector 7；Pitching spindle motor 6 is arranged on the 3rd connector 7, the pitching spindle motor 6
Also attaching has the second connector 5, and pitching spindle motor 6 drives the circular-rotation of the second connector 5；Roll spindle motor 4 is arranged on second
In connector 5, the first control module 3 is provided with second connector 5, first control module 3 is connected with roll spindle motor 4,
It is also associated with being used for and load in first control module 3（Camera）First connector 2 of 1 connection, roll spindle motor 4 drive first
The circular-rotation of connector 2.So as to realize three-axis moving.Load 1 can assemble with the second connector 5, while connecting by first
Fitting 2 is connected with the first control module 3.Second control module 8 includes battery, power management module and cradle head control module,
Roll spindle motor, pitching spindle motor and course spindle motor pass through the circuit and battery, power management module and cradle head control mould
Block connects.Battery, power management module are that each motor is powered, and provide circuit control, and cradle head control module is then used
In the specific action situation for controlling each motor.
The bottom surface of course spindle motor 9 and base 10 directly contact installation, battery, power management mould in the second control module
Block is connected and is powered with the upper end of course spindle motor by circuit, and second control module is driven synchronous by course spindle motor
Rotate.By the way that electric wiring to be arranged on to the upper end of course spindle motor, and course spindle motor is entered with the second control module
Row is electrically and mechanically connected, it is ensured that course spindle motor drives the second control module synchronous axial system.So that course axle is electric
The both sides of machine do not have distribution lines, and then ensure that the rotation of course spindle motor can not be limited so that course spindle motor is in circle
Rotation on week does not limit, to realize more preferable track up.
3rd connector 7 includes connecting rod 71 and connecting seat 72, and connecting seat 72 is located on base 10 and by course axle
In motor 9, the second control module 8 are housed in, the bottom of connecting rod 71 is connected with connecting seat 72, and pitching spindle motor 6 is arranged on connection
The top of bar 71.
Second connector 5 is the internal housing with cavity, and pitching spindle motor 6 is installed in the outer surface of the housing,
Roll spindle motor and the first control module are located at the inside of the housing.Roll spindle motor 4 drives the first control module 3 and first to connect
When fitting 2 rotates, the second connector 5 remains stationary as.When pitching spindle motor 6 drives the rotation of the second connector 5, mounted in the second connection
Roll spindle motor, the first control module in part etc. also follow rotation together, and its rotation direction drives first with roll spindle motor
The direction that connector rotates is vertical.
As shown in Figure 9, the bottom surface of the base 10 is provided with peace attachment hole 11, can be easy to install with tripod and fix, or
Other supporters of person are fixedly connected.
First control module includes wireless communication module, image processing module and image storage module, is mainly used in
It is connected with extraneous terminal called, and carries out image procossing, transmission, storage etc..Second control module also include audio collection with
Processing module.
As shown in accompanying drawing 3 and 5, one kind shooting robot, including load（Camera）1 and three axle heads, load 1 and the first company
Fitting 2 is connected, and the load 1 is connected with the second connector 5.Roll spindle motor drives rotation of the camera in roll direction of principal axis,
Pitch axis motor driven camera is in the rotation of pitching direction of principal axis, the rotation of course spindle motor drive camera course direction of principal axis.So as to
It is easy to track up.
According to shooting demand, the conversion of screening-mode is carried out, the screening-mode includes shake-hands grip pattern, perpendicular bat pattern and rotation
Screening-mode.
During if shake-hands grip pattern, roll spindle motor, pitching spindle motor and course spindle motor can normal operations.
If switch to perpendicular bat pattern by shake-hands grip pattern, roll spindle motor, which rotates, drives the first control module and the first connector
Rotate 90 degree so that shooting camera rotates 90 degree into bat pattern is erected, and the second connector remains stationary as, now roll spindle motor,
Pitching spindle motor and course spindle motor can normal operations.
During if rotary taking pattern, course spindle motor drives the 3rd connector circular-rotation, drives the second connector to turn
It is dynamic, and then drive shooting camera rotary motion.
In the utility model, there is shake-hands grip, perpendicular bat and rotary taking pattern, also, among each pattern, roll axle electricity
Machine, pitching spindle motor and course spindle motor are not interfere with each other respectively, being capable of normal use.
As shown in Figure 3, it is shake-hands grip pattern, now roll spindle motor, pitching spindle motor and course spindle motor being capable of roots
According to needing to carry out respective action.Roll spindle motor can also be locked, other two motors are moved, so as to realize difference
Convenient track up.
As shown in Figure 4, it is perpendicular bat pattern to clap patten transformation by mould, and now pitching spindle motor stills remain in original position
Put, will not produce and interfere with course spindle motor, each remain able to freely rotate and normal use.Under this pattern, roll
Spindle motor, pitching spindle motor and course spindle motor also can normal uses.
It is independent rotary taking pattern as shown in accompanying drawing 3,6-8, camera is first now in shake-hands grip pattern or perpendicular bat mould
After formula, roll spindle motor or pitching spindle motor are just temporarily locked, only starts course spindle motor, can rotate freely.Or not
Roll spindle motor and pitching spindle motor are locked, during course spindle motor drives the 3rd connector to rotate, roll spindle motor
It can also start use with pitching spindle motor, so as to drive the first connector and the second connector to rotate, realize more accurate
Track up.Because course spindle motor upper end and the second control module carry out electric route and mechanical connection, course spindle motor band
Second control module and the 3rd connector synchronization circular-rotation are moved, drives the second connector to rotate, and then drives shooting camera
Rotary motion.Therefore, course spindle motor will not be limited during rotation by circuit, and circular-rotation angle will not be by
To limitation.
That is, no matter in any screening-mode, roll spindle motor, pitching spindle motor and course spindle motor are not
Can interfere, each other can normal use, there is stronger track up ability.
It should be noted that described above is not the restriction to technical solutions of the utility model, this practicality is not being departed from
It is any obviously to replace within the scope of protection of the utility model on the premise of new creation design.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720311068.0U CN206694770U (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads and shooting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720311068.0U CN206694770U (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads and shooting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206694770U true CN206694770U (en) | 2017-12-01 |
Family
ID=60438361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720311068.0U Active CN206694770U (en) | 2017-03-28 | 2017-03-28 | A kind of three axle heads and shooting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206694770U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814754A (en) * | 2017-03-28 | 2017-06-09 | 东莞松山湖国际机器人研究院有限公司 | A kind of three axle heads, shooting robot and control method |
| WO2022109860A1 (en) * | 2020-11-25 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Target object tracking method and gimbal |
-
2017
- 2017-03-28 CN CN201720311068.0U patent/CN206694770U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814754A (en) * | 2017-03-28 | 2017-06-09 | 东莞松山湖国际机器人研究院有限公司 | A kind of three axle heads, shooting robot and control method |
| WO2022109860A1 (en) * | 2020-11-25 | 2022-06-02 | 深圳市大疆创新科技有限公司 | Target object tracking method and gimbal |
| CN114641642A (en) * | 2020-11-25 | 2022-06-17 | 深圳市大疆创新科技有限公司 | Method and cradle head for tracking target object |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200624 Address after: 518027 Building No. 6, Qianhai Shenzhen-Hong Kong Youth Dream Workshop, Qianhai Shenzhen Cooperation Zone, Shenzhen City, Guangdong Province 220 Patentee after: RUIMO INTELLIGENT TECHNOLOGY (SHENZHEN) Co.,Ltd. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Patentee before: DONGGUAN SONGSHAN LAKE INTERNATIONAL ROBOT RESEARCH INSTITUTE Co.,Ltd. |
|
| TR01 | Transfer of patent right |