CN219178809U - Balance detection device and balance detection system of tripod head and tripod head comprising balance detection device and balance detection system - Google Patents

Abstract

The utility model provides a balance detection device of a cradle head, which comprises at least one part to be leveled and at least one supporting part, and the balance detection device comprises at least two pressure sensors and a processor. The pressure sensors are held between the component to be leveled and the corresponding support component without overlapping each other and the connection line of at least two pressure sensors is not perpendicular to the leveling direction. The processor is designed to be communicatively coupled to the pressure sensor to receive the electrical signals output by the pressure sensor and to determine a direction of the balance shift and an amount of the balance shift of the part to be leveled based further on a difference between the electrical signals received from the different pressure sensors. The utility model further provides a balance detection system of the cradle head and the cradle head comprising the balance detection system. The balance detection device with the configuration reduces the matching requirement of software and hardware of the cradle head, is easy to realize and mass production, and reduces the cost.

Description

Balance detection device and balance detection system of tripod head and tripod head comprising balance detection device and balance detection system

Technical Field

The present utility model relates to a cradle head, and more particularly, to a balance detection device for a cradle head.

Background

A pan-tilt is a device for carrying a camera device (e.g. a cell phone or a camera), which is usually mounted to the pan-tilt by means of an auxiliary mounting tool (e.g. a quick-mount board or a rabbit cage). Before using the cradle head, the cradle head needs to be leveled, if the cradle head is put into use under the condition of not being leveled, the motor in the cradle head can continuously output current to provide unbalanced torque, so that energy loss can be caused, the service life of the motor is influenced, and meanwhile, the shooting stability is influenced.

At present, people usually judge the offset direction and the offset amount of each stability augmentation axle arm and the quick-mounting plate of the cradle head according to personal experience, and the method is inaccurate and wastes time. Although a method for measuring the balance offset by adopting the torque of the stability augmentation motor is also proposed, the method has high requirements on software and hardware, is difficult to realize, has high cost and is difficult to produce in mass.

Disclosure of Invention

The present utility model provides a balance detecting device which determines the offset and the offset direction of a member to be leveled by using the difference in the magnitudes of pressures sensed by different pressure sensors clamped between the member to be leveled and a supporting member. The device not only realizes automatic measurement of balance information of the part to be leveled, but also reduces the matching requirement of software and hardware of the holder, is easy to realize and mass production, and reduces the cost.

The utility model provides a balance detection device of a holder, which comprises at least one part to be leveled and at least one supporting part for each part to be leveled to be correspondingly attached to the part to be leveled in a relatively translational manner, wherein the part to be leveled is arranged to be pressed against the corresponding supporting part, and the balance detection device comprises at least two pressure sensors and a processor. At least two pressure sensors are clamped between the component to be leveled and the corresponding supporting component in a non-overlapping manner, and are arranged in a way that the connecting line of at least two pressure sensors is not perpendicular to the leveling direction, and the pressure sensors are designed for generating an electric signal representing the pressure applied by the component to be leveled to the corresponding supporting component at the position of the pressure sensors; a processor is designed for communicative connection with the pressure sensor to receive the electrical signals output by the pressure sensor and to determine a direction of balance shift and an amount of balance shift of the component to be leveled further based on a difference between the electrical signals received from the different pressure sensors.

The balance detection device provided by the utility model realizes that the manual or automatic leveling device can acquire the balance information of the part to be leveled in real time, so that the gravity center position of the part to be leveled is dynamically adjusted according to the information. Furthermore, the balance detection device occupies smaller volume, has simple structure and is convenient to arrange.

Preferably, the pressure sensors are arranged in rows along the leveling direction, wherein each row of pressure sensors comprises at least two of the pressure sensors.

Preferably, the pressure sensors in the same row are spaced apart from each other along the leveling direction, and the pressure sensors in different rows are spaced apart from each other in an orientation perpendicular to the leveling direction.

Preferably, the balance detection device comprises two rows of pressure sensors, each row of pressure sensors comprising two pressure sensors respectively.

Preferably, grooves corresponding to the number of the pressure sensors and used for fixing and accommodating the pressure sensors are formed in the side face of the supporting component, facing the corresponding component to be leveled.

Preferably, the pressure sensor employs a resistive strain gauge.

Preferably, the electrical signal output by the pressure sensor is a voltage or a resistance.

The utility model also provides a balance detection system of the cradle head, which comprises at least one part to be leveled and at least one supporting part for each part to be leveled to be correspondingly attached to the cradle head in a relatively translational manner, and comprises at least one balance detection device provided for each part to be leveled.

Preferably, the pan-tilt comprises a heading motor arm and a heading motor with a heading motor casing, the heading motor arm being attached to the heading motor casing in a relatively translatable manner, wherein the pressure sensor of the correspondingly provided balance detection device is clamped between the heading motor arm and the heading motor casing in the case that the component to be leveled is the heading motor arm and the corresponding support component is the heading motor casing.

Preferably, the cradle head comprises a roll motor arm, a roll motor press block and a roll motor with a roll motor housing, wherein an upper lug and a lower lug which can be connected with the roll motor press block by screw are arranged on the roll motor housing, wherein when the roll motor arm is connected to the roll motor housing by means of the roll motor press block, the lower surface of the roll motor arm is pressed against the upper surface of the lower lug, and when the component to be leveled is the roll motor arm and the corresponding supporting component is the lower lug, the pressure sensor of the correspondingly provided balance detecting device is clamped between the lower surface of the roll motor arm and the upper surface of the lower lug supporting the roll motor arm.

Preferably, the pan-tilt comprises a pitching motor arm and a snap-in plate attached to the pitching motor arm in a relatively translatable manner, wherein in case the component to be leveled is the snap-in plate and the corresponding support component is the pitching motor arm, the pressure sensor of the correspondingly provided balance detection means is clamped between a lower surface of the snap-in plate and an upper surface of a section of the pitching motor arm supporting the snap-in plate.

The utility model also provides a holder which comprises at least one part to be leveled, at least one supporting part for each part to be leveled to be correspondingly attached to the part to be leveled in a relatively translational manner along the leveling direction, and the balance detection system. Also included is an automatic leveling system comprising at least one automatic leveling device provided separately for each of the parts to be leveled, the automatic leveling device being designed to be able to receive information about the direction and amount of balance offset of the corresponding part to be leveled from a processor of the balance detecting device assigned to the same part to be leveled, and to drive the translation of the part to be leveled relative to the corresponding support part based on the information until the processor detects that the magnitudes of the pressures received from the different pressure sensors are equal.

Drawings

Embodiments of the apparatus and method of the present utility model are described in further detail with reference to the accompanying drawings, wherein:

FIG. 1 is a general perspective view of a pan-tilt head according to the present utility model;

FIG. 2 is a schematic diagram of a balance detection device provided by a heading motor arm of a pan-tilt;

FIG. 3 is an exemplary schematic diagram of an arrangement of a resistance strain gauge on a motor housing;

FIG. 4 is a schematic diagram illustrating an example arrangement of resistive strain gages on a roll motor housing.

List of reference numerals

1. Balance detecting means; 11. a first pressure sensor; 12. a second pressure sensor; 13. a third pressure sensor; 14. a fourth pressure sensor; 15. a fifth pressure sensor; 16. a sixth pressure sensor; 2. an automatic leveling device; 21. a first motor; 22. a first screw rod; 23. a first transmission block; 3. heading motor arm; 4. a heading motor casing; 41. a groove; 5. a roll motor arm; 6. a roll motor housing; 7. a lower bump; 8. pitching the motor arm; 9. a quick-mounting plate; 10. a heading motor cover.

Detailed Description

Referring now to the drawings, illustrative versions of the disclosed architecture are described in detail. Although the drawings are provided to present some embodiments of the utility model, the drawings are not necessarily to scale and certain features may be exaggerated, removed, or partially sectioned to better illustrate and explain the present disclosure.

Certain directional terms used hereinafter to describe the drawings should be understood to have their normal meaning and refer to those directions which are involved in normal viewing of the drawings.

The utility model provides a balance detection device 1 for a tripod head, which is suitable for detecting the balance state of a part to be leveled in the tripod head, namely whether the part to be leveled is balanced relative to a horizontal plane or not, and the balance offset direction and the balance offset amount of the part to be leveled under the unbalanced state. Wherein each member to be leveled is provided with a support member to which the member to be leveled is attached in a relatively translatable manner. The balance detecting device 1 will be described in detail below by taking a three-axis pan-tilt as an example. For ease of description, the relative translational direction of the part to be leveled with respect to the corresponding support part is referred to herein as the leveling direction. In addition, those skilled in the art will appreciate that the balance of the part to be leveled is also the balance of the part to be leveled and its load population.

Fig. 1 shows a schematic perspective view of a three-axis pan-tilt, which is configured to include a pitch motor arm 8 and a pitch motor with a pitch motor housing, a roll motor arm 5 and a roll motor with a roll motor housing 6, a heading motor arm 3 and a heading motor with a heading motor housing 4, an auxiliary mounting tool being relatively translatably mounted to the pitch motor arm 8, the auxiliary mounting tool being described below by way of example as a quick-mount plate 9. The arrangement relation between the three motor arms and the three motors in the three-axis pan/tilt head and the arrangement relation between the quick-mounting plate 9 and the tilt motor arm 8 are well known in the art, and will not be described herein. In addition, the specific attitude of the individual motor arms and the snap-in plates in the three-axis pan-tilt in the desired equilibrium position is also known to the person skilled in the art.

The following description will be made taking, as an example, a case where the part to be leveled is a heading motor arm 3 and the supporting part is a heading motor case 4, wherein the lower surface of the heading motor arm 3 is pressed against the heading motor case 4, and the heading motor arm 3 is attached to the heading motor case 4 relatively translatably along its length direction. In this context, "translation" means that a component moves in a linear direction.

Specifically, the balance detection device 1 is configured to include at least two pressure sensors, and further includes a processor (not shown) communicatively coupled to each pressure sensor to receive information regarding the magnitude of the pressure from the pressure sensors. Referring to fig. 2 and 3 in combination, the pressure sensor is sandwiched between the heading motor arm 3 and the heading motor casing 4, specifically between the lower surface of the heading motor arm 3 (i.e., the side facing the heading motor casing 4) and the upper surface of the heading motor casing 4 (i.e., the side facing the heading motor arm 3).

It should be noted here that in the case of leveling the heading motor arm 3 with the auto-leveling device 2 which will be described in detail later, a part of the components of the auto-leveling device 2 may be accommodated in the heading motor arm 3, at which time the lower surface of the heading motor arm 3 will have a removable heading motor cover 10 by means of which heading motor cover 10 the heading motor arm 3 will be pressed against the upper surface of the heading motor casing 4. The pressure sensor may be arranged between the heading motor cover 10 and the heading motor casing 4. If the heading motor cover 10 is not employed, i.e., the lower end of the heading motor arm 3 is open, the sensor may be sandwiched between a side wall of the heading motor arm 3 extending perpendicular to the heading motor casing 4 and the heading motor casing 4. In summary, regardless of the configuration adopted by the heading motor arm 3, the pressure sensor needs to be arranged at a position where the heading motor arm 3 and the heading motor casing 4 are pressed against contact with each other before the sensor is not provided, or at a position where the heading motor arm 3 applies pressure to the heading motor casing 4 by means of the pressure sensor after the pressure sensor is arranged although no contact is made before the sensor is not provided, otherwise it cannot be regarded as sandwiching the pressure sensor between the heading motor arm 3 and the heading motor casing 4. The pressure sensor may be attached to the heading motor arm 3 or the heading motor casing 4, or may not be attached to both but merely sandwiched therebetween.

By sandwiching the pressure sensor between the heading motor arm 3 and the heading motor casing 4, the pressure sensor can sense the amount of pressure applied by the heading motor arm 3 to the heading motor casing 4 at its arrangement position.

The following describes an arrangement of the pressure sensor, taking the attachment of the pressure sensor to the heading motor case 4 as an example.

First, the different pressure sensors are not allowed to overlap each other, otherwise the pressure value cannot be obtained accurately. In addition, the connection lines of all the pressure sensors are not allowed to extend perpendicular to the leveling direction, and if the pressure values sensed by all the pressure sensors are always equal, the offset information of the component to be leveled cannot be obtained. Thus, the connection of at least two pressure sensors cannot be perpendicular to the leveling direction (typically the length direction of heading motor arm 3).

The application principle of the balance detection device according to the utility model is that when the heading motor arm 3 is in an unbalanced state, the pressure values sensed by two different pressure sensors which are connected in a line not perpendicular to the leveling direction are different, and the pressure sensor which senses the larger pressure value is closer to the deflection side of the heading motor arm 3. When the heading motor arm is in a balanced state, the pressure values sensed by all the pressure sensors are equal.

For example, see fig. 2 and 3, wherein the leveling direction is shown with arrow a, the direction of arrow B being the direction perpendicular to the leveling direction a. The connection of the first pressure sensor 11 and the third pressure sensor 13 is in direction B, as is the connection of the second pressure sensor 12 and the fourth pressure sensor 14. If the heading motor arm 3 is inclined toward the lower left in fig. 2, the pressure values sensed by the second pressure sensor 12 and the fourth pressure sensor 14 should be larger than the pressure values sensed by the first pressure sensor 11 and the third pressure sensor 13, but the pressures sensed by the first pressure sensor 11 and the third pressure sensor 13 should be equal in magnitude, and the pressures sensed by the second and fourth pressure sensors 12, 14 should be equal in magnitude. By comparing the sensed pressure values of different pressure sensors, such as the first pressure sensor 11 and the fourth pressure sensor 14 (or the first pressure sensor 11 and the second pressure sensor 12), whose lines are not perpendicular to the leveling direction a, the balance shift direction of the heading motor arm 3 with respect to the horizontal plane and the specific balance shift amount can be determined. The greater the pressure difference, the greater the degree of balance shift of the heading motor arm. When the pressure values detected by all the pressure sensors are equal, this means that the heading motor arm 3 is in a balanced state.

In a preferred embodiment, at least two pressure sensors are arranged in a row along the leveling direction. Wherein each row of pressure sensors comprises at least two pressure sensors. The pressure sensors preferably located in the same row are arranged at intervals to acquire the pressure values applied to the heading motor casing 4 by the heading motor arm 3 at different positions in the same row at intervals. In addition, it is preferable that the sensors located in different rows are also arranged at intervals in the direction B.

In a more preferred embodiment, as shown in fig. 3, the pressure sensors are arranged in two rows (i.e. row I and row II), wherein the first pressure sensor 11 and the second pressure sensor 12 are arranged in row I and the third pressure sensor 13 and the fourth pressure sensor 14 are arranged in row II. The first pressure sensor 11 and the second pressure sensor 12 are arranged at a certain pitch in the direction a, and the third pressure sensor 13 and the fourth pressure sensor 14 are arranged at a certain pitch in the direction a. The first pressure sensor 11 and the third pressure sensor 13 are arranged at a certain pitch in the direction B and the second pressure sensor 12 and the fourth pressure sensor 14 are also arranged at a certain pitch in the direction B.

It can be seen that the arrangement of two sensors in a row (e.g. the first sensor 11 and the second sensor 12) is to achieve the most compact arrangement for detecting the equilibrium state of the heading motor arm 3. But for the case of a larger width of the motor arm or a smaller sensor size, more rows of sensors or more sensors added in each row may be provided, thereby achieving a more accurate and more sensitive signal reception.

Preferably, grooves 41 corresponding to the number of the pressure sensors are formed on the aviation motor casing 4, for example, four grooves 41 are formed in fig. 2, so that the pressure sensors can be accommodated therein. At least part of the pressure sensor should protrude beyond the recess 41 for the heading motor arm to press against.

Fig. 4 shows an example of application of the balance detection system according to the utility model when the component to be leveled is a roll motor arm 5 and the corresponding support component is a roll motor housing 6, in particular a lower lug 7 of the roll motor housing. Wherein the roll motor arm 5 is connected to the roll motor housing 6 in a relatively translatable manner by means of a roll motor compact. Specifically, the roll motor compacts are connected to the upper and lower bosses 7 provided on the roll motor housing 6 by screws, and the roll motor arm 5 is generally directly pressed against the lower boss 7 in a vertical use state of the pan/tilt head, whereby the lower surface of the roll motor arm 5 can also be regarded as being relatively translatably pressed against the upper surface of the lower boss 7. The translation direction is generally the length direction of the connecting section of the roll motor arm to the roll motor. A pressure sensor is provided between the lower surface of the roll motor arm 5 and the upper surface of the lower bump 7. Due to the limited width of the under bump 7, it is preferable to provide two pressure sensors, namely a fifth pressure sensor 15 and a sixth pressure sensor 16, in a direction in which the roll motor arm 5 is relatively translatable with respect to the under bump 7. Of course, if the sensor size is smaller, more sensors may be provided. The processor will determine the state of equilibrium of the roll motor arm 5 based on the measurements of the two pressure sensors.

Although not shown, the balance detection device according to the present utility model may also be arranged between the quick-mounting plate 9 and the pitching motor arm 8. Wherein the quick-mounting plate 9 is a component to be leveled, and the pitching motor arm 8 is a supporting component. The leveling direction is generally the length direction of the quick-connect plate. A receiving groove may be opened on the upper surface of the pitching motor arm 8 along the length direction of the snap-in plate 9 to receive the pressure sensor therein, thereby allowing the pressure sensor to be clamped between the snap-in plate 9 and the pitching motor arm 8 (specifically, a section of the pitching motor arm 8 supporting the snap-in plate 9).

The pressure sensor can be in the form of a resistance strain gauge, and the output signal of the pressure sensor can be voltage or resistance.

The combination of balance detection means provided separately for the different parts to be leveled is referred to herein as a balance detection system. It will be appreciated by those skilled in the art that the number of balance detecting devices 1 depends on the number of applicable parts to be leveled, and the balance detecting system may comprise only one balance detecting device 1, or may comprise a plurality of balance detecting devices 1. In addition, it should be understood by those skilled in the art that the above balance detecting device is not only applicable to a three-axis pan-tilt, but also applicable to a two-axis pan-tilt, and is not only applicable to the component to be leveled mentioned herein, and other components of the three-axis pan-tilt that meet the use requirement and need to be leveled can also be similarly adopted by the above balance detecting device.

The pan-tilt according to the utility model also comprises an automatic levelling system consisting of at least one automatic levelling device 2 provided separately for the different parts to be levelling. The automatic leveling device 2 is designed to be able to receive information about the direction of the balancing offset of the corresponding part to be leveled from the processor of the balancing detection device 1 assigned to the same part to be leveled, and based on this information to drive the translation of the part to be leveled with respect to the support part until the processor detects that the magnitudes of the pressures received from the different pressure sensors are equal.

The following illustrates an example structure of the auto-leveling device 2 provided for its correspondence with the component to be leveled as the heading motor arm 3. The self-leveling device provided for the heading motor arm 3 is referred to as a first self-leveling device. The first automatic leveling device is configured to comprise a first motor 21, a first screw rod 22 and a first transmission block 23, wherein the first motor 21 and the first screw rod 22 are to be accommodated in the heading motor arm 3, the first transmission block 23 is fixedly connected to the heading motor casing 4, the first motor 21 is fixedly mounted to the heading motor arm 3, the first screw rod 22 is connected to a motor shaft of the first motor 21 to rotate under the driving of the first motor 21, the first transmission block 23 is sleeved on the first screw rod 22 to translate along the first screw rod 22 under the driving of the first screw rod 22, and an elongated opening is formed in the heading motor cover 10 in a penetrating manner so that the first transmission block 23 extends into the elongated opening to be connected with the first screw rod 22.

The automatic leveling device provided for the roll motor arm 5 is referred to as a second automatic leveling device (not shown) comprising a second motor, a second screw and a second transmission block, wherein the second motor is fixedly connected to the roll motor arm 5, the second screw is connected to the motor shaft of the second motor, and the second transmission block is sleeved on the second screw and fixedly connected to the roll motor housing.

The automatic leveling device provided for the quick-acting plate 9 is referred to as a third automatic leveling device (not shown) configured to include a third motor fixedly connected to the pitching motor arm 8, a gear connected to a motor shaft of the third motor, and a rack capable of meshing with the gear, the rack being fixedly mounted to the quick-acting plate 9.

It will of course be appreciated by the person skilled in the art that the first, second and third self-levelling means are not limited to the above-described configuration, the third self-levelling means may also be used for the heading and roll motor arms 3, 5, and the structure of the screw and the drive block may also be applied for the quick-mounting plate 9. Other translation mechanisms known in the art, such as worm gear assemblies and the like, are equally suitable for use herein.

The following is a brief description of the steps for leveling a heading motor arm, taking the heading motor arm as a component to be leveled. Firstly, starting a balance detection device provided for a heading motor arm, and receiving pressure signals from a first pressure sensor to a fourth pressure sensor and judging a balance offset direction and a balance offset amount of the heading motor arm by a processor; next, the first auto-leveling device, upon receiving the balancing information about the heading motor arm from the processor, activates the first motor to drive the heading motor arm to translate, for example, to the left or right in fig. 2, until the processor senses that the pressures of all the pressure sensors are the same.

To simplify the algorithm and measurement accuracy, the pressure levels of the first pressure sensor and the third pressure sensor (or the second and fourth pressure sensors) may also be sensed first, and if different, automatic adjustment or prompting of manual adjustment of the pan-tilt position may be applied until the pressures of the first pressure sensor and the third pressure sensor (or the second and fourth pressure sensors) are the same, followed by continued balance detection and automatic leveling as described above.

Claims (12)

1. A balance detection device of a pan-tilt comprising at least one member to be leveled and at least one support member to which each of the members to be leveled is correspondingly attached relatively translatably along a leveling direction, wherein the member to be leveled is arranged to press against the corresponding support member, characterized in that the balance detection device comprises:

at least two pressure sensors, which are clamped between the component to be leveled and the corresponding supporting component in a non-overlapping manner, and are arranged in such a way that the connecting line of at least two pressure sensors is not perpendicular to the leveling direction, wherein the pressure sensors are designed to generate an electric signal representing the pressure exerted by the component to be leveled on the corresponding supporting component at the position of the pressure sensors;

a processor is configured for communicative connection with the pressure sensor to receive the electrical signals output by the pressure sensor and to determine a direction of balance shift and an amount of balance shift of the component to be leveled further based on a difference between the electrical signals received from the different pressure sensors.

2. The balance detection device of claim 1, wherein the pressure sensors are arranged in rows along the leveling direction, wherein each row of pressure sensors includes at least two of the pressure sensors.

3. The balance detection device according to claim 2, wherein the pressure sensors in the same row are arranged at intervals from each other in the leveling direction, and the pressure sensors in different rows are arranged at intervals from each other in an orientation perpendicular to the leveling direction.

4. A balance detection apparatus according to claim 3, wherein the balance detection apparatus comprises two rows of pressure sensors, each row of pressure sensors comprising two pressure sensors.

5. The balance detecting device according to claim 1, wherein grooves corresponding to the number of the pressure sensors for the pressure sensors to be fixedly accommodated therein are provided on the side face of the supporting member facing the corresponding member to be leveled.

6. A balance detection apparatus according to any preceding claim, wherein the pressure sensor employs a resistive strain gauge.

7. The balance detection device according to claim 6, wherein the electrical signal output from the pressure sensor is a voltage or a resistance.

8. A balance detection system of a pan-tilt comprising at least one member to be leveled and at least one support member to which each of the members to be leveled is correspondingly attached in a relatively translatable manner, characterized in that the balance detection system comprises at least one balance detection device according to any one of claims 1 to 7 provided for each of the members to be leveled, respectively.

9. The balance detection system of claim 8, wherein the pan-tilt comprises a heading motor arm and a heading motor with a heading motor housing, the heading motor arm being relatively translatably attached to the heading motor housing, wherein the pressure sensor of the correspondingly provided balance detection device is clamped between the heading motor arm and the heading motor housing with the component to be leveled being the heading motor arm and the corresponding support component being the heading motor housing.

10. The balance detection system according to claim 9, characterized in that the pan-tilt comprises a roll motor arm, a roll motor press block and a roll motor with a roll motor housing on which an upper lug and a lower lug are provided, which can be screwed with the roll motor press block, wherein when the roll motor arm is connected to the roll motor housing by means of the roll motor press block, a lower surface of the roll motor arm is pressed against an upper surface of the lower lug, and in the case where the component to be leveled is the roll motor arm and the corresponding support component is the lower lug, the pressure sensor of the corresponding provided balance detection device is clamped between a lower surface of the roll motor arm and an upper surface of the lower lug supporting the roll motor arm.

11. The balance detection system according to claim 10, characterized in that the pan-tilt comprises a pitching motor arm and a quick-plate attached to the pitching motor arm in a relatively translatable manner, wherein the pressure sensor of the balance detection means provided correspondingly is clamped between a lower surface of the quick-plate and an upper surface of a section of the pitching motor arm supporting the quick-plate in case the component to be leveled is the quick-plate and the corresponding support component is the pitching motor arm.

12. A cradle head is characterized by comprising

At least one part to be leveled;

at least one support member to which each of the members to be leveled is correspondingly attached relatively translatably along a leveling direction;

the balance detection system according to any one of claims 8 to 11; and

an automatic leveling system comprising at least one automatic leveling device provided separately for each of the parts to be leveled, the automatic leveling device being designed to be able to receive information on a balancing offset direction and a balancing offset amount of the corresponding part to be leveled from a processor of the balancing detection device assigned to the same part to be leveled, and to drive the translation of the part to be leveled with respect to the corresponding support part based on the information until the processor detects that the magnitudes of the pressures received from the different pressure sensors are equal.

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