WO2016183734A1 - Tête panoramique-inclinable - Google Patents

Tête panoramique-inclinable Download PDF

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Publication number
WO2016183734A1
WO2016183734A1 PCT/CN2015/079073 CN2015079073W WO2016183734A1 WO 2016183734 A1 WO2016183734 A1 WO 2016183734A1 CN 2015079073 W CN2015079073 W CN 2015079073W WO 2016183734 A1 WO2016183734 A1 WO 2016183734A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
pan
bracket
tilt head
roll
Prior art date
Application number
PCT/CN2015/079073
Other languages
English (en)
Chinese (zh)
Inventor
曾昆
潘大虎
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/079073 priority Critical patent/WO2016183734A1/fr
Priority to CN201580002950.0A priority patent/CN105992903B/zh
Publication of WO2016183734A1 publication Critical patent/WO2016183734A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the invention relates to a cloud platform, in particular to a cloud platform with a rotating shaft mechanism.
  • the current pan/tilt mechanism uses a single-axis fixed camera assembly due to the increase in camera quality. Therefore, the pitch axis direction is easy during flight in the sky. Vibration is generated, which will cause the video of the camera to be easily shaken during shooting, affecting the camera's shooting effect.
  • a pan/tilt head comprising at least one rotating shaft mechanism, the rotating shaft mechanism comprising:
  • a motor coupled to the bracket and configured to drive the bracket to rotate
  • bracket is coupled to the rotor of the motor to directly drive the bracket to rotate.
  • the spindle mechanism includes at least one of the following: a pitch axis mechanism, a roll axis mechanism, and a translation axis mechanism.
  • the pitch axis mechanism, the roll axis mechanism, and the translation axis mechanism are sequentially connected.
  • the spindle mechanism includes a roll mechanism
  • the roll mechanism includes:
  • the roll bracket has a limit shaft at one end, and a pitch motor mounting portion for mounting the pitch motor at the other end;
  • the limiting shaft and the motor shaft of the pitch motor are respectively connected to opposite sides of a load of the pan/tilt, and the pitch motor is capable of driving a load rotation of the pan/tilt.
  • the roll bracket is U-shaped, and the middle portion of the roll bracket is directly fixedly coupled to the rotor of the motor.
  • the roll bracket includes two bending arms that are oppositely disposed, and opposite ends are fixed to the rotor of the motor to be pieced together into a U shape.
  • the spindle mechanism further includes a translational shaft mechanism including a translational bracket, the stator of the roll motor being fixed to the translational bracket.
  • a wire is further included, the wire passing through the translational bracket and the roll bracket in the direction of the translational bracket and the lateral stent, respectively.
  • the wire is inserted into the roll holder after at least partially winding the motor shaft of the roll motor, and the motor shaft of the roll motor is fixedly connected to the rotor of the roll motor .
  • the motor is a brushless motor.
  • a pan/tilt head comprising at least one rotating shaft mechanism, the rotating shaft mechanism comprising:
  • bracket having a routing passage for the passage of the conductor, the routing passage extending along the extending direction of the bracket;
  • a motor coupled to the bracket and configured to drive the bracket to rotate.
  • the spindle mechanism includes at least one of the following: a pitch axis mechanism, a roll axis mechanism, and a translation axis mechanism.
  • the pitch axis mechanism, the roll axis mechanism, and the translation axis mechanism are sequentially connected.
  • the wire comprises at least one of: a wire for powering the motor, a wire for communicating with the motor, a wire for powering a load of the pan/tilt, A wire that communicates with the load of the gimbal.
  • the plurality of rotating shaft mechanisms are connected in series; and the routing passages of the brackets of the plurality of rotating shaft mechanisms are in communication.
  • the wire passes through the wire path of the bracket of the other spindle mechanism after at least partially winding the motor shaft of the motor of one of the spindle mechanisms.
  • one of the spindle mechanisms includes a mounting housing for mounting a motor, the mounting housing being provided with a stop for limiting the angle of rotation of the bracket of the other pivot mechanism.
  • the cover plate further includes a wire trough, and the cover plate is detachably connected to the bracket to seal the wire trough to form the wire passage.
  • the wire trough is disposed on a side of the support near the load of the gimbal.
  • the motor is a brushless motor.
  • a pan/tilt head for carrying an image capturing device comprising:
  • the motor shaft of the pitch motor being provided with a driving portion for driving the rotation of the image capturing device
  • a roll bracket one end of the roll bracket is provided with a limit shaft, and the other end is provided with a pitch motor mounting portion for mounting a pitch motor;
  • the limiting shaft and the motor shaft of the pitch motor are respectively connected to opposite sides of the image capturing device.
  • the limit shaft is rotatably mounted at an end of one end of the roll bracket.
  • one end of the roll bracket away from the limit shaft is provided with a pitch mounting housing, and the pitch motor is mounted in the pitch mounting housing.
  • the pitch motor includes a motor stator and a motor rotor, the motor stator being fixedly coupled to the pitch mounting housing, the motor rotor being sleeved on the motor stator.
  • a pitch axis back cover is further included, the pitch axis back cover is detachably mounted outside the bottom of the motor stator, and the pitch axis back cover forms a seal with the motor stator Electrical cavity.
  • an electronic governor for controlling the rotation of the pitch motor is further included, the electronic governor being mounted within the electrical cavity.
  • the pitch mounting housing is provided with a drive hole, and a motor shaft of the pitch motor passes through the drive hole of the pitch mounting housing.
  • the roll bracket is provided with a routing channel for the passage of wires for electrical connection with the image capture device.
  • the wire is a FPC hard wire.
  • the inner side of the roll bracket is provided with a wire trough
  • the roll frame further includes a wire routing plate
  • the wire board is detachably mounted on the inner side of the roll bracket
  • the wire trough is sealed to form the routing channel.
  • a roll motor is further included, the roll motor being coupled to the middle of the roll bracket.
  • the rotating shaft of the roll motor is directly fixedly coupled to the roll bracket.
  • a first translational mounting housing is further included, the rolling motor being mounted within the first translating mounting housing.
  • a translating front cover is further included, the translating front cover being detachably coupled to the roll bracket and overlying the motor shaft of the roll motor.
  • a translating back cover is further included, the translating back cover being fixedly coupled to the first translating mounting case to close an opening of the first translating mounting case.
  • a translational motor is further included, the translational motor being coupled to the first translational mounting housing.
  • the translational shaft mechanism further includes a second translational mounting shell and a translational bracket, one end of the translational bracket being fixedly coupled to the second translational mounting shell, and the other end being coupled to the first translational mounting shell Fixed connection.
  • the translation bracket is provided with a routing channel.
  • a translational shaft back cover is further included, the outer side of the translation bracket is provided with a threading groove, and the translation shaft rear cover is detachably connected with the translation bracket to seal the threading groove, thereby forming a walking Line channel.
  • the shock absorbing mechanism is further mounted with a solid state hard disk for storing image data acquired by the image capturing device.
  • the damper mechanism includes two damper brackets, a damper plate, and a plurality of damper balls.
  • the two damper brackets are relatively spaced apart, and the two ends of the damper plate are respectively Located above the two damper brackets, and fixedly connected to the two damper brackets by the damper ball, the damper plate is pressed down by the plurality of shock absorbing balls.
  • the pitch axis mechanism of the pan/tilt head adopts a roll bracket, and one end of the roll bracket is provided with a limit shaft, and a pitch motor is installed at the other end of the roll bracket to form a “two-axis support mechanism”, and the pitch axis mechanism is added. Stability, reduce the vibration generated in the direction of the pitch axis, avoiding the camera's picture during the shooting process is prone to jitter, affecting the camera's shooting effect.
  • FIG. 1 is an assembled view of a pan/tilt head according to an embodiment of the present invention
  • FIG. 2 is a partial schematic view of the pan/tilt head shown in FIG. 1;
  • Figure 3 is a partial exploded view of the pan/tilt head shown in Figure 1;
  • Fig. 4 is a side view of the damper mechanism of the pan/tilt head shown in Fig. 1.
  • Embodiments of the present invention provide a pan/tilt head that includes at least one spindle mechanism.
  • the pan/tilt includes a pitch axis mechanism, a roll mechanism, and a Yaw mechanism, which are connected in series, wherein the pitch axis mechanism is used to connect a load, for example, the load may be an image.
  • the load may be an image.
  • the image capturing device can be a camera, a lens, or the like.
  • the spindle mechanism includes a bracket and a motor coupled to the bracket and configured to drive the bracket to rotate.
  • the bracket is coupled to the rotor of the motor to directly drive the bracket to rotate.
  • the bracket is directly fixedly coupled to the motor or connected by an intermediate structure such as a transmission mechanism.
  • the transmission mechanism can be a gear set or the like.
  • the bracket is rotatable about a shaft that is coaxial with the motor shaft of the motor.
  • the rotating shaft may be an imaginary axis or a real axis.
  • the rotating shaft may be integrally formed with the motor shaft or may be detachably connected coaxially.
  • the motor can drive the bracket through a rotor or motor shaft.
  • the wire is further included, and the bracket is provided with a routing passage extending along the extending direction of the bracket, and the wire passes through the routing passage.
  • the wires pass through the translation bracket and the roll bracket in the direction of the translation bracket and the roll bracket, respectively.
  • the wire comprises at least one of: a wire for powering the motor, a wire for communicating with the motor, a wire for powering a load of the pan/tilt, A wire that communicates with the load of the gimbal.
  • the wire passes through the wire path of the bracket of the other spindle mechanism after at least partially winding the motor shaft of the motor of one of the spindle mechanisms. For example, after the wire is at least partially wound around the motor shaft of the roll motor, it penetrates into the roll stand, and the motor shaft of the roll motor is fixedly connected to the rotor of the roll motor.
  • the pitch axis mechanism includes a pitch motor, and a roll bracket, the pitch motor is disposed at one end of the roll bracket, and the other end of the roll bracket is further provided with a limiting shaft, thereby Form a "double support structure.”
  • the limit shaft is rotatably mounted at an end of the roll bracket such that the limit axis can rotate with the image capture device.
  • the roll bracket is provided with a routing channel.
  • the wires connected to the pitch motor can be housed in the routing channels of the roll bracket.
  • the roll mechanism includes a roll motor, the motor shaft of the roll motor being capable of driving the roll stand to rotate.
  • the translating shaft mechanism includes a translational bracket that causes the roller mechanism to rotate together.
  • the translation bracket is provided with a routing channel.
  • a wire connected to the roll motor, the pitch motor can pass through the wire path.
  • the wires electrically coupled to the image capture device may be FPC hardwired to increase the data transfer rate.
  • a shock absorbing mechanism is further included, the translational shaft mechanism includes a translational motor, the translational motor is mounted on the damper mechanism, and the translational motor is capable of driving the translational carriage to rotate.
  • the shock absorbing mechanism is further mounted with a solid state hard disk for storing image data acquired by the image capturing device. Since the capacity of the solid state hard disk is large, the original image data acquired by the image capturing device can be recorded without intermediate processing such as compression.
  • the shock absorbing mechanism is a down pressure shock absorbing mechanism to improve the torsional resistance of the platform.
  • a platform 100 includes a plurality of rotating shaft mechanisms sequentially connected.
  • the pan/tilt head 100 may be a two-axis pan/tilt head, a three-axis pan/tilt head, or the like. Specifically, in the illustrated embodiment, a three-axis pan/tilt head is taken as an example for description.
  • the platform 100 includes a pitch axis mechanism 101, a roll axis mechanism 102, and a translation axis mechanism 103.
  • the pitch axis mechanism 101 is used to carry the image capturing device 200, and the image capturing device 200 may be a camera, a lens, or the like.
  • the pitch axis mechanism 101 includes a pitch motor 120
  • the roll axis mechanism 102 includes a roll bracket 110.
  • One end of the roll bracket 110 is provided with a limiting shaft 119.
  • a pitch motor 120 is mounted at the other end of the roll bracket 110.
  • the motor shafts of the limiting shaft 119 and the pitch motor 120 are respectively detachably connected to opposite sides of the image capturing device 200 to mount the image capturing device 200 on the roll bracket 110. Between the two arms.
  • the motor shaft of the pitch motor 120 is capable of driving the image capturing device 200 to rotate.
  • the motor shaft of the pitch motor 120 is provided with a driving portion 125 for driving the image capturing device 200 to rotate.
  • the driving portion 125 is a plane portion provided on the pitch motor 120, and the plane portion is pitched and extended in the axial direction of the pitch motor 120 such that the cross section of the front end of the motor shaft of the pitch motor 120 is not circular
  • the image capturing device 200 is provided with a connection hole that is adapted to the shape of the front end of the motor shaft of the pitch motor 120.
  • the roll bracket 110 includes two bending arms, the two bending arms are oppositely disposed, and the middle portions thereof can be directly connected, or Connected by other components to make a U shape.
  • the mounting manner of the limiting shaft 119 can be designed according to different needs.
  • the limit shaft 119 is rotatably mounted at an end of one end of the roll bracket 110.
  • the limit axis 119 can be rotated together with the image capturing device 200.
  • the end of one end of the roll bracket 110 is fixed with a bearing 111, and the limiting shaft 119 passes through the bearing 111 and is freely rotatable within the bearing 111.
  • the installation method of the pitch motor 120 can be designed according to different needs.
  • one end of the roll bracket 110 away from the limit shaft 119 is provided with a pitch mounting housing 112, and the pitch motor 120 is mounted within the pitch mounting housing 112.
  • the pitch mounting housing 112 is provided with a driving hole through which the motor shaft of the pitch motor 120 passes.
  • the pitch mounting housing 112 includes a circular cylinder 112a and a limiting tube 112b, one end of which is open and the other end is closed.
  • the limiting tube 112b is disposed at a closed end of the cylindrical body 112a and coaxially communicates with the cylindrical body 112a.
  • the body of the pitch motor 120 is mounted in the barrel 112a, and the motor shaft of the pitch motor 120 passes through the limit tube 112b.
  • the pitch motor 120 can be a brush motor or a brushless motor.
  • the pitch motor 120 is a brushless motor
  • the pitch motor 120 includes a motor stator 121 and a motor rotor 123, and the motor stator 121 is fixedly coupled to the pitch mounting housing 112, the motor The rotor 123 is sleeved on the motor stator 121.
  • the edge of the motor stator 121 extends out of the two lugs 121a, and is fixedly connected to the ends of the roll holder 110 through the two lugs 121a by screw fasteners such as screws.
  • a pitch axis rear cover 115 is detachably mounted outside the bottom of the motor stator 121, and the pitch axis rear cover 115 and the motor stator 121 form a seal together. Electrical cavity.
  • the edge of the pitch shaft rear cover 115 is provided with an annular groove 115b that extends one year along the edge of the pitch axis rear cover 115.
  • An annular flange 121b is provided on the outer side of the bottom of the motor stator 121, and the annular flange 121b is held in the annular groove 115b of the pitch shaft rear cover 115 to fit the pitch shaft rear cover 115 and the motor stator 121. together.
  • an electronic governor 130 for controlling the rotation of the pitch motor 120 is further included, and the electronic governor 130 is mounted in an electric cavity formed by the pitch axis rear cover 115 and the motor stator 121.
  • the roll bracket 110 is provided with a routing channel 116 for passing through a wire electrically connected to the pitch motor 120, or/and for connecting data to the image capturing apparatus 200.
  • the line passes through.
  • the inner side of the roll bracket 110 is provided with a cable trough, and the roll bracket 110 further includes a wiring board 117, and the wiring board 117 is detachably mounted on the horizontal line.
  • the inner side of the roller bracket 110 is sealed to seal the wireway groove, thereby forming the wire passage 116.
  • the roll axis mechanism 102 is coupled to a middle portion of the roll bracket 110.
  • the roll axis mechanism 102 includes a roll motor 140 that is capable of driving the roll stand 110 to rotate.
  • the roll motor 140 is a brushless motor, and both of the bending arms of the roll bracket 110 are fixed to the motor rotor of the roll motor 140.
  • the outer side of the motor rotor of the roll motor 140 is provided with a straight strip-shaped mounting boss 141 passing through the shaft center, and one end of the two bending arms of the roll bracket 110 is fixed to the roll.
  • the motor rotor of the motor 140 is mounted on the boss 141 and rotates with the motor rotor of the roll motor 140.
  • the translational shaft mechanism 103 further includes a first translational mounting housing 173, and the rolling motor 140 is mounted in the first translational mounting housing 173.
  • the first translational mounting case 173 includes a cylindrical body and a mounting tube, the cylindrical body having one end open, and the other end is provided with a horizontal plate, the mounting tube is disposed perpendicular to the horizontal plate, and Connected to the cylinder body.
  • the body of the roll motor 140 is mounted within the cylinder body, and the motor shaft of the roll motor 140 passes through the mounting tube.
  • first translational mounting shell 173 is provided with a limiting portion 173a for defining a rotation angle of the rolling bracket 110.
  • the limiting portion 173a is a limiting boss provided at an edge of the first translational mounting housing 173.
  • the limiting portion 173a may also be a limiting slot provided on the first translational mounting shell 173.
  • the translational shaft mechanism 103 further includes a translational front cover 174 that is detachably coupled to the roll bracket 110 and covers the motor shaft of the roll motor 140.
  • the translational shaft mechanism 103 further includes a translational rear cover 175 fixedly coupled to the first translational mounting housing 173 to close the opening of the first translational mounting housing 173.
  • the translating shaft mechanism 103 further includes a translating motor 180 that is coupled to the first translating mounting housing 173.
  • the translational shaft mechanism 103 further includes a second translation mounting housing 160 and a translation bracket 170 (shown in FIG. 1 ), one end of the translation bracket 170 and the second translation mounting shell The fixed connection is 160, and the other end is fixedly connected to the first translational mounting case 173.
  • the translation bracket 170 is provided with a routing channel 170a.
  • a translational shaft rear cover 171 is further included.
  • the outer side of the translation bracket 170 is provided with a threading groove, and the translation shaft rear cover 171 is detachably connected with the translation bracket 170 to seal the The slot is threaded to form the trace channel 170a.
  • a shock absorbing mechanism 190 is further included, and the translation motor 180 is fixed on the damper mechanism 190 and received in the second translation mounting shell 160.
  • the translation motor 180 is capable of driving the second translational mounting housing 160 to rotate.
  • the translation motor 180 is a brushless motor, and the motor rotor of the translation motor 180 is fixedly coupled to the first translation mounting housing 173 such that the first translation mounting housing 173 follows the motor rotor of the translation motor 180. Turn.
  • the damper mechanism 190 includes two damper brackets 191, a damper plate 193, and a plurality of damper balls 195, and the two damper brackets 191.
  • the two ends of the damper plate 193 are respectively located above the two damper brackets 191, and are fixedly connected to the two damper brackets 191 through the damper ball 195 to make the reduction
  • the shock plate 193 presses the plurality of shock absorbing balls 195.
  • the damper mechanism 190 further includes a carrier 196, and the carrier 196 is detachably coupled to the damper plate 193.
  • the carrier 196 is used to carry electronic components of the platform 100.
  • the electronic components may include a control board, a storage device, and the like.
  • the carrier 196 is detachably fixed to the damper plate 193 by the quick release assembly 197, so that the carrier 196 and the damper plate 193 are detachably connected.
  • the damper plate 193 includes a first side and a second side opposite to each other, wherein the carrier 196 is fixed to the second side of the damper plate 193.
  • the quick release assembly 197 includes an operating member 197a and a resisting member 197b.
  • the abutting member 197b is rotated by the operating member 197a under the driving of the operating member 197a.
  • the operating member 197a is rotatably disposed on the first side of the damper plate 193
  • the resisting member 197b is rotatably disposed on the second side of the damper plate 193, that is, the resisting member 197b is disposed.
  • the housing of the carrier 196 is provided with a mating portion that cooperates with the abutting member 197b of the quick release assembly 197.
  • the resisting member 197b cooperates with the mating portion on the housing of the carrier 196, so that the carrier member 196 is tightly locked to the shock absorbing plate 193 of the unmanned aerial vehicle.
  • the resisting member 197b is rotated following the operating member 197a, and the quick-release assembly 197 is switched to a disassembled state.
  • the resisting member 197b and the carrying member The mating portion on the housing of the member 196 is disengaged, thereby releasing the lock between the carrier 196 and the damper plate 193.
  • the damping plate 193 is provided with a through hole.
  • the resisting member 197b includes a rotating shaft, and the rotating shaft includes opposite first and second ends.
  • the resisting member 197b further includes a first abutting portion protruding from the second end of the rotating shaft. The first abutting portion is disposed substantially perpendicular to the rotating shaft.
  • the first end of the rotating shaft passes through the through hole from the second side of the damper plate 193 and protrudes from the first side of the damper plate 193.
  • the operating member 197a is coupled to the first end of the rotating shaft.
  • the operating member 197a is provided with a first threaded hole
  • the first end of the rotating shaft is provided with a second threaded hole
  • the screw passes through the first threaded hole on the operating member 197a and is screwed into the second threaded hole.
  • the operating member 197a is fixed to the resisting member 197b.
  • the operating member 197a and the resisting member 197b can also be fixed by being stuck or glued.
  • the diameter of the through hole is equal to or slightly larger than the diameter of the rotating shaft, so that the rotating shaft can rotate in the through hole.
  • the operating member 197a is a rotating arm, and the operating member 197a includes a connecting end and a free end.
  • the first threaded hole is disposed on the connecting end of the operating member 197a, and the first end of the rotating shaft is coupled to the connecting end of the operating member 197a.
  • the operating member 197a is rotatable about the rotating shaft on the first side of the damper plate 193 by an external force. It can be understood that the resisting member 197b rotates around the rotating shaft on the second side of the damper plate 193 following the operating member 197a under the driving of the operating member 197a.
  • the damper plate 193 is further provided with a limiting portion for limiting the rotatable angle of the operating member 197a about the rotating shaft on the first side.
  • the limiting portion may be a stop wall or a limiting slot for blocking the free end of the operating member 197a such that the operating member 197a can only be on the first side within a predetermined angle. Rotate around the axis of rotation.
  • the limiting portion includes a curved chute.
  • the limiting portion further includes a first positioning hole and a second positioning hole, and the first positioning hole and the second positioning hole are respectively disposed at opposite ends of the sliding slot.
  • the first positioning hole and the second positioning hole are concave holes formed by recessing from a bottom surface of the sliding slot.
  • the free end of the operating member 197a is further provided with a guiding portion, and the guiding portion partially protrudes into the sliding slot.
  • the quick release assembly 197 further includes a plunger, and the free end of the operating member 197a is provided with a through hole.
  • the plunger includes opposite first and second end faces, an elastic member (not shown), and a guide portion.
  • the guiding portion is telescopically disposed on the first end surface of the plunger by the elastic member.
  • the plunger is fixed in the through hole, and a portion of the guide portion protrudes from a bottom surface of the operating member 197a on a side close to the side of the damper plate 193.
  • the guiding portion and the elastic member are first mounted on the plunger such that the guiding portion is telescopically protruded from the first end surface of the plunger through the elastic member; then the plunger is mounted on the plunger
  • the through hole of the operating member 197a is opened in the through hole, and the bottom of the guiding portion protrudes from the bottom of the side of the damper plate 193 on the free end of the operating member 197a;
  • the first end of the rotating shaft of the 197b passes through the through hole from the second side of the damper plate 193, and then connects the connecting end of the operating member 197a with the first end of the rotating shaft, and causes the guiding portion on the free end of the operating member 197a.
  • a portion extends into the chute of the limiting portion.
  • the guiding portion slides to the position of the second positioning hole, the guiding portion is engaged in the second positioning hole under the action of the restoring force of the elastic member, and the quick-release assembly 197 is in the locked state, and the resisting member 197b is The first abutting portion is snapped into the fitting portion provided on the housing of the carrier 196 such that the carrier member 196 is tightly locked on the second side of the damper plate 193 of the unmanned aerial vehicle.
  • the engaging portion is a groove.
  • the groove has an elongated shape, and the length of the groove is greater than the length of the first abutting portion, so that the first abutting portion can be smoothly inserted and disengaged when the resisting member 197b is rotated.
  • the groove In addition, the depth of the groove is smaller than the length of the first abutting portion, and when the first abutting portion is engaged in the engaging portion, the first abutting portion abuts against the groove On the bottom surface.
  • the thickness of the groove matches the thickness of the first abutting portion.
  • the operating member 197a When the quick release assembly 197 is in the locked state, the operating member 197a is rotated to disengage the guiding portion from the second positioning hole, and when sliding to the position of the first positioning hole, the guiding portion is engaged with the second positioning. In the hole. At this time, the first abutting portion of the resisting member 197b is disengaged from the engaging portion provided on the casing of the carrier 196, so that the carrier member 196 can be separated from the damper plate 193, thereby achieving the reduction of the carrier member 196. Quick lock and disassembly on the shock plate 193.
  • the resisting member 197b further includes a second abutting portion for engaging with an outer surface of the housing of the carrier 196, and in the locked state, Hold on the outer surface of the housing of the carrier 196.
  • the second abutting portion may be a convex portion extending outward from the second end of the rotating shaft, or a ring-shaped flange protruding from the second end of the rotating shaft or the like.
  • a plurality of engaging portions may be disposed on the housing of the carrier 196, and the carrier 196 is fixed to the damping plate 193 of the unmanned aerial vehicle by a quick release assembly 197 disposed in one-to-one correspondence with the plurality of engaging portions.
  • the locking and dismounting of the carrier 196 can be realized by rotating the operating member 197a.
  • the quick release assembly 197 requires a small reserved operation space, and has a simple structure and convenient operation.
  • the quick release assembly 197 tightly locks the carrier 196 to the second side of the damper plate 193 by the first abutting portion of the abutting member 197b mating with the mating portion of the housing of the carrier 196.
  • the stability of the locking of the carrier 196 is further enhanced by providing a second abutting portion on the abutting member 197b that can abut against the outer surface of the housing of the carrier 196.
  • the operating member 197a can also be an operating member 197a of other shapes, such as a knob, and only needs to rotate the driving member 197a to drive the resisting member 197b to rotate, thereby achieving the first resisting of the resisting member 197b.
  • the cooperation and disengagement between the portion and the mating portion may be performed.
  • the operating member 197a may be unnecessary.
  • the guiding portion may be a bayonet or a protrusion directly protruding on a bottom surface of the operating member 197a on a side close to the damping plate 193.
  • the guiding portion may be a telescopic protrusion provided on the bottom surface or may be non-retractable.
  • the guiding portion may be directly protruded from the bottom surface, wherein the guiding portion is made of an elastic material.
  • the engaging portion may also be a boss.
  • the first abutting portion abuts against the boss, and the carrier 196 is biased toward the damping plate 193.
  • the force in the direction is such that the carrier 196 is tightly locked to the second side of the damper plate 193 of the UAV.
  • the engaging portion may not be provided, and the first abutting portion directly abuts against the outer surface of the casing of the carrier 196.
  • the first abutting portion and the engaging portion may also be a pair of snaps or latches or the like that cooperate with each other.
  • shock absorbing mechanism 190 is further mounted with a solid state hard disk 198 for storing image data acquired by the image capturing device 200.
  • a solid state hard disk 198 is mounted on the carrier 196.
  • the wire electrically connected to the image capturing device 200 may be a FPC hard wire.
  • the FPC hard cable can pass through the routing channel 170a of the translating bracket 170 to roll the routing channel 116 of the bracket 110.
  • pan/tilt 100 has at least the following advantages:
  • the pitch axis mechanism 101 of the pan/tilt head 100 employs a roll bracket 110.
  • One end of the roll bracket 110 is provided with a limit shaft 119, and the pitch motor 120 is mounted at the other end of the roll bracket 110 to form a “double shaft”.
  • the support mechanism increases the stability of the pitch axis mechanism 101, reduces the vibration generated in the direction of the pitch axis, and avoids the image of the video being easily shaken during the shooting process, which affects the shooting effect of the camera.
  • the above-mentioned pan/tilt 100 adopts FPC hard-wired line to increase the data transmission rate of the pan-tilt head 100, thereby facilitating the above-mentioned pan-tilt 100 to realize uncompressed image data recording.
  • the pan/tilt Since the conventional pan/tilt is equipped with a small-capacity SD card, the storage of the original recorded data of the camera is limited, and after the data is compressed, the original camera record data cannot be recovered, and the pan-tilt 100 is equipped with a capacity.
  • the large solid state hard disk 198 can record a very large amount of camera lens raw data, which is convenient for the use of raw data in the film production process.
  • the pan/tilt head 100 detachably connects the damper plate 193 and the carrier member 196 by using the quick release assembly 197, and the installation and disassembly of the pan/tilt head 100 can be realized very conveniently and quickly.
  • the conventional pan/tilt is directly connected by the shock absorbing ball 195 by the upper and lower plates. Due to the increase in the mass of the image capturing device 200 and the pan/tilt 100, the shock absorbing ball 195 is pulled so that the anti-torsion performance of the pan/tilt is lowered.
  • the above-mentioned PTZ 100 design uses a compression type damping method, so that even if the weight of the PTZ 100 is increased, the anti-torsion performance of the PTZ 100 is also improved.
  • the translation bracket 170 of the roll mechanism of the pan/tilt head 100 is directly and fixedly connected to the rotor of the translation motor 180 to increase the torsional force while reducing the volume of the entire pan/tilt head 100, thereby facilitating the miniaturization design of the pan/tilt head 100.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Motor Or Generator Frames (AREA)

Abstract

L'invention concerne une tête panoramique- inclinable, comprenant au moins un mécanisme d'arbre rotatif (102). Le mécanisme d'arbre rotatif (102) comprend : un support (110), et un moteur (140) relié au support (110) et utilisé pour entraîner le support (110) en rotation. Le support (110) est relié à un rotor du moteur (140) pour entraîner directement le support (110) en rotation.
PCT/CN2015/079073 2015-05-15 2015-05-15 Tête panoramique-inclinable WO2016183734A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2015/079073 WO2016183734A1 (fr) 2015-05-15 2015-05-15 Tête panoramique-inclinable
CN201580002950.0A CN105992903B (zh) 2015-05-15 2015-05-15 云台

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/079073 WO2016183734A1 (fr) 2015-05-15 2015-05-15 Tête panoramique-inclinable

Publications (1)

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WO2016183734A1 true WO2016183734A1 (fr) 2016-11-24

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Country Status (2)

Country Link
CN (1) CN105992903B (fr)
WO (1) WO2016183734A1 (fr)

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CN108082423A (zh) * 2017-12-26 2018-05-29 天津深之蓝海洋设备科技有限公司 云台和包括这种云台的潜水器
CN108524012A (zh) * 2018-06-13 2018-09-14 深圳市海西高科有限公司 一种手术导航相机
CN109854906A (zh) * 2018-12-29 2019-06-07 北京旷视科技有限公司 多维度调节机架、图像识别测试系统及对其进行测试方法
CN110001986A (zh) * 2019-04-24 2019-07-12 太原科技大学 一种基于舵机传动的双轴云台
CN110337623A (zh) * 2018-05-02 2019-10-15 深圳市大疆创新科技有限公司 云台控制方法与装置、云台系统、无人机和计算机可读存储介质
CN110425396A (zh) * 2019-07-17 2019-11-08 常州市盛和电子有限公司 防爆电动云台的主机及其俯仰转动装置
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CN107733153A (zh) * 2017-11-14 2018-02-23 哈尔滨理工大学 一种大视角电机直驱机器人观测装置
CN107733153B (zh) * 2017-11-14 2023-06-06 哈尔滨理工大学 一种大视角电机直驱机器人观测装置
CN108082423A (zh) * 2017-12-26 2018-05-29 天津深之蓝海洋设备科技有限公司 云台和包括这种云台的潜水器
CN110337623A (zh) * 2018-05-02 2019-10-15 深圳市大疆创新科技有限公司 云台控制方法与装置、云台系统、无人机和计算机可读存储介质
CN108524012A (zh) * 2018-06-13 2018-09-14 深圳市海西高科有限公司 一种手术导航相机
CN109854906A (zh) * 2018-12-29 2019-06-07 北京旷视科技有限公司 多维度调节机架、图像识别测试系统及对其进行测试方法
CN109854906B (zh) * 2018-12-29 2024-03-26 北京旷视科技有限公司 多维度调节机架、图像识别测试系统及对其进行测试方法
CN110001986A (zh) * 2019-04-24 2019-07-12 太原科技大学 一种基于舵机传动的双轴云台
CN110425396A (zh) * 2019-07-17 2019-11-08 常州市盛和电子有限公司 防爆电动云台的主机及其俯仰转动装置
CN110425396B (zh) * 2019-07-17 2024-03-22 常州市盛和电子有限公司 防爆电动云台的主机及其俯仰转动装置
CN112013214A (zh) * 2020-08-19 2020-12-01 佳奕筱安(上海)机器人科技有限公司 智能机器人相机云台
CN113002794A (zh) * 2021-03-22 2021-06-22 华南理工大学 一种基于可俯仰的快拆云台的洒水无人机
CN113002794B (zh) * 2021-03-22 2024-04-09 华南理工大学 一种基于可俯仰的快拆云台的洒水无人机

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