WO2017020247A1

WO2017020247A1 - Handheld triaxial head

Info

Publication number: WO2017020247A1
Application number: PCT/CN2015/086039
Authority: WO
Inventors: 魏承赟
Original assignee: 桂林飞宇电子科技有限公司
Priority date: 2015-08-04
Filing date: 2015-08-04
Publication date: 2017-02-09

Abstract

A handheld triaxial head comprises two motors (8, 9) in spatial orthogonal distribution. The two motors are an X-axis motor (9) for controlling pitching movement and a Y-axis motor (8) for controlling roll movement. A rotor of the X-axis motor is connected to a carrier (12), and a stator of the X-axis motor is connected to a rotor of the Y-axis motor. The triaxial head further comprises a Z-axis motor (7) that is orthogonal to the X-axis motor and the Y-axis motor in space. The Z-axis motor is a motor for controlling movement of a heading shaft. A rotor of the Z-axis motor is connected to a stator of the Y-axis motor. A stator of the Z-axis motor is connected to a handheld portion. The handheld triaxial head can be held by hand or mounted on other moving platforms, and resolves the problems of instability or poor effects of videos due to possible shakes when a miniature video recorder/camera makes shooting in movement.

Description

Handheld three-axis gimbal

Technical field

The present invention relates to a device for stabilizing a photographing device such as a camera or a camera, and more particularly to a hand-held three-axis pan/tilt.

Background technique

The current camera head is mainly used for professional cameras or cameras. This professional gimbal is bulky and cumbersome, which is not conducive to carrying. The stability effect is not good enough. Most of them can only achieve three axial rotation functions. There is no camera attitude feedback control in the control scheme, which can only be used at rest. It is not possible to perform stable compensation in real time during dynamic use, and it is impossible to solve the problem of stability of a camera that is unstable when the mobile platform is photographed while moving.

At present, cameras and cameras are very common and their size is getting smaller and smaller. The original camera head for monitoring or professional can not solve the problem of hand-held carrying.

Summary of the invention

The object of the present invention is to provide a hand-held three-axis pan/tilt head which is small in size and convenient to carry, and can be mounted with a small camera or a camera and the like when shooting on the move. It can achieve the effect of controlling the shooting device quickly and steadily.

The technical solution for achieving the object of the present invention is:

A hand-held three-axis pan/tilt head includes two motors orthogonally distributed in space. The two motors are an X-axis motor for controlling pitch motion, a Y-axis motor for controlling roll motion, and a rotor and load for X-axis motor. The base is connected, and the stator of the X-axis motor is connected to the rotor of the Y-axis motor; unlike the prior art:

The utility model further includes a Z-axis motor which is orthogonally distributed with the X-axis motor and the Y-axis motor in a space, the Z-axis motor is a motor for controlling the movement of the heading axis, and the rotor of the Z-axis motor is connected with the stator of the Y-axis motor;

The stator of the Z-axis motor is coupled to the hand-held portion.

The X-axis motor is connected to the X-axis control circuit, the Y-axis motor is connected to the Y-axis control circuit, and the Z-axis motor is connected to the Z-axis control circuit;

The control circuit includes an MCU (Micro Control Unit), a motor control circuit connected to the MCU, a magnetic encoder, and a serial communication circuit, and the magnetic encoder is disposed on a rotor shaft of the corresponding motor. The permanent magnets sense each other and measure the angle of rotation and the rate of rotation of the motor.

An extension rod is further provided, and the extension rod is disposed at a lower end of the hand-held portion and connected to the hand-held portion.

The invention can be put on the hand or mounted on other sports platforms, and solves the problem that the small video camera/camera may be unstable due to shaking when shooting in motion, and the effect is not good.

The invention not only can control the rotation of the camera in three axial directions by controlling the X, Y and Z axis motors, but also can provide timely angle correction. When the angle of the shooting device is deviated, timely compensation can achieve the purpose of stable shooting. . No matter how the hand or the carrier moves, the camera can be kept in a stable posture.

The invention is compact and portable, and can be equipped with a small camera or a camera and the like, and adopts the direct drive control of the motor to achieve a rapid and stable control effect.

DRAWINGS

1 is a schematic structural view of an embodiment of the present invention;

2 is an exploded view of the permanent magnet and the magnetic encoder in the embodiment;

3 is a schematic structural view of an extension rod in the embodiment;

Figure 4 is a block diagram of the control circuit.

In the figure, 1. Power switch 2. Battery back cover 3. Handheld 4. Function button 5. USB jack 6. Mounting box 7. Z-axis motor 8. Y-axis motor 9. X-axis motor 10. First connecting arm 11. Second connecting arm 12. Carrier 14. Clip 14. Camera 15. Motor 16. Permanent magnet 17. Circuit board 18. Magnetic encoder 19. Rear cover 20. Internal thread 21. External thread 22. Aluminum block Head 23. Extension rod.

detailed description

The content of the present invention is further described below in conjunction with the accompanying drawings and embodiments, but is not intended to limit the invention.

Example:

Referring to Figures 1-4, a hand-held three-axis pan/tilt head includes two motors that are orthogonally distributed in space. The two motors are an X-axis motor that controls pitch motion, and a Y-axis motor that controls roll motion. 8. The rotor of the X-axis motor 9 is connected to the carrier 12, and the stator of the X-axis motor 9 is connected to the rotor of the Y-axis motor 8;

Also included is a Z-axis motor 7 that is orthogonally distributed with the X-axis motor 9 and the Y-axis motor 8 in space, the Z-axis motor 7 is a motor that controls the movement of the heading axis, and the rotor and the Y-axis of the Z-axis motor 7 Stator connection of the motor 8;

The stator of the Z-axis motor 7 is connected to the hand piece 3.

The Z-axis motor 7 and the Y-axis motor 8 are connected by a first connecting arm 10, and the Y-axis motor 8 and the X-axis motor 9 are connected by a second connecting arm 11.

The X-axis motor 9 is connected to an X-axis control circuit, the Y-axis motor 8 is connected to a Y-axis control circuit, and the Z-axis motor 7 is connected to a Z-axis control circuit;

The control circuit includes an MCU, a motor control circuit connected to the MCU, a magnetic encoder 18, and a serial communication circuit. The magnetic encoder 18 and the permanent magnet 16 disposed on the rotor shaft of the corresponding motor sense each other, and the measurement The angle of rotation and the rate of rotation of the motor.

An extension rod 23 is also provided, and the extension rod 23 is disposed at the lower end of the hand portion 3 to be coupled to the hand portion 3.

Specifically, the X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are all brushless motors, and do not use any speed reduction mechanism or transmission mechanism to control the three axial rotations of the camera.

As shown in FIG. 2, the X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are represented by a motor 15, and the X-axis permanent magnet, the Y-axis permanent magnet, and the Z-axis permanent magnet are represented by a permanent magnet 16, and the X-axis magnetic encoder The Y-axis magnetic encoder and the Z-axis magnetic encoder are represented by a magnetic encoder 18, and the permanent magnet 16 is disposed on a rotor shaft of the motor 15, and the permanent magnet 16 and the magnetic encoder 18 disposed on the circuit board 17 are mutually inductively sensed. The angle of rotation and the rate of rotation of the motor 15. The permanent magnet 16 is circular or toroidal, and a magnetic encoder scheme is used to measure the angle of rotation and the rate of rotation of the motor 15. The motor 15 is disposed in the mounting case 6, and the mounting case 6 is provided with a rear cover 19.

The X-axis, Y-axis, and Z-axis control circuits are as shown in FIG. 4. The X-axis motor 9, the Y-axis motor 8, and the Z-axis motor 7 are represented by a motor 15, and the control circuit uses a piece of MCU for calculation and corresponding Control, such as STM32 series of single-chip microcomputers, magnetic encoder chips, such as AMS5145, AMS5045, ES5012B, etc., can be used to measure the rotation angle and speed of the motor 15, the control circuit includes the MCU, and the motor control circuit connected to the MCU, magnetic coding The serial communication circuit and the motor control circuit are connected to the motor 15.

The battery can be installed in the cavity of the hand-held part 3. The battery is a 2-cell or 3-cell lithium battery, or other forms of battery. The bottom of the hand-held portion 3 is provided with a battery back cover 2, the battery is placed from the bottom of the hand-held portion 3, and the battery rear cover 2 is provided with a power switch 1. The hand piece 3 is made of a metal material and can be electrically conductive. A USB jack 5 is provided on the handheld unit 3 to facilitate charging or transferring data.

A function button 4 is used to switch the working mode of the pan/tilt, and the function button 4 is disposed on the hand-held portion 3, by which the working mode can be switched. The button can be made with an indicator light, and the working state is indicated by an indicator light.

The camera 14 is mounted on the carrier 12 and is fixed by a clip 13. There are three main working modes of the gimbal: 1. heading following mode, pitch and roll locking, heading follows the direction of hand-held smooth rotation; 2. heading and pitch following mode: roll locking, heading and pitching direction Hand-held direction smooth rotation; 3. Lock mode: heading, pitch and roll are locked.

On the battery back cover 2, a connection extension design can be made here in the power switch 1, which has a thread for connecting the extension rod 23 of the pan/tilt.

As shown in Fig. 3, the extension rod 23 is a hand-held portion for lengthening the gimbal for convenient special shooting and installation. The extension rod 23 can be made of carbon fiber, glass fiber or aluminum material, and is mainly circular, and each section has a length of 20-120 cm. The two ends of the extension rod 23 are respectively provided with an aluminum plug 22 and an aluminum plug at one end. The internal thread 20 and the other end are external threads 21, and the plurality of extension rods can be lengthened by threading and then screwed onto the threads of the battery back cover 2 to be connected to the hand-held portion 3.

Claims

A hand-held three-axis pan/tilt head includes two motors orthogonally distributed in space. The two motors are an X-axis motor for controlling pitch motion, a Y-axis motor for controlling roll motion, and a rotor and load for X-axis motor. The base is connected, and the stator of the X-axis motor is connected to the rotor of the Y-axis motor;

It is characterized by:

The utility model further includes a Z-axis motor which is orthogonally distributed with the X-axis motor and the Y-axis motor in a space, the Z-axis motor is a motor for controlling the movement of the heading axis, and the rotor of the Z-axis motor is connected with the stator of the Y-axis motor;

The stator of the Z-axis motor is coupled to the hand-held portion.
The hand-held three-axis pan/tilt head according to claim 1, wherein the X-axis motor is connected to an X-axis control circuit, the Y-axis motor is connected to a Y-axis control circuit, and the Z-axis motor is connected to a Z-axis control circuit;

The control circuit includes an MCU, a motor control circuit connected to the MCU, a magnetic encoder, and a serial communication circuit. The magnetic encoder is mutually inductive with a permanent magnet disposed on a rotor shaft of the corresponding motor, and the motor is measured. Angle of rotation and rate of rotation.
The hand-held three-axis pan/tilt head according to claim 1, further comprising an extension rod, wherein the extension rod is disposed at a lower end of the hand-held portion and connected to the hand-held portion.