WO2019114386A1

WO2019114386A1 - Camera structure and pan-tilt thereof

Info

Publication number: WO2019114386A1
Application number: PCT/CN2018/109404
Authority: WO
Inventors: 彭淮; 常松涛
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-12-11
Filing date: 2018-10-09
Publication date: 2019-06-20
Also published as: CN207762487U

Abstract

A camera structure and a pan-tilt thereof. The camera structure comprises a pan-tilt (10) and a camera module. The pan-tilt (10) comprises a hand-held frame (100), a first rotating assembly (200), a second rotating assembly (400), and a third motor (500). The first rotating assembly (200) comprises a first motor (220), a connecting arm (210), and a connecting rod (230). One end of the connecting arm (210) is rotatably connected to the hand-held frame (100) by means of the first motor (220), and an included angle is formed between the connecting arm (210) and the hand-held frame (100). One end of the connecting rod (230) is movably provided on the connecting arm (210), and an included angle is formed between the connecting rod (230) and the connecting arm (210). The second rotating assembly (400) comprises a second motor (420) and a support (410); the support (410) is rotatably connected to the other end of the connecting rod (230) by means of the second motor (420), and an included angle is formed between the support (410) and the connecting rod (230). The camera module is rotatably provided on the support (410) by means of a third motor (500), and an included angle is formed between the third motor (500) and the support (410). The first motor (220), the second motor (420), and the third motor (500) are ultrasonic motors, can effectively reduce the sizes of the camera structure and the pan-tilt (10) thereof, and are convenient to use.

Description

Camera structure and its head

Cross-reference to related applications

The present application claims priority to the Japanese Patent Application No. PCT-A-----

Technical field

The present invention relates to the field of imaging technology, and in particular to an imaging structure and a cloud platform thereof.

Background technique

In today's pan/tilt photography field, handheld pan/tilt and airborne pan/tilt are all using brushless DC motors to drive the movement of various parts of the gimbal to ensure the stability of the camera, thus ensuring better quality of the captured images. . However, due to the insufficient output torque of the DC brushless motor and the corresponding slow speed, in the large-scale PTZ equipment, in order to ensure a certain response speed and output torque, the brushless DC motor needs to be made large, resulting in the entire PTZ. The device is large in size and inconvenient to use.

Summary of the invention

Based on this, it is necessary to provide an easy-to-use imaging structure and its head for the above problems.

A pan/tilt that includes:

Hand-held rack

a first rotating component, comprising: a first motor, a connecting arm and a connecting rod, wherein one end of the connecting arm is rotatably connected to the handheld frame by the first motor, and an angle is formed between the connecting arm and the handheld frame One end of the connecting rod is movably disposed on the connecting arm, and an angle is formed between the connecting rod and the connecting arm;

a second rotating assembly, comprising: a second motor and a bracket, the bracket being rotatably coupled to the other end of the connecting rod by the second motor, the bracket forming an angle with the connecting rod; and

a third motor disposed on the bracket;

The at least one of the first motor, the second motor, and the third motor is an ultrasonic motor.

In one embodiment, the device further includes a sliding assembly, the sliding assembly includes a slide rail and a slider, the sliding rail is disposed on the connecting arm, and the slider is slidably disposed on the sliding rail. One end of the connecting rod is connected to the slider.

In one embodiment, the locking assembly further includes a mounting base, a fixing rod, a pressing block and a buckle, the connecting rod is provided with a mounting groove, and the sliding block is provided with a connecting hole, the mounting a connecting hole communicating with the connecting hole is defined in a bottom of the slot, the mounting seat is disposed in the mounting slot, the pressing block is slidably disposed in the mounting seat, and one end of the fixing rod is worn The pressure block is disposed on the slider, and the buckle is rotatably disposed at the other end of the fixing rod, and the buckle is capable of driving the pressure block to slide, so that the pressure block is sequentially worn The communication hole and the connection hole abut against the slide rail to lock the connecting rod and the connecting arm.

In one embodiment, the buckle includes a driving portion and a handle, the handle is connected to the driving portion, the driving portion is rotatably disposed on the fixing rod, and the driving portion is an eccentric wheel The driving portion is capable of driving the pressing block during the rotation of the buckle.

In one embodiment, the locking assembly further includes a spacer disposed between the pressing block and the driving portion, the spacer being open to cooperate with a contour of the driving portion Hold the slot.

In one of the embodiments, a drive assembly is further included for driving the connecting rod to move relative to the connecting arm.

In one embodiment, the driving assembly includes a fixing block, a gear and a driving member, the sliding rail is provided with a rack, the fixing block is slidably disposed on the sliding rail, and the gear is rotatable Positioned on the fixed block, the gear meshes with the rack, the driving member is coupled to the gear, and the driving member is configured to drive the gear to rotate.

In one embodiment, the first motor, the second motor, and the third motor are both ultrasonic motors.

In one embodiment, the connecting arm is perpendicular to the handle frame, the connecting rod is perpendicular to the connecting arm, and the bracket is perpendicular to the connecting rod.

A camera structure comprising:

a pan/tilt as claimed in any of the preceding claims; and

The camera module has one end connected to the third motor in the pan/tilt, and the other end of the camera module is rotatably connected to the bracket.

The above camera structure and its pan/tilt have at least the following advantages:

When the camera module is in motion, the rotation of the first motor, the second motor, and the third motor of the pan/tilt can stabilize the posture of the camera module, thereby ensuring the quality of the image captured by the camera module. The connecting rod is movable relative to the connecting arm, and the distance between the camera module and the target can be adjusted. Moreover, at least one of the first motor, the second motor and the third motor is an ultrasonic motor, and the ultrasonic motor has the characteristics of large output torque, fast response, light weight and small volume, so that the imaging structure can be effectively reduced. The size of its head is easy to use.

DRAWINGS

1 is a schematic structural view of a cloud platform in an embodiment;

FIG. 2 is a schematic structural view of another perspective view of the cloud platform shown in FIG. 1. FIG.

3 is a schematic structural view of the handheld frame of FIG. 1;

Figure 4 is an exploded view of the connecting assembly of Figure 3;

Figure 5 is a half cross-sectional view of the connecting assembly of Figure 3;

6 is a partial structural schematic view of the cloud platform shown in FIG. 1;

Figure 7 is a schematic structural view of the connecting rod of Figure 1;

Figure 8 is an exploded view of the locking assembly of Figure 1.

Detailed ways

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims. Numerous specific details are set forth in the description below in order to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention, and thus the invention is not limited by the specific embodiments disclosed below.

It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or the element can be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or. The terms "vertical", "horizontal", "left", "right", and the like, as used herein, are used for purposes of illustration only and are not intended to be the only embodiment.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention.

Referring to FIG. 1 and FIG. 2 , the imaging structure in an embodiment includes a cloud platform 10 and a camera module, and the camera module is disposed on the cloud platform 10 , and the cloud platform 10 can ensure that the camera module maintains stable posture during motion. In addition, the quality of the picture taken by the camera module is guaranteed to be good. Specifically, the platform 10 includes a handset 100, a first rotating assembly 200, a locking assembly 300, a second rotating assembly 400, and a third motor 500.

Referring to FIG. 3 together, the handheld frame 100 can facilitate the user to hold the platform 10. Specifically, the handset 100 includes a base 110, a crossbar 120, a first handle 130, and a second handle 140. The base 110 includes a main body 112, a mounting portion 114, and a connecting portion 116. The mounting portion 114 is provided at one end of the main body 112, and the mounting portion 114 has an L shape. The main body portion 112 and the connecting portion 116 are both cylindrical, and the connecting portion 116 is disposed on the side wall of the main body 112. The axis of the connecting portion 116 is perpendicular to the axis of the main body 112. In one embodiment, the number of the connecting portions 116 is two, and the two connecting portions 116 are symmetrically disposed along the axial direction of the main body 112, that is, the axes of the two connecting portions 116 are on the same straight line and are both aligned with the axis of the main body 112. vertical. .

Referring to FIG. 4 and FIG. 5 together, the crossbar 120 is connected to the connecting portion 116 of the main body 112 through the connecting component 150. Specifically, the connecting assembly 150 includes a first connecting shaft 152 connected to the crossbar 120, a second connecting shaft 154 connected to the connecting portion 116, and a connecting sleeve for connecting the first connecting shaft 152 and the second connecting shaft 154. 156. The first connecting shaft 152 includes a first end portion 152a, an intermediate portion 152b, and a second end portion 152c. The intermediate portion 152b is coupled to the first end portion 152a and the second end portion 152c, respectively. The first end portion 152a is spaced apart from the circumferential direction by a plurality of limiting slots 152d extending along the axial direction of the first end portion 152a. The second connecting shaft 154 includes a third end portion 154a and a fourth end portion 154b connected to the third end portion 154a. The diameter of the third end portion 154a is larger than the diameter of the fourth end portion 154b, and the third end portion 154a is opened. External thread.

The second connecting shaft 154 is provided with a through hole 154c penetrating the third end portion 154a and the fourth end portion 154b. The first end portion 152a is inserted into the through hole 154c from the third end portion 154a to connect the first connecting shaft 152 with the second connecting shaft 154. The inner wall of the third end portion 154a is provided with a limiting protrusion 154d that cooperates with the limiting groove 152d to prevent the first connecting shaft 152 from rotating relative to the second connecting shaft 154. The inner wall of the connecting sleeve 156 is provided with an annular projection 156a, and the inner wall of the connecting sleeve 156 is internally threaded. The connecting sleeve 156 is sleeved on the third end 154a and is screwed to the third end 154a. The annular protrusion 156a abuts an end surface of the intermediate portion 152b, so that the first connecting shaft 152 and the second connecting shaft 154 can be connected. For a whole. The fourth end portion 154b is inserted into the fixing hole of the connecting portion 116, and one end of the cross bar 120 is sleeved on the second end portion 152c, so that the cross bar 120 is disposed at one end of the main body 112. In one embodiment, the number of the crossbar 120 and the connecting component 150 are two, and each crossbar 120 is connected to the corresponding connecting portion 116 through a corresponding connecting component 150.

The first handle 130 is disposed on the crossbar 120, and the axis of the first handle 130 is perpendicular to the axis of the crossbar 120, and the axis of the first handle 130 is parallel to the axis of the body 112. The number of the first handles 130 is two, and the two first handles 130 are respectively disposed at the ends of the two cross bars 120. In one embodiment, the first handle 130 is clamped to the crossbar 120 and secured by fasteners such as screws. The second handle 140 is disposed on the mounting portion 114, and the second handle 140 is perpendicular to the main body 112 and the crossbar 120. In the present embodiment, the cross bar 120, the first handle 130 and the second handle 140 are hollow rods, which can reduce the weight of the platform 10 and save materials.

Referring to FIGS. 1 and 2 , the first rotating assembly 200 includes a connecting arm 210 , a first motor 220 , and a connecting rod 230 . One end of the connecting arm 210 is rotatably connected to the hand-held frame 100 through the first motor 220, and the connecting arm 210 forms an angle with the hand-held frame 100. Specifically, the stator of the first motor 220 is coupled to the main body 112, and one end of the connecting arm 210 is coupled to the rotor of the first motor 220. The extending direction of the connecting arm 210 is perpendicular to the axis of the main body 112, and the connecting arm 210 is perpendicular to the crossbar 120. The first motor 220 can drive the connecting arm 210 to rotate about the axis of the main body 112. In the present embodiment, the connecting arm 210 has a hollow structure, which can reduce the weight of the platform 10 and save materials.

One end of the connecting rod 230 is movably disposed on the connecting arm 210, and the connecting rod 230 forms an angle with the connecting arm 210. In the present embodiment, the connecting rod 230 is perpendicular to the connecting arm 210, and the connecting rod 230 is parallel to the main body 112. The connecting rod 230 is a hollow rod, which can reduce the weight saving material of the platform 10.

Referring to FIG. 6 , in one embodiment, one end of the connecting rod 230 is slidably disposed on the connecting arm 210 relative to the connecting arm 210 through the sliding assembly 240 . Specifically, the sliding assembly 240 includes a sliding rail 242 and a slider 244 disposed on a side wall of the connecting arm 210, and the sliding rail 242 extends along the extending direction of the connecting arm 210. The slider 244 is slidably disposed on the slide rail 242, and one end of the connecting rod 230 is coupled to the slider 244. In one embodiment, the slide assembly 240 further includes a stop 246 disposed at an end of the slide rail 242 for preventing the slider 244 from disengaging the slide rail 242.

In one embodiment, the platform 10 further includes a drive assembly 250 for driving the connecting rod 230 to move relative to the connecting arm 210. Specifically, the drive assembly 250 includes a fixed block 252, a gear 254, and a drive member 256. The fixing block 252 is slidably disposed on the sliding rail 242, and the fixing block 252 is located at one end of the slider 244, and the fixing block 252 is connected to one end of the connecting rod 230. The gear 254 is rotatably disposed on the fixed block 252, and the slide rail 242 is provided with a rack 248 that meshes with the gear 254. In the present embodiment, by machining the teeth on the slide rail 242, a plurality of teeth are arranged at intervals in the extending direction of the slide rail 242, thereby forming the rack 248. It can be understood that in other embodiments, the rack 248 can also be directly mounted on the slide rail 242.

The drive member 256 is coupled to the gear 254 for driving the drive gear 254 to rotate. The rotation of the gear 254 can drive the fixed block 252 to move, thereby pushing the connecting rod 230 to move. In the embodiment, the driving member 256 is flat, which is convenient for the user to drive the gear 254 to rotate through the driving member 256. It can be understood that in other embodiments, the driving member 256 may also have other structures such as a disk shape.

Referring to FIGS. 7 and 8 together, the locking assembly 300 locks the connecting rod 230 and the connecting arm 210 to prevent the connecting rod 230 from sliding relative to the connecting arm 210, thereby fixing the connecting rod 230 relative to the connecting arm 210. Specifically, the locking assembly 300 includes a mounting seat 310, a pressing block 320, a fixing rod 330, and a locking buckle 340. One end of the connecting rod 230 defines a mounting slot 232 , and the mounting bracket 310 is disposed in the mounting slot 232 . Specifically, the side wall of the mounting groove 232 is provided with a step 234, and the step 234 can abut against the circumference of the mounting seat 310 to support the mounting seat 310. The side wall of the sliding block 244 is provided with a connecting hole (not shown), and the bottom of the mounting groove 232 defines a communicating hole 236 communicating with the connecting hole. The pressing block 320 is slidably disposed in the mounting base 310 , and the pressing block 320 can sequentially abut the sliding rail 242 through the communication hole 236 and the connecting hole to lock the connecting rod 230 and the connecting arm 210 . In the present embodiment, the number of the communication holes 236 is two, and the pressure block 320 is provided with the escape groove 322 to avoid the bottom wall between the two communication holes 236. The bottom of the pressing block 320 is provided with a slope 324 to ensure sufficient friction between the pressing block 320 and the sliding rail 242.

One end of the fixing rod 330 is disposed on the slider 244 through the pressing block 320. Specifically, the fixing rod 330 is disposed on the slider 244 by the holding member 350. The holding member 350 is disposed in the connecting hole. The bottom of the mounting groove 232 defines a mounting hole 238. One end of the fixing rod 330 is connected to the holding member 350 through the pressing block 320 and the mounting hole 238. The bottom of the holding member 350 has a block 352. The block 352 has a rectangular shape. The rotation of the fixing rod 330 can drive the holding member 350 to rotate, so that both ends of the block 352 abut against the side walls of the connecting hole. The fixing block 330 is fixed by engaging the block 352 in the connecting hole. In the embodiment, both ends of the block 352 are arc-shaped, which can ensure the smooth rotation of the block 352 in the connecting hole.

The buckle 340 is rotatably disposed at the other end of the fixed rod 330. Specifically, the buckle 340 is rotatably disposed at the other end of the fixed rod 330 through the first rotating shaft 360. The buckle 340 can drive the pressing block 320 to slide to abut the pressing block 320 with the sliding rail 242, thereby locking the connecting rod 230 and the connecting arm 210. In the present embodiment, the buckle 340 includes a driving portion 342 and a handle 344. The driving portion 342 is rotatably disposed on the fixing rod 330, and the handle 344 is coupled to the driving portion 342. The driving portion 342 is an eccentric wheel, and the driving portion 342 can drive the pressing block 320 to move during the rotation of the locking buckle 340. It can be understood that in other embodiments, the buckle 340 can also be other structures to drive the clamp 320 to move.

In one embodiment, the locking assembly 300 further includes a spacer 370 disposed between the pressing block 320 and the driving portion 342. The spacer 370 is provided with a receiving groove 372 that cooperates with the hub of the driving portion 342 to make the locking 340 rotate smoothly and smoothly. In the present embodiment, the spacer 370 is a copper block.

Referring again to FIGS. 1 and 2 , the second rotating assembly 400 includes a bracket 410 and a second motor 420 . The bracket 410 is rotatably coupled to the other end of the connecting rod 230 by the second motor 420, and the bracket 410 forms an angle with the connecting rod 230. Specifically, the stator of the second motor 420 is disposed at the other end of the connecting rod 230, and the bracket 410 is coupled to the rotor of the second motor 420. The bracket 410 is perpendicular to the connecting rod 230, and the second motor 420 is capable of driving the bracket 410 to rotate the connecting rod 230. In the present embodiment, the bracket 410 is U-shaped, and the middle portion of the bracket 410 is connected to the rotor of the second motor 420.

The third motor 500 is disposed on the bracket 410, and the third motor 500 forms an angle with the bracket 410. Specifically, the stator of the third motor 500 is disposed on the bracket 410, and the third motor 500 is perpendicular to the bracket 410. In the present embodiment, the third motor 500 is disposed at one end of the bracket 410, and the rotor of the third motor 500 is located within the U-shape of the bracket 410.

One end of the camera module is connected to the third motor 500, and the other end of the camera module is rotatably connected to the bracket 410. Specifically, one end of the camera module is coupled to the rotor of the third motor 500, and the other end of the camera module is rotatably coupled to the other end of the bracket 410 via the rotating assembly 510. The rotating assembly 510 includes a bearing and a second rotating shaft, and the bearing is disposed in the bracket 410. The second rotating shaft is disposed opposite to the third motor 500. One end of the second rotating shaft is disposed in the inner ring of the bearing, and the other end of the second rotating shaft is connected to the camera module.

In this embodiment, the first motor 220, the second motor 420, and the third motor 500 are both ultrasonic motors, and the first motor 220, the second motor 420, and the third motor 500 are perpendicular to each other. It can be understood that in other embodiments, at least one of the first motor 220, the second motor 420, and the third motor 500 may be an ultrasonic motor.

In the above-mentioned imaging structure and the pan/tilt head 10, when the camera module is moved, the rotation of the first motor 220, the second motor 420, and the third motor 500 can stabilize the posture of the camera module, thereby ensuring the image captured by the camera module. the quality of. The connecting rod 230 is movable relative to the connecting arm 210, and the distance between the camera module and the target can be adjusted. Moreover, by the rack 248 and the gear 254 cooperate to drive the movement of the connecting rod 230, the distance between the camera module and the target can be finely adjusted. The first motor 220, the second motor 420 and the third motor 500 are ultrasonic motors. The ultrasonic motor has the characteristics of large output torque, response block, light weight and small volume, so that the camera structure and the pan/tilt 10 can be reduced. The volume is easy to use.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A gimbal, characterized in that it comprises:

Hand-held rack

a first rotating component, comprising: a first motor, a connecting arm and a connecting rod, wherein one end of the connecting arm is rotatably connected to the handheld frame by the first motor, and an angle is formed between the connecting arm and the handheld frame One end of the connecting rod is movably disposed on the connecting arm, and an angle is formed between the connecting rod and the connecting arm;

a second rotating assembly, comprising: a second motor and a bracket, the bracket being rotatably coupled to the other end of the connecting rod by the second motor, the bracket forming an angle with the connecting rod; and

a third motor disposed on the bracket;

The at least one of the first motor, the second motor, and the third motor is an ultrasonic motor.
The pan/tilt head according to claim 1, further comprising a sliding assembly, wherein the sliding assembly comprises a slide rail and a slider, the slide rail is disposed on the connecting arm, and the slider is slidably disposed One end of the connecting rod is connected to the slider on the sliding rail.
The pan/tilt head according to claim 2, further comprising a locking assembly, the locking assembly comprising a mounting seat, a fixing rod, a pressing block and a buckle, wherein the connecting rod is provided with a mounting groove, and the sliding rod is opened a connecting hole is formed in the bottom of the mounting slot, and a connecting hole is formed in the bottom of the mounting slot. The mounting seat is disposed in the mounting slot, and the pressing block is slidably disposed in the mounting seat. One end of the fixing rod is disposed on the sliding block through the pressing block, and the locking buckle is rotatably disposed at the other end of the fixing rod, and the locking buckle can drive the pressing block to slide, The pressing block is sequentially passed through the communication hole and the connecting hole to abut the sliding rail to lock the connecting rod and the connecting arm.
The pan/tilt head according to claim 3, wherein the latch comprises a driving portion and a handle, the handle is connected to the driving portion, and the driving portion is rotatably disposed on the fixing rod, The driving portion is an eccentric wheel, and the driving portion can drive the pressing block movement during the rotation of the locking buckle.
The pan/tilt head according to claim 4, wherein the locking assembly further comprises a spacer, the spacer is disposed between the pressing block and the driving portion, and the spacer is opened and The contour of the drive portion is matched to the receiving groove.
The pan/tilt head according to claim 2, further comprising a drive assembly for driving the connecting rod to move relative to the connecting arm.
The pan/tilt head according to claim 6, wherein the driving assembly comprises a fixing block, a gear and a driving member, the sliding rail is provided with a rack, and the fixing block is slidably disposed on the sliding rail The gear is rotatably disposed on the fixed block, the gear meshes with the rack, the driving member is coupled to the gear, and the driving member is configured to drive the gear to rotate.
The pan/tilt head according to claim 1, wherein the first motor, the second motor, and the third motor are ultrasonic motors.
The pan/tilt head according to claim 1, wherein the connecting arm is perpendicular to the hand-held frame, the connecting rod is perpendicular to the connecting arm, and the bracket is perpendicular to the connecting rod.
An imaging structure, comprising:

a gimbal according to any one of claims 1 to 9; and

The camera module has one end connected to the third motor in the pan/tilt, and the other end of the camera module is rotatably connected to the bracket.