WO2020124441A1 - Cardan de poche - Google Patents

Cardan de poche Download PDF

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Publication number
WO2020124441A1
WO2020124441A1 PCT/CN2018/122118 CN2018122118W WO2020124441A1 WO 2020124441 A1 WO2020124441 A1 WO 2020124441A1 CN 2018122118 W CN2018122118 W CN 2018122118W WO 2020124441 A1 WO2020124441 A1 WO 2020124441A1
Authority
WO
WIPO (PCT)
Prior art keywords
handheld gimbal
yaw axis
pitch
yaw
axis motor
Prior art date
Application number
PCT/CN2018/122118
Other languages
English (en)
Chinese (zh)
Inventor
谢旻钊
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/CN2018/122118 priority Critical patent/WO2020124441A1/fr
Priority to CN201880040631.2A priority patent/CN110785602A/zh
Publication of WO2020124441A1 publication Critical patent/WO2020124441A1/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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the invention relates to the field of gimbals, in particular to a handheld gimbal.
  • the handle and shaft assembly of most hand-held gimbals cannot be folded relatively, resulting in the hand-held gimbal being too bulky and not easy to carry.
  • the hand-held pan/tilt heads that can be folded, such hand-held pan/tilt heads lack freedom (most have only pitch freedom) and cannot effectively stabilize the shooting device, so high-quality images cannot be obtained.
  • the invention provides a handheld gimbal.
  • a handheld gimbal, the handheld gimbal includes:
  • the handle has a top, a bottom, and a side wall between the top and the bottom;
  • a yaw axis assembly including a yaw axis motor and a yaw axis arm connected to the top;
  • a pitch axis assembly including a pitch axis motor and a pitch axis arm connected to the pitch axis motor;
  • the bearing part is used for carrying a shooting device and is connected with the pitch axis arm;
  • One end of the yaw axis arm is rotatably connected to the yaw axis motor, and the other end is rotatably connected to the pitch axis motor.
  • the yaw axis arm is attached to the side wall of the handle;
  • the yaw axis arm and the side wall of the handle form a preset angle, and the yaw axis motor can drive the pitch axis motor to rotate in the yaw direction ,
  • the pitch motor can drive the bearing portion to rotate in the pitch direction.
  • the yaw axis arm and the yaw axis motor and the pitch axis motor are respectively rotationally connected, and the relative position of the yaw axis arm and the yaw axis motor and the pitch axis motor can be changed
  • the angle allows the yaw axis arm to switch between the relative handle folding and the relative handle unfolding.
  • FIG. 1 is a perspective view of a handheld gimbal in use in an embodiment of the present invention
  • FIG. 2 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 1 in another direction;
  • FIG. 3 is a perspective view of the handheld gimbal in the stored state in an embodiment of the present invention.
  • FIG. 4 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 3 in another direction;
  • FIG. 5 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 3 in yet another direction;
  • FIG. 6 is a perspective view of a handheld gimbal in use in another embodiment of the present invention.
  • FIG. 7 is a perspective view of the handheld gimbal of the embodiment shown in FIG. 6 in a stored state.
  • pitch axis assembly 31: pitch axis motor; 32: pitch axis arm; 321: main body; 322: connecting end;
  • an embodiment of the present invention provides a handheld gimbal
  • the handheld gimbal may include a handle 1, a yaw axis assembly 2, a pitch axis assembly 3 and a bearing portion 4, wherein the handle 1 has a top 11, The bottom 12 and the side wall 13 are located between the top 11 and the bottom 12.
  • the yaw axis assembly 2 includes a yaw axis motor 21 and a yaw axis arm 22, and the pitch axis assembly 3 includes a pitch axis motor 31 and a pitch axis arm 32.
  • the yaw axis motor 21 is connected to the top 11, one end of the yaw axis arm 22 is rotatably connected to the yaw axis motor 21, the other end of the yaw axis arm 22 is rotatably connected to the pitch axis motor 31, and the pitch axis axis
  • the arm 32 is connected to the pitch axis motor 31.
  • the carrying portion 4 of this embodiment is used to mount an imaging device, and the carrying portion 4 is connected to the pitch axis arm 32.
  • the handheld gimbal is switched between the storage state and the use state. Specifically, when the handheld gimbal is switched to the storage state, the yaw axis arm 22 is attached to the side wall 13 of the handle 1, as shown in FIGS. 3 to 5, by folding the yaw axis arm 22, the The volume when the handheld gimbal is stored.
  • the yaw axis arm 22 and the side wall 13 of the handle 1 form a preset angle
  • the yaw axis motor 21 can drive the pitch axis motor 31 to rotate in the yaw direction
  • the pitch motor can drive The bearing portion 4 rotates in the pitch direction, as shown in FIGS. 1 and 2.
  • the yaw axis arm 22 is rotatably connected to the yaw axis motor 21 and the pitch axis motor 31, respectively, by changing the yaw axis arm 22 and the yaw axis motor 21 and the pitch axis motor
  • the relative angle of 31 makes the yaw axis arm 22 switch between the folded state of the relative handle 1 and the expanded state of the relative handle 1.
  • the flexibility of the handheld gimbal between the use state and the storage state is realized Switching, and reducing the volume when the handheld gimbal is stored, making the handheld gimbal easy to carry; in addition, the handheld gimbal of the present invention has two degrees of freedom in yaw and pitch directions, which can effectively increase the stability of the camera Get high-quality images.
  • the handle 1 of this embodiment is a rod-shaped structure.
  • the handle 1 can be a non-telescopic rod with a fixed length and a variable length.
  • the yaw axis arm 22 may have a rod-shaped structure, or may have other shapes.
  • the yaw axis arm 22 is a rod-shaped structure.
  • the length extension direction of the yaw axis arm 22 is the same as the length extension direction of the handle 1.
  • the yaw axis arm 22 is substantially perpendicular to the yaw axis motor 21 and the pitch axis motor 31, which improves the aesthetics of the handheld gimbal when folded, as shown in FIGS. 3 to 5 As shown.
  • the yaw axis arm 22 is not perpendicular to the yaw axis motor 21 and the pitch axis motor 31, as shown in FIGS. 1 and 2.
  • the yaw axis arm 22 and the yaw axis motor 21 are substantially perpendicular to the longitudinal direction of the yaw axis arm 22 and the bottom surface of the yaw axis motor 21 (the surface of the yaw axis motor 21 facing the top 11 )
  • the included angle is approximately 90°.
  • the included angle between the longitudinal direction of the yaw axis arm 22 and the bottom surface of the yaw axis motor 21 is 90° ⁇ 1°.
  • the yaw axis arm 22 is substantially perpendicular to the pitch axis motor 31, which means that the angle between the surface of the yaw axis arm 22 and the pitch axis motor 31 connected to the pitch axis motor 32 is approximately 90°.
  • the angle between the surface of the longitudinal axis arm 22 and the pitch axis motor 31 connected to the pitch axis axis arm 32 is 90° ⁇ 1°.
  • the yaw axis arm 22 is a non-telescopic rod, that is, the length of the yaw axis arm 22 cannot be changed.
  • the length of the yaw axis arm 22 is approximately equal to the length of the handle 1.
  • the handle 1 is a telescopic rod
  • the length of the yaw axis arm 22 is approximately equal to the minimum length of the handle 1.
  • the yaw axis arm 22 is a telescopic rod.
  • the yaw axis arm 22 when the handheld gimbal is switched to the storage state, the yaw axis arm 22 can be shortened to a minimum length, which further reduces the volume of the handheld gimbal when stored.
  • the distance of the shooting device relative to the handle 1 can be adjusted by adjusting the length of the yaw axis arm 22 to meet the user's shooting needs.
  • the minimum length of the yaw axis arm 22 is approximately equal to the length of the handle 1.
  • the minimum length of the yaw axis arm 22 is approximately equal to the minimum length of the handle 1.
  • the minimum length of the yaw axis arm 22 is less than the length of the handle 1.
  • the minimum length of the yaw axis arm 22 is smaller than the minimum length of the handle 1.
  • the retractable structure of the yaw axis arm 22 may include various methods.
  • the yaw axis arm 22 may include multiple links, and the multiple links may cooperate to achieve an increase in the length of the yaw axis arm 22 or shorten.
  • the yaw axis arm 22 includes a first link 221 and a second link 222, the first link 221 and the second link 222 can be based on different ways to achieve the yaw axis arm 22 The length increases or decreases.
  • the first link 221 is rotatably connected to the yaw axis motor 21
  • the second link 222 is rotatably connected to the pitch axis motor 31
  • the second link 222 is slidingly connected to the first link 221
  • the first link 221 and the second link 222 slide relative to each other, the length of the yaw axis arm 22 increases or decreases.
  • the first link 221 and the second link 222 are movably connected, and the relative movement of the first link 221 and the second link 222 increases the length of the yaw axis arm 22 Or shorten it.
  • the first link 221 is provided with one or more fixing structures arranged at intervals along the length direction, such as a snap-fit structure, and when the second link 222 moves relative to the first link 221, it can be fixed by the fixing structure
  • the second link 222 ensures that when the handheld gimbal is in use, the first link 221 and the second link 222 maintain a stable state to ensure the stability of the camera.
  • retractable structure of the yaw axis arm 22 is not limited to the implementation of the structures listed in the above embodiments, and other retractable structures may also be used.
  • the yaw axis motor 21 includes a yaw axis rotor.
  • the yaw axis rotor is rotatably connected to the top 11 and the yaw axis rotor and the yaw axis arm 22 are rotatably connected by a rotation axis.
  • the yaw axis rotor and the yaw axis arm 22 are rotatably connected through the first rotating shaft 6.
  • the pitch axis motor 31 includes a pitch axis stator.
  • the pitch axis stator and the yaw axis arm 22 are rotatably connected by a rotation axis.
  • the pitch axis stator and the yaw axis arm 22 are rotatably connected by a second rotation axis 7.
  • the pitch axis arm 32 of this embodiment may include a main body 321 and a connecting end 322 provided at one end of the main body 321, wherein the connecting end 322 is connected to the pitch motor.
  • the body portion 321 is rod-shaped, and when the hand-held gimbal is switched to the storage state, the body portion 321 is substantially parallel to the side wall 13 of the handle 1, further reducing the occupied space of the pitch axis arm 32, thereby reducing the handhold The volume when the gimbal is stored, and the aesthetics when the hand-held gimbal is stored is improved.
  • the connecting end 322 is substantially perpendicular to the main body 321.
  • the connecting end 322 is substantially perpendicular to the side wall 13 of the handle 1, further reducing the pitch axis
  • the space occupied by the shaft arm 32 reduces the volume when the handheld gimbal is stored, and improves the aesthetics when the handheld gimbal is stored.
  • the handheld gimbal may further include a roll axis motor 5, and the pitch axis arm 32 is connected to the carrying portion 4 via the roll axis motor 5; specifically, roll The shaft motor 5 is connected to the end of the main body portion 321 away from the connecting end 322, and the bearing portion 4 is rotatably connected to the side of the roll shaft motor 5.
  • the pitch axis motor 31 can drive the roll axis motor 5 to rotate in the pitch direction
  • the roll axis motor 5 can drive the bearing portion 4 to rotate in the roll direction.
  • the imaging device mounted on the carrying portion 4 is better stabilized, so that the imaging device can capture high-quality images.
  • the carrier 4 is directly connected to the roll motor 5.
  • the handheld gimbal may further include a roll shaft arm, and the carrying part 4 is connected to the roll shaft motor 5 via the roll shaft arm.
  • the bearing portion 4 is directly connected to the roll axis motor 5.
  • the roll axis motor 5 and the side wall 13 of the handle 1 are substantially parallel, reducing the occupied space of the roll axis motor 5, thereby reducing the volume when the handheld gimbal is stored And, it improves the aesthetics of the handheld gimbal when stored.
  • the yaw direction, the pitch direction and the roll direction are respectively orthogonal, and the handheld gimbal is decoupled in the yaw direction, pitch direction and roll direction, and the control is simpler.
  • the carrying portion 4 is substantially parallel to the side wall 13 of the handle 1, reducing the space occupied by the carrying portion 4, thereby reducing the volume when the handheld gimbal is stored, and, Improves the aesthetics of the handheld gimbal when stored.
  • the carrying portion 4 when the handheld gimbal is switched to the storage state, the carrying portion 4 is located between the yaw axis arm 22 and the roll axis motor 5 to improve the aesthetics of the handheld gimbal during storage.
  • the roll axis motor 5 when the hand-held gimbal is switched to the storage state, the roll axis motor 5 is located between the yaw axis arm 22 and the bearing portion 4, that is, the bearing portion 4 is located on the yaw axis
  • the side of the shaft arm 22 away from the handle 1 improves the aesthetics when the handheld gimbal is stored.
  • the structure of the bearing portion 4 can be designed according to needs.
  • the bearing portion 4 is a sandwiching structure for sandwiching a photographing device.
  • the bearing portion 4 can also be designed as other structures, for example, the bearing portion 4 can be a magnetic structure, and the imaging device is attracted by magnetic force.
  • the photographing device in this embodiment may be a mobile phone, a camera, or other devices with a photographing function.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un cardan de poche, comprenant : une poignée (1) ayant un sommet (11), un fond (12) et des parois latérales (13) situées entre le sommet (11) et le fond (12) ; un ensemble axe de lacet (2) comprenant un moteur d'axe de lacet (21) relié au sommet (11) et un bras d'axe de lacet (22) ; un ensemble axe de tangage (3) comprenant un moteur d'axe de tangage (31) et un bras d'axe de tangage ( 32) relié au moteur d'axe de tangage (31) ; et une partie de support (4) utilisée pour porter un dispositif de photographie et reliée au bras d'axe de tangage (32).
PCT/CN2018/122118 2018-12-19 2018-12-19 Cardan de poche WO2020124441A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/122118 WO2020124441A1 (fr) 2018-12-19 2018-12-19 Cardan de poche
CN201880040631.2A CN110785602A (zh) 2018-12-19 2018-12-19 手持云台

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/122118 WO2020124441A1 (fr) 2018-12-19 2018-12-19 Cardan de poche

Publications (1)

Publication Number Publication Date
WO2020124441A1 true WO2020124441A1 (fr) 2020-06-25

Family

ID=69383107

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/122118 WO2020124441A1 (fr) 2018-12-19 2018-12-19 Cardan de poche

Country Status (2)

Country Link
CN (1) CN110785602A (fr)
WO (1) WO2020124441A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113748291B (zh) * 2020-06-30 2023-05-16 深圳市大疆创新科技有限公司 云台装置及拍摄装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003244042A1 (en) * 2002-09-02 2004-03-18 Rig Engineering Pty. Ltd. Instant-release camera support platform for camera support and stabilizing apparatus
CN204717306U (zh) * 2015-05-17 2015-10-21 张建敏 便携式手机自拍杆
CN105637279A (zh) * 2013-10-15 2016-06-01 高途乐公司 相机可安装臂
CN205908977U (zh) * 2016-06-27 2017-01-25 祁家亮 自平衡云台、手持云台和自拍杆

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8142083B2 (en) * 2008-11-14 2012-03-27 Brown Garrett W Extendable camera support and stabilization apparatus
CN105736925A (zh) * 2016-02-18 2016-07-06 武汉智能鸟无人机有限公司 一种手持三维全景云台
CN205664086U (zh) * 2016-06-01 2016-10-26 惠州市东阳智能技术股份有限公司 单手持拍摄云台
CN205877666U (zh) * 2016-08-04 2017-01-11 深圳火星探索科技有限公司 一种通过usb线来连接的手持云台
CN209622439U (zh) * 2018-12-19 2019-11-12 深圳市大疆创新科技有限公司 手持云台

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003244042A1 (en) * 2002-09-02 2004-03-18 Rig Engineering Pty. Ltd. Instant-release camera support platform for camera support and stabilizing apparatus
CN105637279A (zh) * 2013-10-15 2016-06-01 高途乐公司 相机可安装臂
CN204717306U (zh) * 2015-05-17 2015-10-21 张建敏 便携式手机自拍杆
CN205908977U (zh) * 2016-06-27 2017-01-25 祁家亮 自平衡云台、手持云台和自拍杆

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Publication number Publication date
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