WO2021081719A1 - Mécanisme de stabilisation verticale, appareil de tête de berceau, et dispositif de détection - Google Patents

Mécanisme de stabilisation verticale, appareil de tête de berceau, et dispositif de détection Download PDF

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Publication number
WO2021081719A1
WO2021081719A1 PCT/CN2019/113760 CN2019113760W WO2021081719A1 WO 2021081719 A1 WO2021081719 A1 WO 2021081719A1 CN 2019113760 W CN2019113760 W CN 2019113760W WO 2021081719 A1 WO2021081719 A1 WO 2021081719A1
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WO
WIPO (PCT)
Prior art keywords
vertical
mounting
stabilization structure
carrier
stabilization
Prior art date
Application number
PCT/CN2019/113760
Other languages
English (en)
Chinese (zh)
Inventor
柳云飞
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 CN201980040210.4A priority Critical patent/CN112334698A/zh
Priority to PCT/CN2019/113760 priority patent/WO2021081719A1/fr
Publication of WO2021081719A1 publication Critical patent/WO2021081719A1/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
    • F16M11/043—Allowing translations
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • This application relates to the field of sensing technology, in particular to a vertical stabilization mechanism, a pan-tilt device and a sensing device.
  • the gimbal generally has a stabilization function in the rotation direction.
  • a three-axis gimbal can compensate the jitter of the gimbal in the rotation directions of the pitch axis (pitch axis), the yaw axis (yaw axis), and the roll axis (roll axis).
  • the pan-tilt does not have an ideal compensation effect for translational jitter, that is, jitter in the direction of gravity.
  • the present application provides a vertical stabilization mechanism, a pan-tilt device, and a sensing device, which aim to reduce or eliminate the influence of vertical jitter on the imaging device and ensure the shooting effect.
  • the present application provides a vertical stabilization mechanism for supporting a load, and the vertical stabilization mechanism includes:
  • a carrier the carrier is in transmission connection with the active stabilization structure, and is used to carry the load;
  • the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
  • the present application provides a pan-tilt device, the pan-tilt device including:
  • the vertical stabilization mechanism is connected with the shaft arm; the vertical stabilization mechanism includes:
  • a carrier the carrier is in a transmission connection with the active stabilization structure, and is used to carry a load
  • the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
  • the present application provides a sensing device, including
  • the PTZ device includes: a shaft arm; a vertical stabilization mechanism connected with the shaft arm; the vertical stabilization mechanism includes:
  • a carrier the carrier is in transmission connection with the active stabilization structure, and is used to carry the load;
  • the active stabilization structure drives the bearing member to return to the center in a direction opposite to the vertical displacement or rotation direction.
  • the embodiments of the present application provide a vertical stabilization mechanism, a pan/tilt device, and a sensing device.
  • a vertical stabilization mechanism When translational vibration occurs, the interaction force between the load and the vertical stabilization mechanism changes due to the effect of inertia, and the bearing member Due to the action of the active stabilization mechanism, it will return to the center along the opposite direction of the vertical displacement or rotation direction, so as to reduce or eliminate the influence of vertical jitter on the imaging device and ensure the shooting effect.
  • FIG. 1 is a schematic structural diagram of a sensing device provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of an axial stabilization mechanism provided by an embodiment of the present application.
  • Figure 3 is a cross-sectional view of the sensing device in Figure 1;
  • Fig. 4 is a partial enlarged schematic diagram of the sensing device at A in Fig. 3;
  • FIG. 5 is a structural schematic diagram of a vertical stabilization mechanism provided by an embodiment of the present application at an angle
  • Fig. 6 is a schematic structural diagram of a vertical stabilization mechanism at another angle according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a vertical stabilization mechanism at another angle according to an embodiment of the present application.
  • Figure 8 is an exploded schematic diagram of a vertical stabilization mechanism provided by an embodiment of the present application.
  • Fig. 9 is a partial structural schematic diagram of the vertical stabilization mechanism in Fig. 8, which shows the carrier;
  • Fig. 10 is a schematic structural diagram of a mounting member provided by an embodiment of the present application.
  • Fig. 11 is an exploded schematic diagram of a mounting member provided by an embodiment of the present application.
  • Figure 12 is a schematic structural diagram of a support provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a sensing device provided by an embodiment of the present application.
  • First shaft drive structure 120, first support; 130, second shaft drive structure; 140, second support; 150, third shaft drive structure;
  • 210. Active stabilization structure 211. Drive member; 212. First transmission assembly; 2121. First planet carrier; 2122. First sun gear; 2123. First planet gear; 2124. First ring gear;
  • Carrier 220.
  • Carrier 230, mounting member; 231, first mounting part; 2311, fixing sub-part; 2312, mounting sub-part; 232, second mounting part; 233, connecting part; 234, accommodating part;
  • an embodiment of the present application provides a sensing device 1000, and the sensing device 1000 includes a pan-tilt device 10 and a load 20.
  • the pan-tilt device 10 is used to change the shooting angle of the load 20 and eliminate the influence of jitter on the load 20.
  • the load 20 includes an imaging device 30 for taking images and/or videos.
  • the imaging device 30 may be an image acquisition device such as a video camera, a camera, an ultrasonic imaging device, an infrared imaging device, an imaging lens, a mobile phone or a tablet computer with a camera function, and the like.
  • the sensing device 1000 is actually a corresponding photographing device.
  • the load may also include sensing devices such as lidar, distance sensor, depth sensor, or any additional device suitable for anti-shake.
  • a detailed description will be given by taking the sensing device 1000 as a shooting device as an example.
  • the pan/tilt device 10 includes an axial stabilization mechanism 100 and a vertical stabilization mechanism 200.
  • the axial stabilization mechanism 100 is connected to the load 20 and the vertical stabilization mechanism 200 for adjusting the shooting direction and shooting angle of the imaging device 30. It can be understood that, in other embodiments, the pan-tilt device 10 may also only include the vertical stabilization mechanism 200.
  • the axial stabilization mechanism 100 is a three-axis support device. More specifically, the axial stabilization mechanism 100 is a three-axis pan/tilt head, which can rotate around the first axis a1. , The second axis a2 and the third axis a3 adjust the angle of the imaging device 30.
  • the first axis a1 may be a roll (ROLL) axis
  • the second axis a2 may be a pitch (PITCH) axis
  • the third axis a3 may be a heading (YAW) axis.
  • the first axis a1, the second axis a2, and the third axis a3 can also be arranged in any other suitable arrangement.
  • the axial stabilization mechanism 100 includes a first shaft driving structure 110, a first support 120, a second shaft driving structure 130, a second support 140, and a third shaft driving structure 150.
  • the first bracket 120 is connected to the first shaft driving structure 110 and can rotate around the first shaft a1 under the driving of the first shaft driving structure 110.
  • the second shaft driving structure 130 is fixed on an end of the first bracket 120 away from the first shaft driving structure 110.
  • the second bracket 140 is connected to the second shaft driving structure 130 and can rotate around the second shaft a2 driven by the second shaft driving structure 130.
  • the third shaft driving structure 150 is fixed to an end of the second bracket 140 away from the second shaft driving structure 130.
  • the imaging device 30 is fixedly arranged on the second bracket 140 to be connected to the third axis driving structure 150 and can be driven by the third axis driving structure 150 to rotate around the third axis a3.
  • the first shaft drive structure 110, the second shaft drive structure 130, and the third shaft drive structure 150 are all motors.
  • the sensing device 1000 jitters in the rotation direction of one of the first axis a1, the second axis a2, and the third axis a3, the first axis drive structure 110, the second axis drive structure 130, and the third axis drive structure
  • the corresponding axis in 150 rotates in a direction opposite to the axial jitter direction of the sensing device 1000 to compensate the influence of the axial jitter of the sensing device 1000 and/or the pan-tilt device 10 on the imaging device 30.
  • the axial jitter generally refers to jitter with any axial component of the first axis a1, the second axis a2, and the third axis a3, that is, as long as the jitter of the sensing device 1000 is on the first axis a1, the second axis a1, and the second axis a3. Any one of the axis a2 and the third axis a3 has a component in the axial direction, which is called axial jitter.
  • the macroscopic movement direction of the sensing device 1000 with axial jitter may not necessarily be any one of the first axis a1, the second axis a2, and the third axis a3, and it can also be the same as the first axis a1, the second axis Any one of the axis a2 and the third axis a3 has a certain included angle.
  • the axial stabilization mechanism 100 may also be a single-axis pan/tilt, a dual-axis pan/tilt, or other types of pan/tilt.
  • the axial stabilization mechanism 100 may include at least one of the first shaft a1, the second shaft a2, and the third shaft a3.
  • this embodiment provides a vertical stabilization mechanism 200, which can be used to reduce or eliminate the influence of the translational vibration of the sensing device 1000 on the load 20.
  • translational jitter generally refers to jitter with a component in the direction of gravity, that is, as long as the jitter of the sensing device 1000 has a component in the direction of gravity, it can be referred to as translational jitter.
  • the macroscopic movement direction of the sensing device 1000 for translational jitter is not necessarily the direction of gravity, and may also have a certain angle with the direction of gravity.
  • the vertical stabilization mechanism 200 includes an active stabilization structure 210 and a bearing member 220.
  • the bearing member 220 is in transmission connection with the active stabilization structure 210 and is used for bearing the load 20.
  • the connection manner between the load 20 and the carrier 220 may include at least one of a snap connection, a threaded connection, a screw connection, an interference fit connection, and the like. It can be understood that the specific structure of the carrier 220 is not limited to the structure in FIG. 9.
  • the active stabilization structure 210 drives the bearing member 220 to return to the center along the vertical displacement or rotation direction to reduce or eliminate the sensing device.
  • the impact of 1000 translational jitter on load 20 Through the above-mentioned settings, the load can be easily stabilized vertically, the structure is simple, and the stabilization force is adjustable, and the adaptability is strong.
  • the active stabilization structure 210 includes a driving member 211.
  • the driving member 211 is drivingly connected with the carrier 220.
  • the driving member 211 is used to drive the bearing member 220 back to the center along the vertical displacement or rotation direction, thereby reducing or eliminating the influence of the translational vibration of the sensing device 1000 on the load 20.
  • the driving member 211 includes a motor.
  • the driving member 211 may also be any other suitable driving structure, which is not limited herein.
  • the vertical stabilization mechanism 200 includes a mounting member 230 and a passive stabilization structure 240.
  • the active stabilization structure 210 and the passive stabilization structure 240 are both installed on the mounting member 230.
  • the passive stabilization structure 240 is in transmission connection with the carrier 220.
  • the passive stabilization structure 240 acts on the bearing member 220 to balance the gravity of the load 20.
  • the load 20 may include one of the imaging device 30, the pan-tilt device 10, or the sensing device.
  • the load 20 may include an imaging device 30 and a pan-tilt device 10, and the application is not limited thereto.
  • the active stabilization structure 210 and the passive stabilization structure 240 are located on opposite sides of the mounting member 230.
  • the mounting member 230 includes a first mounting portion 231, a second mounting portion 232 and a connecting portion 233.
  • the active stabilization structure 210 is installed on the first installation portion 231
  • the passive stabilization structure 240 is installed on the second installation portion 232.
  • the connecting portion 233 is connected to the first mounting portion 231 and the second mounting portion 232. More specifically, opposite ends of the connecting portion 233 are connected to the first mounting portion 231 and the second mounting portion 232, respectively.
  • the mounting member 230 further includes a receiving portion 234.
  • the accommodating portion 234 is formed by enclosing the first mounting portion 231, the second mounting portion 232 and the connecting portion 233, and is used for accommodating at least part of the carrier 220.
  • the accommodating portion 234 has at least one opening.
  • the carrier 220 can enter the accommodating portion 234 through the opening and be connected to the active stabilization structure 210 and the passive stabilization structure 240.
  • the accommodating portion 234 is formed, which can effectively protect the structure such as the supporting member 220 therein while providing an activity space.
  • the first mounting part 231 includes a fixing sub-part 2311 and a mounting sub-part 2312.
  • the fixing sub-parts 2311 and the second mounting part 232 are respectively arranged on different sides of the carrier 220.
  • the mounting sub-portion 2312 is connected with the fixed sub-portion 2311 and enclosed to form an accommodating space, and the driving member 211 is arranged in the accommodating space.
  • the stator of the motor is fixedly mounted on the mounting sub-part 2312.
  • the driving member 211 such as a motor, is wrapped in the first mounting portion 231, which can prevent the external interference from the driving member 211, thereby ensuring the normal operation of the driving member 211.
  • the fixing sub-part 2311, the mounting sub-part 2312, the second mounting part 232, and the connecting part 233 may be integrally formed, or may be provided separately, or at least two of them may be integrally formed and the remaining part may be provided with the at least two parts.
  • the fixing sub-part 2311, the second mounting part 232 and the connecting part 233 are integrally formed, and the mounting sub-part 2312 is detachably connected to the fixing sub-part 2311 of the integrally formed structure.
  • the connection and fixation of the two parts can be realized by at least one of the connection methods including snap connection, thread connection, screw connection, interference fit connection and the like.
  • the passive stabilization structure 240 includes an elastic component 241, an adjusting member 242 and a supporting member 243.
  • the elastic component 241 is drivingly connected to the carrier 220.
  • the elastic component 241 includes a fixing member 2411 and an elastic member 2412.
  • the fixing member 2411 is drivingly connected with the supporting member 220.
  • the elastic member 2412 is fixed on the fixing member 2411.
  • the elastic force of the elastic member 2412 can be transmitted to the supporting member 220 through the fixing member 2411 to balance the gravity of the load 20.
  • the elastic member 2412 includes at least one of a coil spring, a coil spring, or a clockwork spring.
  • the vertical stabilization mechanism 200 can balance the gravity of the load 20 and the gimbal device 10 through the elastic force of the elastic member 2412, which does not mean that the elastic force of the elastic component 241 and the gravity of the load 20 are necessarily equal.
  • the elastic member 2412 and the fixing member 2411 can be fixedly connected by any suitable connection structure.
  • the fixing member 2411 is provided with a clamping hole, and one end of the elastic member 2412 is clamped on the clamping hole, thereby realizing the elastic member 2412 and the fixing member 2411.
  • the adjusting member 242 is connected to the elastic member 2412, and the elastic member 2412 is sleeved in the adjusting member 242.
  • the adjusting member 242 can adjust the moment of the elastic member 2412 so that the elastic member 2412 can balance the gravity of different loads 20.
  • the adjusting member 242 is operated to adjust the length of the elastic member 2412, so as to adjust the moment of the elastic member 2412, so that the elastic member 2412 can balance the load 20 with different gravity. More specifically, the vertical stabilization mechanism 200 can adjust the torque of the elastic member 2412 through the adjusting member 242 according to the weight of the load 20 that it needs to carry. Therefore, the vertical stabilization mechanism 200 can adjust the torque of the elastic member 2412 according to different models and types of loads. 20 Flexible adjustment of the torque of the elastic member 2412.
  • the component force of the elastic force of the elastic member 2412 in the direction of gravity can balance the gravity of the load 20 and the weight of the vertical stabilization mechanism 200. That is, the vertical stabilization mechanism 200 can balance the gravity of the load 20 and the pan/tilt device 10 through the elastic force of the elastic member 2412.
  • the elastic member 2412 is a clockwork spring
  • the inner end of the elastic member 2412 is connected to the fixing member 2411
  • the outer end of the elastic member 2412 is connected to the adjusting member 242.
  • the passive stabilization structure 240 further includes a fixing member 244 and a locking member 245.
  • One end of the elastic member 2412 is arranged between the adjusting member 242 and the fixing member 244.
  • the locking member 245 penetrates the adjusting member 242, the elastic member 2412 and the fixing member 244, so that the adjusting member 242 and the elastic member 2412 are locked and fixed by the fixing member 244.
  • the locking member 245 includes an external thread
  • the fixing member 244 is provided with an internal screw hole
  • the external thread portion of the locking member 245 is penetrated with the adjusting member 242 and the elastic member 2412
  • the fixing member 244 is threaded through the internal screw hole. connection.
  • the adjusting member 242 and the elastic member 2412 can also be fixed by other suitable connection structures such as a buckle structure, which is not limited herein.
  • the adjusting member 242 can be rotatably arranged in the supporting member 243.
  • the support 243 includes a first ring portion 2431, a second ring portion 2432 and a coupling portion 2433.
  • the first ring portion 2431 is connected to the second mounting portion 232. More specifically, the first ring portion 2431 and the second mounting portion 232 are fixed by a connection method such as a buckle, a screw or a bolt, an interference fit, or the like.
  • the second ring portion 2432 and the first ring portion 2431 are spaced apart. Specifically, the second ring portion 2432 and the first ring portion 2431 are coaxially arranged.
  • the coupling portion 2433 is connected to the first ring portion 2431 and the second ring portion 2432 to realize the connection between the first ring portion 2431 and the second ring portion 2432.
  • the first ring portion 2431, the second ring portion 2432, and the coupling portion 2433 enclose to form a receiving space, and the adjusting member 242 and the elastic member 2412 are disposed in the receiving space.
  • the number of the coupling portions 2433 is at least two, and the at least two coupling portions 2433 are arranged at intervals along the circumferential direction of the first ring portion 2431, thereby forming an opening communicating with the above-mentioned accommodating space unit.
  • the user can operate the adjusting member 242 through the opening portion to adjust the torque of the elastic member 2412 according to different models and types of loads 20.
  • the passive stabilization structure 240 further includes a ratchet tooth portion 246 and a locking portion 247.
  • the ratchet tooth portion 246 is provided on the adjusting member 242.
  • the locking portion 247 is provided on the side of the supporting member 243 away from the supporting member 220, and cooperates with the ratchet tooth portion 246 to prevent the elastic member 2412 from resetting.
  • the adjusting member 242 can be adjusted to a suitable position to adjust the torque of the elastic member 2412 to a suitable size. After the adjusting member 242 is adjusted to a proper position, the cooperation of the ratchet tooth portion 246 and the locking portion 247 can prevent the adjusting member 242 from returning to the original position, thereby preventing the elastic member 2412 from resetting.
  • the vertical stabilization mechanism 200 further includes a first hand piece 250 and a second hand piece 260.
  • the user can hold the first hand piece 250 and/or the second hand piece 260 for shooting.
  • the first hand piece 250 and/or the second hand piece 260 may be electrically connected to the imaging device 30, and the first hand piece 250 and/or the second hand piece 260 are provided with a shooting function key ( (Not shown in the figure), the shooting function key allows the user to operate to control shooting, for example, to control the shooting mode of the imaging device 30 or the shooting angle of the imaging device 30.
  • the first hand piece 250, the active stabilization structure 210, the carrier 220, the passive stabilization structure 240, and the second hand piece 260 are arranged in a horizontal direction.
  • the first hand piece 250 and the second hand piece 260 are respectively arranged on both sides of the carrier 220, and the two are arranged substantially symmetrically with respect to the carrier 220.
  • the first hand piece 250 and the second hand piece 260 are held diagonally on both sides.
  • first hand piece 250 and the second hand piece 260 can also be replaced with other movable holding devices, such as unmanned vehicles, unmanned aerial vehicles, unmanned ships, and the like.
  • the vertical stabilization mechanism 200 further includes a first mounting arm 291 and a second mounting arm 292. Specifically, one end of the first mounting arm 291 is connected to the active stabilization structure 210, and the other end is connected to the first hand piece 250. One end of the second mounting arm 292 is connected to the passive stabilization structure 240, and the other end is connected to the second hand piece 260.
  • the locking portion 247 is provided on the second mounting arm 292.
  • one end of the first mounting arm 291 is detachably connected to the side of the mounting sub-part 2312 facing away from the carrier 220.
  • one end of the second mounting arm 292 is detachably connected to the passive stabilization structure 240.
  • the detachable connection mode can be a snap connection, a screw connection, and a threaded connection.
  • first mounting arm 291 and the first hand piece 250 are integrally formed and connected; and/or, the second mounting arm 292 and the second hand piece 260 are integrally formed and connected to save assembly procedures and improve processing. effectiveness.
  • first mounting arm 291 and the first hand piece 250 may also be detachably connected; and/or, the second mounting arm 292 and the second hand piece 260 may also be detachably connected to facilitate Disassembly and assembly make it easy to select or replace the hand piece according to actual needs.
  • the layout between the first hand piece 250 and the first mounting arm 291, and the second hand piece 260 and the second mounting arm 292 can be designed to be arbitrary according to the shooting habits of the user and the shooting requirements of the actual application scene.
  • the first hand piece 250 and the first mounting arm 291 form a substantially L-shaped structure
  • the second hand piece 260 and the second mounting arm 292 form a substantially L-shaped structure, so that the first hand piece 250 and the second
  • the hand piece 260 is held vertically on both sides.
  • both the first hand piece 250 and the second hand piece 260 are approximately rod-shaped and approximately parallel to the first mounting arm 291 or the second mounting arm 292, so that the first hand piece 250 and the second hand can be held horizontally.
  • the holder 260 performs shooting.
  • the first hand piece 250, the first mounting arm 291, the active stabilization structure 210, the carrier 220, the passive stabilization structure 240, the second mounting arm 292, and the second hand piece 260 are arranged in a horizontal direction in sequence.
  • first mounting arm 291 and second mounting arm 292 may also be omitted.
  • first hand piece 250 is directly connected to the active stabilization structure 210
  • second hand piece 260 is directly connected to the passive stabilization structure 240.
  • the vertical stabilization mechanism 200 further includes a controller 270.
  • the controller 270 is electrically connected to the active stabilization structure 210 for controlling the active stabilization structure 210 to drive the carrier 220 back to the center along the vertical displacement or rotation direction.
  • the controller 270 is electrically connected to the driving member 211 and the axial stabilization mechanism 100, that is, the controller 270 is electrically connected to the first shaft driving structure 110, the second shaft driving structure 130, the third shaft driving structure 150 and the active shaft. Stabilization structure 210.
  • the vertical stabilization mechanism 200 further includes a sensor 280.
  • the sensor 280 is electrically connected to the controller 270 for sensing posture information of the axial stabilization mechanism 100 and/or the vertical stabilization mechanism 200.
  • the controller 270 controls the active stabilization structure 210 to drive the carrier 220 to return to the center along the vertical displacement or rotation direction when the sensor 280 detects that the bearing 220 has a vertical displacement or rotation relative to the active stabilization structure 210.
  • the sensor 280 is used to sense the posture information of the sensing device 1000. More specifically, the sensor 280 may include an inertial measurement unit (IMU).
  • the controller 270 is configured to control at least one of the first axis driving structure 110, the second axis driving structure 130, the third axis driving structure 150, and the active stabilization structure 210 according to the attitude information sensed by the sensor 280 along the sensing device 1000 The axis jitter direction, vertical displacement or rotation direction of the opposite direction to return to the center.
  • controller 270 can also control at least one movement of the first axis drive structure 110, the second axis drive structure 130, the third axis drive structure 150, and the active stabilization structure 210 in response to the user's instruction information, so as to realize the user's desire Shoot at the desired angle and/or direction.
  • the vertical stabilization mechanism 200, the pan-tilt device 10, and the sensing device 1000 of the above-mentioned embodiment are first used to adjust the moment of the elastic member 2412 through the adjusting member 242, so that the vertical stabilization mechanism 200 uses the elastic member.
  • the 2412 torque balances the weight of the imaging device 30 and the axial stabilization mechanism 100.
  • the vertical stabilization mechanism 200 can support the imaging device 30 and the axial stabilization mechanism 100.
  • translational jitter occurs, due to the effect of inertia, the interaction force between the imaging device 30 and the axial stabilization mechanism 100 and the vertical stabilization mechanism 200 will change, and the bearing member 220 will move vertically due to the action of the active stabilization mechanism. Return to the center in the opposite direction of the displacement or rotation direction to reduce or eliminate the influence of vertical jitter on the imaging device 30 and ensure the shooting effect.
  • the above-mentioned axial stabilization mechanism 100 may also be omitted in some cases.
  • the above-mentioned adjusting member 242 may also be omitted in some cases, and elastic members 2412 with different moments can be selected, so that the vertical stabilization mechanism 200 balances the imaging device 30 and the axial stabilization mechanism 100 by means of the moment of the elastic member 2412. weight.
  • the vertical stabilization mechanism 200 provided in this embodiment is based on the first embodiment, and further increases the setting of the transmission structure.
  • the active stabilization structure 210 further includes a first transmission assembly 212.
  • the passive stabilization structure 240 also includes a second transmission assembly 248.
  • the first transmission assembly 212 is connected to the mounting member 230.
  • the driving member 211 is drivingly connected with the carrier 220 through the first transmission assembly 212.
  • the second transmission assembly 248 is connected with the mounting member 230.
  • the elastic component 241 is drivingly connected to the carrier 220 through the second transmission component 248.
  • Each of the first transmission component 212 and/or the second transmission component 248 includes at least one of the following: a belt transmission structure, a chain transmission structure, a friction wheel transmission structure, a gear transmission structure, a worm gear transmission structure, and a planetary gear transmission structure.
  • the first transmission assembly 212 includes a first planet carrier 2121, a first sun gear 2122, a first planet gear 2123, and a first ring gear 2124.
  • the first planet carrier 2121 is connected to the carrier 220.
  • the first sun gear 2122 is connected to the driving member 211.
  • the first planet gear 2123 is installed on the first planet carrier 2121 and meshes with the first sun gear 2122.
  • the number of the first planetary gear 2123 includes at least one, for example, one, two, three or more.
  • the first ring gear 2124 is fixed on the mounting member 230.
  • the first ring gear 2124 is fixed on the fixing sub-part 2311 of the mounting member 230.
  • the first planet carrier 2121 is fixedly connected to the carrier 220, the first sun gear 2122 is connected to the output shaft of the motor, and the motor drives the first sun gear 2122 to rotate around the output shaft of the motor.
  • the first sun gear 2122 passes through the first planet gear 2123,
  • the first planet carrier 2121 drives the carrier 220 to return to the center in the direction opposite to the vertical displacement or rotation direction, so as to reduce or eliminate the influence of vertical jitter on the imaging device 30 and ensure the shooting effect.
  • the second transmission assembly 248 includes a second planet carrier 2481, a second sun gear 2482, a second planet gear 2483, and a second ring gear 2484.
  • the second planet carrier 2481 is connected to the carrier 220.
  • the second sun gear 2482 is connected to the elastic component 241.
  • the second planet gear 2483 is mounted on the second planet carrier 2481 and meshes with the second sun gear 2482.
  • the number of the second planetary gear 2483 includes at least one, for example, one, two, three or more.
  • the second ring gear 2484 is fixed on the mounting member 230.
  • the second ring gear 2484 is fixed on the second mounting portion 232 of the mounting member 230.
  • the second planet carrier 2481 is fixedly connected to the carrier 220
  • the second sun gear 2482 is connected to the fixing member 2411 of the elastic assembly 241
  • the elastic member 2412 drives the second sun gear 2482 to rotate through the fixing member 2411
  • the second sun gear 2482 passes through the second sun gear 2482.
  • the planet wheels 2483 and the second planet carrier 2481 drive the carrier 220 to move, so that the vertical stabilization mechanism 200 balances the weights of the imaging device 30 and the axial stabilization mechanism 100 by means of the moment of the elastic member 2412.
  • the vertical stabilization mechanism 200, the pan-tilt device 10, and the sensing device 1000 of the above-mentioned embodiment are first used to adjust the moment of the elastic member 2412 through the adjusting member 242, so that the vertical stabilization mechanism 200 uses the elastic member.
  • the 2412 torque balances the weight of the imaging device 30 and the axial stabilization mechanism 100.
  • the vertical stabilization mechanism 200 can support the imaging device 30 and the axial stabilization mechanism 100.
  • translational jitter occurs, due to the effect of inertia, the interaction force between the imaging device 30 and the axial stabilization mechanism 100 and the vertical stabilization mechanism 200 will change, and the bearing member 220 will move vertically due to the action of the active stabilization mechanism. Return to the center in the opposite direction of the displacement or rotation direction to reduce or eliminate the influence of vertical jitter on the imaging device 30 and ensure the shooting effect.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

Mécanisme de stabilisation verticale (200), appareil de tête de berceau (10), et dispositif de détection (1000). Le mécanisme de stabilisation verticale (200) comprend une structure de stabilisation active (210) et un élément de support (220), l'élément de support (220) étant relié en transmission à la structure de stabilisation active (210) et utilisé pour porter une charge (20) ; et, quand l'élément de support (220) génère un déplacement vertical ou une rotation par rapport à la structure de stabilisation active (210), la structure de stabilisation active (210) amène l'élément de support (220) à revenir au centre dans une direction opposée à la direction de déplacement vertical ou de rotation. Le mécanisme de stabilisation verticale (200) peut réduire ou éliminer l'effet d'oscillation verticale sur un appareil d'imagerie (30) et assurer un effet de capture d'image.
PCT/CN2019/113760 2019-10-28 2019-10-28 Mécanisme de stabilisation verticale, appareil de tête de berceau, et dispositif de détection WO2021081719A1 (fr)

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CN201980040210.4A CN112334698A (zh) 2019-10-28 2019-10-28 竖向增稳机构、云台装置和感测设备
PCT/CN2019/113760 WO2021081719A1 (fr) 2019-10-28 2019-10-28 Mécanisme de stabilisation verticale, appareil de tête de berceau, et dispositif de détection

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WO2023010318A1 (fr) * 2021-08-04 2023-02-09 深圳市大疆创新科技有限公司 Procédé et appareil de commande de cardan, cardan et support de stockage
CN113915504B (zh) * 2021-10-11 2024-03-19 桂林智神信息技术股份有限公司 一种手持电子稳定器
WO2023060533A1 (fr) * 2021-10-15 2023-04-20 深圳市大疆创新科技有限公司 Procédé de commande de cardan, cardan et système de photographie

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