WO2021081789A1

WO2021081789A1 - Gimbal, photographing device and unmanned aerial vehicle

Info

Publication number: WO2021081789A1
Application number: PCT/CN2019/114281
Authority: WO
Inventors: 王东东
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2021-05-06
Also published as: CN112739622A

Abstract

Provided are a gimbal, a photographing device and an unmanned aerial vehicle. The gimbal is used for a load to be installed and comprises: a support assembly (10), used for the load to be installed, the support assembly (10) being provided with at least one rotating support; a driving assembly (20), connected to the support assembly (10) by means of a rotating shaft and used for driving the support assembly (10) to rotate along at least one rotating support; and an electric connecting wire (30), used for connecting the driving assembly (20) and the support assembly (10), wherein the support assembly (10) is provided with a penetrating hole (11) for the electric connecting wire (30) to pass through; the electric connecting wire (30) comprises a penetrating section (31) arranged in the penetrating hole (11) in a penetrating manner; and an axis of the penetrating section (31) substantially coincides with a rotating axis corresponding to the at least one rotating support of the support assembly (10). By means of the technical solution, the problem of line interference caused by rotation of the rotating shaft of the gimbal can be effectively reduced.

Description

PTZ, shooting equipment and unmanned aerial vehicles

Technical field

The embodiment of the present invention relates to the technical field of PTZ, in particular to a PTZ, photographing equipment and unmanned aerial vehicles.

Background technique

The gimbal is the support equipment for installing and fixing the camera. With the continuous miniaturization of the gimbal structure, the performance of the gimbal becomes more and more sensitive to the disturbance force generated by the line, which directly affects the control accuracy of the gimbal, and then affects the control accuracy of the gimbal. To the quality of the camera.

A common pan/tilt is a tandem mechanical device with three rotational degrees of freedom. The three rotational axes are Pitch (pitch) axis, Roll (roll) axis, and Yaw (yaw) axis. The three shafts are connected in series and rely on coaxial lines to realize signal transmission between the three. When the pan/tilt is working, the rotation of the rotation axis of the pan/tilt will cause the coaxial line to produce a large torque line disturbance problem, which will affect the control performance of the pan/tilt.

Summary of the invention

In view of the above-mentioned defects in the prior art, embodiments of the present invention provide a pan/tilt head, a photographing device, and an unmanned aerial vehicle, so as to reduce the line disturbance problem during the operation of the pan/tilt head.

The first aspect of the embodiments of the present invention provides a pan/tilt for installing loads, including:

A bracket assembly for installing the load, the bracket assembly having at least one rotating bracket;

A driving component, connected to the bracket assembly through a rotating shaft, and used for driving the bracket assembly to rotate along at least one of the rotating brackets;

The electrical connection line is used to connect the drive assembly and the support assembly; wherein the support assembly has a through hole for the electrical connection line to pass through, and the electrical connection line includes For the penetration section in the penetration hole, the axis of the penetration section is substantially coincident with the rotation axis corresponding to at least one of the rotating brackets of the bracket assembly.

A second aspect of the embodiments of the present invention provides a photographing device, including a load;

PTZ, the PTZ is used to install the load;

Wherein, the PTZ includes:

The electrical connection line is used to connect the drive assembly and the support assembly; wherein the support assembly has a through hole for the electrical connection line to pass through, and the electrical connection line includes For the penetration section in the penetration hole, the axis of the penetration section is substantially coincident with the rotation axis corresponding to the at least one rotation bracket of the bracket assembly.

A third aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a fuselage;

powerplant;

And a pan/tilt mounted on the fuselage, and a load is installed on the pan/tilt;

Wherein, the PTZ includes:

A bracket for installing the load, and the bracket assembly has at least one rotating bracket;

A driving component, connected to the bracket through a rotating shaft, for driving the bracket to rotate along at least one of the rotating brackets;

In the pan-tilt, photographing equipment, and unmanned aerial vehicle provided by the embodiments of the present invention, an electrical connection line is used between the support assembly for mounting the load and the drive assembly that drives the support assembly to rotate, and the support assembly has a through hole for the power supply connection line to pass through. The electrical connection line includes a piercing section passing through the piercing hole, and the axis of the piercing section is substantially coincident with the rotation axis corresponding to the at least one rotating bracket of the bracket assembly, so that the bracket assembly can be rotated when the bracket assembly is rotated. , The electrical connection line located in the through hole will not rotate with the rotation of the bracket assembly, thus, it can reduce to a certain extent the problem of wire disturbance of the electrical connection line due to the rotation of the rotating shaft during the operation of the pan/tilt. The disturbance force generated when the gimbal rotates is reduced, and the reliability of power transmission is improved.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of the structure of a pan-tilt and load provided by an embodiment of the present invention;

2 is a schematic diagram 1 of an exploded structure of a pan-tilt and load provided by an embodiment of the present invention;

Fig. 3 is a second schematic diagram of an exploded structure of a pan-tilt and load provided by an embodiment of the present invention.

Detailed ways

The following clearly describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Example one

Fig. 1 is a schematic diagram of the structure of a pan/tilt and load provided by an embodiment of the present invention; Fig. 2 is a schematic diagram of an exploded structure of a pan/tilt and load provided by an embodiment of the present invention; Fig. 3 is a schematic diagram of the pan/tilt and load provided by an embodiment of the present invention Schematic diagram of the explosive structure II. Please refer to FIG. 1 to FIG. 3, this embodiment provides a pan/tilt for installing a load 100, including a bracket assembly 10, a driving assembly 20 and an electrical connection line 30. The load may include, but is not limited to, an image capture device, such as a video camera, a camera, and so on.

The bracket assembly 10 is used to install a load 100, and the bracket assembly 10 has at least one rotating bracket. The rotating support of the support assembly 10 includes at least one of the following: Pitch (pitch) axis support, Roll (roll) axis support, Yaw (yaw) axis support, and the corresponding rotation axis includes at least one of the following: Pitch (pitch) Axis, Roll (roll) axis, Yaw (yaw) axis. A common pan/tilt head can be a three-axis pan/tilt head. The 3-axis pan/tilt head has the above three rotation axes. Correspondingly, the three-axis pan/tilt head has three rotation supports. In other embodiments, the pan/tilt may have only one rotation axis or two rotation axes, which is not limited in this embodiment.

The driving assembly 20 is connected to the bracket assembly through a rotating shaft, and is used to drive the rotating bracket of the bracket assembly 10 to rotate. Specifically, the driving assembly 20 may include a motor. Taking a three-axis pan/tilt head as an example, the driving assembly 20 may include a pitch axis driving motor, a roll axis driving motor, and a yaw axis driving motor. At least one of the axis, the roll axis, and the yaw axis rotates as the center of rotation.

The electrical connection line 30 is used to connect the drive assembly 20 and the support assembly 10; wherein the support assembly 10 has a through hole 11 for the power supply connection line 30 to pass through, and the electrical connection line 30 includes a through hole 11 The penetration section 31, the axis of the penetration section 31 is substantially coincident with the rotation axis corresponding to the at least one rotating bracket of the bracket assembly 10.

It should be noted that the perforating hole 11 is not limited to a circular hole, but can also be any shape such as rectangle, triangle, rectangle, etc., as long as a certain perforation space can be provided for the electrical connection line 30 to make the electrical connection line 30 At least one segment that can coincide with the axis of rotation of the bracket assembly 10 can effectively reduce line disturbance and improve the stability of pan-tilt signal or power transmission.

Preferably, as shown in FIG. 1, the through hole 11 may be a circular hole, and the through hole 11 may be clearance fit with the through section 31, and the central axis of the through hole 11 and at least one rotating bracket of the bracket assembly 10 The corresponding rotation axes basically coincide. The clearance fit between the piercing hole 11 and the piercing section 31 can be that there is a small gap between the piercing section 31 and the piercing hole 11, and the piercing section 31 is not easy to shake after being inserted in the piercing hole 11, and can be maintained during the piercing. Set the position where the axis of the segment 31 and the rotation axis corresponding to the at least one rotating bracket of the bracket assembly 10 substantially coincide. It can be understood that the central axis of the through hole 11 and the axis of the through section 31 are also substantially coincident.

The through hole 11 formed in the bracket assembly 10 may be formed by opening the bracket assembly 10 or, when the bracket assembly 10 is formed, it is integrally formed with the bracket assembly 10.

Or, the bracket assembly 10 further includes an adapter 101, and a through hole 11 is formed on the adapter 101. Specifically, the adapter 101 can be detachably connected to the body of the bracket assembly 10, for example, connected to the body of the bracket assembly 10 by a connecting member such as a screw or a buckle, and the adapter 101 is detachably connected to the bracket assembly 10. The position and installation angle of the adapter 101 can be easily adjusted, and the flexibility is better. Of course, in other embodiments, the adapter 101 can also be integrally formed with the bracket assembly 10, such as integral injection molding. Alternatively, the adapter 101 may also be non-detachably connected to the bracket assembly 10, for example, welding, riveting, bonding, and the like. This embodiment is not particularly limited.

As shown in Figure 1, the adapter 101 may be L-shaped, one end of the adapter 101 is connected to the bracket assembly 10 by a screw 102, and the other end of the adapter 101 is arched in a direction away from the bracket assembly 10, so as to make the rotation A certain distance is maintained between the connecting piece 101 and the bracket assembly 10 to facilitate the routing of the electrical connection wires 30.

It should be noted that the adapter 101 may be made of low-weight materials such as plastic parts and carbon fiber parts, so as to maximize the lightweight of the pan/tilt.

The electrical connection line 30 in this embodiment may be a signal transmission line or a power line for transmitting signals or transmitting power. For example, the electrical connection line 30 may be used for data exchange between the respective driving components 20 to more accurately compare PTZ control. Or, the electrical connection line 30 provides electrical energy for each driving component 20. In addition, the electrical connection line 30 may include a coaxial line and/or an electronic line, which is not limited in this embodiment.

Furthermore, the bracket assembly 10 may be provided with a receiving cavity (not shown in the figure) for receiving the electrical connection wire 30. The accommodating cavity can be in the shape of a wire slot, and the electrical connection line 30 is accommodated in the accommodating cavity, which can effectively prevent the electrical connection line 30 from being entangled, ensure the signal transmission or power transmission quality of the electrical connection line 30, and help improve the appearance of the pan/tilt head. degree. As shown in FIG. 1, the electrical connection wire 30 may further include a bending section 32, and the bending angle of the bending section 32 is 90 degrees. That is to say, the other parts of the electrical connection wire 30 are as perpendicular to the penetration section 31 as possible, so that the wire disturbance can be further reduced. Of course, in other embodiments, the bending angle of the bending section 32 can also be other angles, for example, 75 degrees, 120 degrees, etc., as long as the electrical connecting wire 30 can have a pre-bending position, it can also be Reduce line disturbance to a certain extent.

In the pan/tilt head provided by the embodiment of the present invention, an electrical connection line is adopted between the support assembly for mounting a load and the drive assembly that drives the support assembly to rotate. The support assembly has a through hole through which the power supply connection line passes, and the electrical connection line includes The axis of the piercing section inserted in the piercing hole is substantially coincident with the axis of rotation corresponding to the at least one rotating bracket of the stent assembly, so that the stent assembly can be located in the piercing hole when the stent assembly rotates. The electrical connection line does not rotate with the rotation of the bracket assembly, thus, it is possible to reduce to a certain extent the problem of wire disturbance of the electrical connection line due to the rotation of the rotating shaft during the operation of the pan-tilt, and improve the signal or power transmission of the pan-tilt Reliability.

In the above-mentioned embodiment, the driving assembly 20 may have a connector, and the electrical connection line 30 may be connected to the corresponding connector (not shown in the figure) of the driving assembly 20. The driving assembly 20 includes an outer casing 21 and a rotating shaft 22 located in the outer casing 21, and a connector is connected to the outer casing 21. The connector can be a board-to-board connector, and the electrical connection line 30 can extend along the extension direction of the rotating shaft 22 of the drive assembly 20 and be connected to the connector. The board-to-board connector has good reliability and a high degree of standardization. Even if it fails, it can be replaced quickly and flexibly.

Example two

This embodiment provides a photographing device, including a load 100;

The pan/tilt is used to install the load 100 and includes a bracket assembly 10, a driving assembly 20 and an electrical connection line 30. The load may include, but is not limited to, an image capture device, such as a video camera, a camera, and so on.

The bracket assembly 10 is used to install a load 100, and the bracket assembly 10 has at least one rotating bracket. The rotation axis corresponding to the rotation bracket of the bracket assembly 10 includes at least one of the following: a Pitch (pitch) axis, a Roll (roll) axis, and a Yaw (yaw) axis. A common pan/tilt head can be a three-axis pan/tilt head. The 3-axis pan/tilt head has the above three rotation axes. Correspondingly, the three-axis pan/tilt head has three rotation supports. In other embodiments, the pan/tilt may have only one rotation axis or two rotation axes, which is not limited in this embodiment.

The driving assembly 20 is connected to the bracket assembly through a rotating shaft, and is used to drive the bracket assembly 10 to rotate along at least one rotating bracket. Specifically, the driving assembly 20 may include a motor. Taking a three-axis pan/tilt head as an example, the driving assembly 20 may include a pitch axis driving motor, a roll axis driving motor, and a yaw axis driving motor. At least one of the axis, the roll axis, and the yaw axis rotates as the center of rotation.

It should be noted that the perforating hole 11 is not limited to a circular hole, but can also be any shape such as rectangle, triangle, rectangle, etc., as long as a certain perforation space can be provided for the electrical connection line 30 to make the electrical connection line 30 At least one segment that can coincide with the rotation axis of the bracket assembly 10 can effectively reduce the line disturbance, reduce the disturbance force generated when the pan/tilt rotates, and improve the reliability and stability of power transmission.

Example three

This embodiment provides an unmanned aerial vehicle, including: a fuselage, a power device, and a pan/tilt mounted on the fuselage. The fuselage of the unmanned aerial vehicle can be used to mount a gimbal, the power device is used to provide flight power for the unmanned aerial vehicle, and the gimbal is used to maintain the stability of the load 100 on the unmanned aerial vehicle during the flight of the unmanned aerial vehicle.

As shown in FIGS. 1 to 3, the pan/tilt is used to install the load 100, and includes a bracket assembly 10, a driving assembly 20 and an electrical connection line 30. The load may include, but is not limited to, an image capture device, such as a video camera, a camera, and so on.

In the several embodiments provided by the present invention, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical or mechanical. Or other forms.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A pan/tilt used to install loads, characterized in that it includes:

A bracket assembly for installing the load, and the bracket assembly includes at least one rotating bracket;

The driving component is connected to the bracket assembly through a rotating shaft, and is used to drive the rotating bracket to rotate;

The electrical connection line is used to connect the drive assembly and the support assembly; wherein the support assembly has a through hole for the electrical connection line to pass through, and the electrical connection line includes For the penetration section in the penetration hole, the axis of the penetration section is substantially coincident with the rotation axis corresponding to at least one of the rotating brackets of the bracket assembly.
The pan/tilt head according to claim 1, wherein the bracket assembly further includes an adapter, and the through hole is formed on the adapter.
The pan/tilt head according to claim 2, wherein the adapter and the bracket assembly are detachably connected or integrally formed.
The pan/tilt head according to claim 1, wherein the electrical connection line is a signal transmission line or a power line.
The pan/tilt head according to claim 1, wherein the electrical connection line comprises a coaxial line and/or an electronic line.
The pan/tilt head according to claim 1, wherein the perforating hole is a circular hole, the perforating hole is in clearance fit with the perforating section, and the central axis of the perforating hole is with the The rotation axes corresponding to at least one of the rotating brackets of the bracket assembly are substantially coincident.
The pan/tilt head according to claim 1, wherein the driving assembly includes at least one motor.
7. The pan/tilt head according to claim 7, wherein the driving component has a connector, and the electrical connection line is connected to the connector corresponding to the driving component.
The pan/tilt head according to claim 8, wherein the driving assembly comprises an outer casing and a rotating shaft located in the outer casing, and the connector is connected to the outer casing.
The pan/tilt head according to claim 1, wherein the bracket assembly is provided with a accommodating cavity for accommodating the electrical connection line.
The pan/tilt head according to claim 1, wherein the electrical connection line comprises a bending section, and the bending angle of the bending section of the bending section is 90 degrees.
The pan/tilt head according to any one of claims 1-11, wherein the rotation axis corresponding to the rotation bracket of the bracket assembly includes at least one of the following: a roll axis, a pitch axis, and a yaw axis.
The pan-tilt according to claim 1, wherein the load includes an image acquisition device.
A photographing device, characterized in that it includes a load;

PTZ, the PTZ is used to install the load;

Wherein, the PTZ includes:

A bracket assembly for installing the load, the bracket assembly having at least one rotating bracket;

The driving component is connected to the bracket assembly through a rotating shaft, and is used to drive the rotating bracket to rotate;

The electrical connection line is used to connect the drive assembly and the support assembly; wherein the support assembly has a through hole for the electrical connection line to pass through, and the electrical connection line includes For the penetration section in the penetration hole, the axis of the penetration section is substantially coincident with the rotation axis corresponding to the at least one rotation bracket of the bracket assembly.
15. The photographing device according to claim 14, wherein the bracket assembly further comprises an adapter, and the through hole is formed on the adapter.
15. The photographing device according to claim 15, wherein the adapter and the bracket assembly are detachably connected or integrally formed.
The photographing device according to claim 15, wherein the electrical connection line is a signal transmission line or a power line.
The photographing device according to claim 15, wherein the electrical connection line comprises a coaxial line and/or an electronic line.
The photographing device according to claim 15, wherein the perforating hole is a circular hole, the perforating hole is in clearance fit with the perforating section, and the central axis of the perforating hole is aligned with the The rotation axes corresponding to at least one of the rotating brackets of the bracket assembly are substantially coincident.
The photographing device according to claim 15, wherein the driving assembly includes at least one motor.
22. The photographing device according to claim 20, wherein the driving assembly has a connector, and the electrical connection line is connected to the connector corresponding to the driving assembly.
22. The photographing device according to claim 21, wherein the driving assembly comprises an outer casing and a rotating shaft located in the outer casing, and the connector is connected with the outer casing.
15. The photographing device according to claim 15, wherein the bracket assembly is provided with a receiving cavity for receiving the electrical connection line.
15. The photographing device according to claim 15, wherein the electrical connection line comprises a bending section, and a bending angle of the bending section of the bending section is 90 degrees.
The photographing device according to any one of claims 15-22, wherein the rotation axis corresponding to the rotation bracket of the bracket assembly includes at least one of the following: a roll axis, a pitch axis, and a yaw axis.
The photographing equipment according to claim 15, wherein the load includes an image capture device.
An unmanned aerial vehicle, characterized in that it includes a fuselage;

powerplant;

And a pan/tilt mounted on the fuselage, and a load is installed on the pan/tilt;

Wherein, the PTZ includes:

A bracket for installing the load, and the bracket assembly has at least one rotating bracket;

The driving component is connected to the bracket through a rotating shaft, and is used to drive the rotating bracket to rotate;

The electrical connection line is used to connect the drive assembly and the support assembly; wherein the support assembly has a through hole for the electrical connection line to pass through, and the electrical connection line includes For the penetration section in the penetration hole, the axis of the penetration section is substantially coincident with the rotation axis corresponding to the at least one rotation bracket of the bracket assembly.
The unmanned aerial vehicle according to claim 27, wherein the bracket assembly further comprises an adapter, and the through hole is formed on the adapter.
The unmanned aerial vehicle according to claim 28, wherein the adapter and the bracket assembly are detachably connected or integrally formed.
The unmanned aerial vehicle of claim 28, wherein the electrical connection line is a signal transmission line or a power line.
The unmanned aerial vehicle according to claim 28, wherein the electrical connection line comprises at least one of the following: a coaxial line and/or an electronic line.
The unmanned aerial vehicle according to claim 28, wherein the perforating hole is a circular hole, the perforating hole is in clearance fit with the perforating section, and the central axis of the perforating hole is The rotation axes corresponding to at least one of the rotating brackets of the bracket assembly are substantially coincident.
The unmanned aerial vehicle of claim 28, wherein the driving assembly includes at least one motor.
The unmanned aerial vehicle according to claim 33, wherein the drive assembly has a connector, and the electrical connection line is connected to the connector corresponding to the drive assembly.
The unmanned aerial vehicle according to claim 34, wherein the drive assembly comprises an outer shell and a rotating shaft located in the outer shell, and the connector is fixedly connected to the outer shell.
The unmanned aerial vehicle according to claim 28, wherein the bracket assembly is provided with a receiving cavity for receiving the electrical connection line.
The unmanned aerial vehicle according to claim 28, wherein the electrical connection line comprises a bending section, and the bending angle of each bending section of the bending section is 90 degrees.
The unmanned aerial vehicle according to any one of claims 28-37, wherein the rotation axis corresponding to the rotation bracket of the bracket assembly includes at least one of the following: a roll axis, a pitch axis, and a yaw axis.
The unmanned aerial vehicle of claim 28, wherein the payload includes an image capture device.