WO2022198653A1 - Cardan portatif et ensemble cardan - Google Patents

Cardan portatif et ensemble cardan Download PDF

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Publication number
WO2022198653A1
WO2022198653A1 PCT/CN2021/083353 CN2021083353W WO2022198653A1 WO 2022198653 A1 WO2022198653 A1 WO 2022198653A1 CN 2021083353 W CN2021083353 W CN 2021083353W WO 2022198653 A1 WO2022198653 A1 WO 2022198653A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
pan
tilt assembly
assembly according
shaft
Prior art date
Application number
PCT/CN2021/083353
Other languages
English (en)
Chinese (zh)
Inventor
董欣
徐振华
贝世猛
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/CN2021/083353 priority Critical patent/WO2022198653A1/fr
Priority to CN202180096131.2A priority patent/CN117063003A/zh
Publication of WO2022198653A1 publication Critical patent/WO2022198653A1/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

Definitions

  • the present application relates to a photographing device, in particular to a handheld gimbal and a gimbal assembly.
  • fixing the camera on the gimbal component helps the cameraman to operate conveniently and improve the shooting effect of the camera.
  • camera shooting usually includes horizontal shooting and vertical shooting.
  • the camera is usually installed on the gimbal assembly in a fixed manner, and the fixing method is relatively simple.
  • complex operations are often required to complete the conversion.
  • the purpose of the present application is to provide a handheld gimbal and a gimbal assembly that can easily realize the conversion between horizontal shooting and vertical shooting of a camera through simple operations.
  • a pan/tilt assembly comprising a first driving member and a first bracket for installing an imaging device
  • the first driving member can drive the first bracket to rotate, so as to stabilize the imaging device in a first direction
  • the first bracket includes a first axle arm, a second axle arm and an adjusting structure, the first axle arm is drivingly connected to the first driving member, and is connected to the second axle arm through the adjusting structure,
  • the adjustment structure can adjust the angle between the second shaft arm and the first shaft arm, so that the imaging device captures images at different orientation angles.
  • a hand-held pan/tilt head includes a hand-held part and the above-mentioned pan-tilt assembly, the hand-held part is used to support the pan-tilt assembly.
  • the above-mentioned pan/tilt assembly of the handheld pan/tilt can be adjusted to change the angle between the first axis arm and the second axis arm through the adjustment structure, and the orientation angle of the imaging device can be set more conveniently.
  • the gimbal component can convert the camera from horizontal to vertical with a simple operation. In the process of use, users can avoid more complicated operations, which will affect the shooting efficiency of the gimbal components.
  • FIG. 1 is a three-dimensional schematic diagram of a handheld gimbal according to the present embodiment
  • FIG. 2 is a schematic perspective view of the pan/tilt assembly of the present embodiment
  • FIG. 3 is a perspective view of another state of the pan/tilt assembly shown in FIG. 2;
  • Fig. 4 is an exploded view of the pan/tilt assembly shown in Fig. 2;
  • Fig. 5 is the perspective view of the first pressing block shown in Fig. 4;
  • FIG. 6 is a cross-sectional view of the pan/tilt assembly shown in FIG. 2;
  • FIG. 7 is an exploded view of a pan/tilt assembly of another embodiment
  • Fig. 8 is an exploded view of the pan/tilt assembly shown in Fig. 7;
  • Fig. 9 is a partial enlarged view of part A in Fig. 8;
  • Figure 10 is a side view of the head assembly shown in Figure 8.
  • FIG. 11 is a perspective view of the pan/tilt assembly described in FIG. 8 in another state
  • Fig. 12 is the bottom view after the assembly of the pan/tilt assembly shown in Fig. 8;
  • FIG. 13 is a perspective view of a pan/tilt assembly according to another embodiment.
  • Pan/tilt assembly 101, first driving member; 102, first bracket; 103, second driving member; 104, second bracket; 105, third driving member; 106, third bracket ;
  • Imaging device 31. Body; 32. Lens.
  • directional indications (such as up, down, left, right, front and rear) are used to explain the structure and movement of the various elements of the invention, not absolute but relative. These descriptions are appropriate when the elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indications of these directions change accordingly.
  • the present application provides a handheld gimbal.
  • the handheld gimbal includes a gimbal assembly 1 and a handheld portion 2 .
  • the hand-held part 2 is used to support the pan-tilt assembly 1 .
  • the hand-held part 2 is used for the operator to hold the hand-held part.
  • the hand-held part 2 is arranged on the bottom of the gimbal assembly 1 , and the gimbal assembly 1 is held up by the hand-held part 2 .
  • the hand-held part 2 may be a part of a part of the pan/tilt assembly, or may be other components that are independent of the price of the pan/tilt.
  • the hand-held portion 2 may be a control handle.
  • a variety of control buttons are provided on the control handle, which is convenient for the operator to operate during the holding process.
  • the hand-held part 2 can also be provided with a non-slip part to prevent the hand-held pan/tilt from slipping out of the user's hand.
  • the anti-slip part can be a friction part provided on the hand-held part 2 or a groove part or a convex part which is convenient for fingers to hold.
  • a protective device such as a finger ring or a wrist strap that can be set on the user's finger or wrist can also be provided on the hand-held part 2 to further protect the hand-held gimbal from slipping from the user's hand.
  • the gimbal assembly can also be supported by a support other than the hand-held part, so as to be suitable for different scenarios, such as vehicle-mounted scenarios, such as sliding on the ground for film and television shooting, such as for aerial shooting , the specific shape, size, and structure of the support member can be designed according to actual needs, which are not specifically limited here.
  • the pan/tilt assembly 1 is used to carry the imaging device 3 and maintain the balance of the imaging device 3 .
  • the imaging device 3 can be moved, and the imaging device 3 can be stabilized or the orientation angle can be adjusted.
  • the pan-tilt assembly 1 can reduce and eliminate the shaking generated by the imaging device 3 , and stabilize the imaging device 3 to ensure the shooting effect.
  • the orientation angle of the imaging device 3 can be changed to form pictures with different orientation angles.
  • the imaging device 3 may be a camera, a mobile phone, a video camera, or other intelligent terminal with a shooting function, and the specific type of the imaging device 3 is not limited here.
  • the imaging device 3 can be fixedly installed on the pan/tilt assembly 1 by clamping and/or magnetic attraction. Specifically, in this embodiment, the imaging device 3 is clamped and installed on the pan/tilt assembly 1 by a quick release plate.
  • the pan/tilt assembly 1 includes a first driving member 101 and a first bracket 102 for installing the imaging device 3 , further includes a second driving member 103 and a second bracket 104 , or may further include a third driving member 105 and a third bracket 106.
  • the first driving member 101 , the second driving member and the third driving member 105 may be rotary motors or stepping motors, and corresponding types of motors are selected according to different adjustment dimensions.
  • the pan/tilt assembly 1 may further include an attitude sensor, and the attitude sensor is used to collect the attitude of the imaging device 3 .
  • the attitude sensor can monitor the change of the spatial position of the imaging device 3 , so that the corresponding driving element can control the corresponding bracket to rotate according to the attitude of the imaging device 3 collected by the attitude sensor, so as to realize the stabilization of the imaging device 3 .
  • the attitude sensor may include motion sensors such as gyroscope, accelerometer, electronic compass, etc.
  • the attitude sensor may be set on the first bracket 102 or the imaging device 3, and the specific position may be set as required, which is not specifically limited here.
  • the first bracket 102 and the first driving member 101 can be applied to a single-axis gimbal and a multi-axis gimbal, and the multi-axis gimbal includes a two-axis gimbal and a three-axis gimbal.
  • the pan/tilt assembly may be an orthogonal pan/tilt or a non-orthogonal pan/tilt.
  • the pan/tilt assembly is a non-orthogonal pan/tilt
  • the handheld pan/tilt is a three-axis pan/tilt.
  • the gimbal is configured to rotate about the pitch, roll, or yaw axis. Its pitch, roll, or yaw axes are defined with reference to the geodetic coordinate system.
  • the direction of the rotation axis of the first driving member 101 of the gimbal assembly is the pitch axis
  • the direction of the rotation axis of the second driving member 103 is the horizontal direction.
  • the rotation axis of the third driving member 105 is the yaw axis.
  • the pitch axis may also be called the P (pitch) axis
  • the roll axis may also be called the R (roll) axis
  • the yaw axis may also be called the Y (yaw) axis.
  • the first driving member 101 is a rotating electrical machine.
  • the rotor of the first driving member 101 is connected with the first shaft arm.
  • the rotor of the first driving member 101 rotates, thereby realizing the driving of the first bracket 102 around the rotation axis P of the first driving member 101 turn.
  • the first driving member 101 can adjust the pitch angle of the imaging device 3 .
  • one end of the second bracket 104 is connected to the first driving member 101
  • the other end of the second bracket 104 is connected to the second driving member 103 .
  • the second driving member 103 can drive the second bracket 104 to rotate.
  • the rotor of the second driving member 103 is connected to the second bracket 104 , and drives the second bracket 104 to rotate around the rotation axis R of the second driving member 103 when the second driving member 103 works.
  • the second driving member 103 can adjust the roll angle of the imaging device.
  • the imaging device is stabilized in the second direction, ie the imaging device is stabilized in the direction of the roll axis.
  • the third driving member 105 can drive the third bracket 106 to rotate. Specifically, the third driving member 105 drives the third bracket 106 to rotate around the rotation axis Y of the third driving member 105 . Adjust the heading angle of the imaging unit.
  • the third driving member 105 stabilizes the imaging device in the third direction, that is, the imaging device is stabilized in the direction of the yaw axis.
  • the first bracket 102 , the second bracket 104 and the third bracket 106 are connected, so that the stabilization adjustment in three dimensions can be realized.
  • the arrangement of the first driving member 101 and the first bracket 102 , the second driving member 103 and the second bracket 104 , the third driving member 105 and the third bracket 106 can enable the imaging device mounted on the handheld gimbal to change more postures. For example, changing the shooting height, inclination and/or direction of the imaging device improves the user's experience.
  • the first driving member 101 can drive the first bracket 102 to rotate, so as to stabilize the imaging device 3 in the first direction.
  • the first direction may be a pitch axis (P axis) direction.
  • the first bracket includes a first axle arm 11 , a second axle arm 12 and an adjustment structure 13 .
  • the first axle arm 11 is used for drivingly connected to the first driving member 101 , and is connected to the second axle arm 12 through the adjusting structure 13 .
  • the adjustment structure 13 can adjust the included angle between the second shaft arm 12 and the first shaft arm 11 , so that the imaging device 3 captures images at different orientation angles.
  • the orientation angle is the included angle between the lateral direction of the imaging device 3 and the horizontal direction or the vertical direction.
  • the imaging device 3 may include an orientation angle for horizontal shooting (in this case, the imaging device 3 is basically placed horizontally, as shown in FIG. 2 ), and an orientation angle for vertical shooting (in this case , the imaging device is basically placed vertically, as shown in Figure 3) or an orientation angle at any angle.
  • the length direction of the first shaft arm 11 may be a vertical direction.
  • the imaging device 3 is placed on the second shaft arm 12 .
  • the orientation angle of the imaging device 3 can be adjusted.
  • the imaging device 3 when the second axis arm 12 is substantially perpendicular to the first axis arm 11 , please refer to FIG. 2 , when the imaging device 3 is placed laterally on the second axis arm 12 , the image is captured in a lateral orientation. Horizontal shooting can show the subject is wider.
  • the imaging device 3 rotates along with it.
  • the second axis arm 12 is rotated to be parallel to the first axis arm 11, please refer to FIG. 3, when the imaging device 3 is placed laterally on the second axis arm 12, the image is captured in a vertical orientation, that is, a vertical orientation shoot. Vertical shooting can show that the subject is taller.
  • angles may also be set between the first axis arm 11 and the second axis arm 12 , so that the imaging device 3 may shoot at more orientation angles.
  • the user In the process of using the traditional pan/tilt assembly, the user usually needs to remove the imaging device 3 from the pan/tilt assembly, adjust the installation direction of the imaging device 3 , and re-fix the imaging device 3 .
  • complicated operations such as leveling are often involved, which affects the shooting efficiency of the pan/tilt assembly.
  • the imaging device 3 is installed on a more complicated folding bracket, and multiple sets of locking mechanisms are provided to realize the conversion of the imaging device 3 from horizontal to vertical shooting.
  • the structure of the entire pan/tilt assembly is relatively Complex, bulky and heavy.
  • the pan/tilt assembly of this embodiment can adjust the angle between the first shaft arm 11 and the second shaft arm 12 through the adjustment structure 13 , so as to adjust the orientation angle of the imaging device 3 , which is convenient and quick to operate.
  • the leveling steps can be correspondingly reduced, which is beneficial to improve the shooting efficiency.
  • the adjustment structure 13 can make the connection relationship between the first axle arm 11 and the second axle arm 12 adjustable.
  • the adjustment structure 13 may be a block structure.
  • the adjusting structure 13 can be a metal casting, a plastic part with high hardness, or the like.
  • the adjusting structure 13 is movably arranged on the first axle arm 11, and the second axle arm 12 can move along the length direction of the first axle arm 11 through the adjusting structure 13, so as to adjust the center of gravity of the pan/tilt assembly so that the center of gravity of the pan/tilt assembly can be adjusted. To balance, to equalize.
  • the first shaft arm 11 is in the shape of a long bar.
  • the first axle arm 11 may be made of metal material to enhance the strength of the first axle arm 11 .
  • One end of the first shaft arm 11 is used for connecting with the first driving member 101 , and the first driving member 101 drives the second shaft arm 12 , the adjusting structure 13 and the imaging device 3 to rotate by driving the first shaft arm 11 .
  • One end of the first shaft arm 11 for connecting with the first driving member 101 is provided with a circular end portion 111 .
  • the other end of the first axle arm 11 is a square end 112 .
  • the second shaft arm 12 is used to mount the imaging device 3 .
  • the second axle arm 12 may be made of metal material to enhance the strength of the second axle arm 12 .
  • the pan/tilt assembly also includes a mounting plate 14 for mounting the imaging device 3 .
  • the mounting plate 14 is movably disposed on the second axle arm 12 .
  • the mounting plate 14 can move in a direction perpendicular to the lengthwise direction of the second shaft arm 12 to adjust the center of gravity of the pan-tilt assembly along the lengthwise extending direction of the mounting plate 14 .
  • the longitudinal extension direction of the first shaft arm 11 is now defined as the Z-axis direction.
  • the extending direction of the second shaft arm 12 is the X-axis direction
  • the lengthwise extending direction of the mounting plate 14 is the Y-axis direction.
  • the mounting plate 14 is used to fix and install the camera.
  • the camera is connected to the adjustment structure 13 through the camera mounting plate 14 .
  • a camera includes a body 31 and a lens 32 that are connected to each other.
  • the body 31 is mounted and fixed on the mounting plate 14 .
  • the body 31 is fixed on one end of the mounting plate 14 ; the lens 32 is correspondingly located at the other end of the mounting plate 14 .
  • the mounting plate 14 can be a quick release plate, so that the camera can be quickly fixed on the second axle arm 12 .
  • the second axle arm 12 is provided with a fifth slot 121, the shape of the mounting plate 14 is adapted to the shape of the fifth slot 121, and is engaged in the fifth slot 121.
  • the fifth locking groove 121 can be a dovetail groove, which can improve the stability of the connection between the second axle arm 12 and the mounting plate 14 .
  • the mounting plate 14 can move in the fifth slot 121 to adjust the position before the mounting plate 14 and the second axle arm 12 , so as to achieve the purpose of adjusting the center of gravity of the pan/tilt assembly along the length extension direction of the mounting plate 14 .
  • the fifth clamping slot 121 extends along the Y-axis direction to achieve the leveling of the center of gravity of the gimbal assembly in the Y-axis direction.
  • a non-slip surface 141 is provided at the contact between the mounting plate 14 and the imaging device 3 .
  • the non-slip surface 141 may be a textured structure formed on the surface of the mounting plate 14 , or may be an anti-slip layer disposed on the surface of the mounting plate 14 to ensure a stable connection between the mounting plate 14 and the imaging device 3 .
  • An adjustment track 142 is defined on the mounting plate 14 , and a fastener 143 for connecting with the imaging device 3 is inserted into the adjustment track 142 .
  • the fasteners 143 are slidably arranged in the adjusting rails 142 .
  • the adjustment track 142 may be an elongated through slot.
  • Fasteners 143 may be fastening bolts. By tightening or loosening the fastening bolts, the fastening bolts can move in the long slot, and the camera can be adjusted in place and fastened.
  • the adjustment structure 13 is detachably provided at one end of the first axle arm 11 .
  • the detachable connection between the adjusting structure 13 and the first axle arm 11 can be in various ways, for example, the adjusting structure 13 and the first axle arm 11 are snap-connected, bolted, and the like.
  • one end of the first shaft arm 11 and the adjusting structure 13 are in a snap-fit connection.
  • the connection method of the snap connection has the advantages of simple structure and convenient operation.
  • the adjusting structure 13 may include a connecting member 130 and a first locking member 131 .
  • the connecting member 130 is the main body of the adjusting structure 13 , and is roughly in the shape of a rectangular parallelepiped.
  • the connector 130 defines a first slot 1301 .
  • the first axle arm 11 is engaged in the first engaging slot 1301 .
  • the first axle arm 11 is slidably disposed in the first locking slot 1301 .
  • the shape of the square end 112 of the first axle arm 11 is adapted to the first engaging slot 1301 .
  • the first clamping groove 1301 may be a dovetail groove, and the first shaft arm 11 is provided with a dovetail-shaped clamping boss 113 .
  • the diameter of the first card slot 1301 gradually decreases from the bottom to the opening.
  • the cross-sectional shape of the holding boss 113 is a trapezoid, and the two opposite outer side walls 114 of the first shaft arm 11 are inclined surfaces. Then, the first shaft arm 11 can only penetrate from above the first card slot 1301 to prevent the first shaft arm 11 from slipping out from one side of the first card slot 1301 .
  • the square end 112 of the first shaft arm 11 penetrates downward from the top of the first engaging slot 1301 into the first engaging slot 1301 to form a snap connection with the first engaging slot 1301 .
  • the circular end portion 111 of the first axle arm 11 is larger than the shape of the first engaging slot 1301, so the circular end portion 111 of the first axle arm 11 will not pass through the first engaging slot 1301, so that the first axle arm 11 Separated from the first card slot 1301 .
  • the first locking member 131 confines the first axle arm 11 in the first locking groove 1301 on one side of the first locking groove 1301 .
  • the first locking member 131 includes a first rotating column 1311 and a first rotating head 1312 .
  • the first rotating head 1312 is used to drive the first rotating column 1311 to rotate.
  • the first rotating head 1312 is convenient for the operator to rotate and hold, so as to drive the first rotating column 1311 to rotate.
  • the free end of the first rotating column 1311 can pass through the first clamping slot 1301 and abut against the outer side wall of the first axle arm 11 to stably confine the first axle arm 11 in the first clamping slot 1301 .
  • the adjusting structure 13 further includes a first pressing block 132 .
  • the first pressing block 132 is connected to the free end of the first locking member 131.
  • One side wall of the first card slot 1301 is provided with a first via hole.
  • the first pressing block 132 faces the first shaft arm 11 on one side of the first shaft arm 11 through the first through hole for pressing and limiting the position.
  • the first pressing block 132 can approach or move away from the first shaft arm 11 , so that the first shaft arm 11 and the first shaft arm 11 are connected to the first shaft arm 11 through the first locking member 131 and the first pressing block 132 .
  • the first pressing block 132 includes a first connecting arm 1321 and a first limiting arm 1322 .
  • the first pressing block 132 is substantially L-shaped, and the first connecting arm 1321 and the first limiting arm 1322 are perpendicular to each other.
  • the first connecting arm 1321 is screwed on the first rotating column 1311 of the first locking member 131 .
  • the first limiting arm 1322 passes through the first via hole.
  • the first connecting arm 1321 can move along the axial direction of the first rotating column 1311 , so that the free end face of the first limiting arm 1322 is close to or away from the first axle arm 11 .
  • the free end face of the first limiting arm 1322 can be pressed against the side surface of the first axle arm 11 .
  • the free end face of the first limiting arm 1322 can cooperate with and abut against the side surface of the first axle arm 11 .
  • the side surface of the first axle arm 11 is an inclined surface
  • the free end face of the first limiting arm 1322 is also an inclined surface.
  • the side surface of the first shaft arm 11 can also be an outer side surface of other shapes, such as an arc surface, etc.
  • the free end surface of the first limit arm 1322 is an arc surface adapted to it, so as to form a clamping resistance .
  • the first shaft arm 11 is slidable in the first locking slot 1301, and can adjust the position of the center of gravity of the head assembly in the Z-axis direction. After the center of gravity of the pan-tilt assembly is leveled, the position of the first axle arm 11 is fixed by the first locking member 131 and the first pressing block 132 to ensure that the center of gravity of the pan-tilt assembly is leveled.
  • the first axle arm 11 is in the shape of an elongated bar, so as to meet the requirements for leveling the center of gravity in a wide range.
  • leveling refers to adjusting the center of gravity of the gimbal assembly and the corresponding part of the load in the corresponding direction, so that the center of gravity of the corresponding part can fall on the preset rotation axis, so as to avoid the need for the corresponding drive output for Overcome the moment of gravity and reduce the heating of the driving part.
  • the preset rotation axis can include pitch axis, roll axis and yaw axis.
  • the position between the first axle arm 11 and the adjusting structure 13 may also be fixed, and the relative position between the two is not adjustable.
  • the first axle arm 11 can be directly connected to the adjusting structure 13 by screwing or welding.
  • other structures can also be used for leveling.
  • the imaging device 3 is raised or lowered by adjusting the position of the first shaft arm 11 relative to the first driving member 101 in the Z-axis direction.
  • the adjusting structure 13 includes a rotating shaft 133 and a second locking member 134 .
  • the rotating end 122 of the second shaft arm 12 is rotatably connected to the connecting member 130 through the rotating shaft 133 .
  • the second locking member 134 is used to lock the second shaft arm 12 and the connecting member 130 to limit the rotation of the second shaft arm 12 .
  • the rotating shaft 133 and the second locking member 134 are located on two sides of the rotating end 122 respectively.
  • the rotating end 122 of the second axle arm 12 includes a front side surface 1221 and a rear side surface 1222 .
  • the side of the rotating end 122 of the second axle arm 12 close to the rotating shaft 133 is the front side
  • the side of the rotating end 122 of the second axle arm 12 close to the second locking member 134 is the rear side 1222 .
  • the front side 1221 of the second axle arm 12 is rotatably connected to the adjusting structure 13 via the rotating shaft 133
  • the rear side 1222 of the second axle arm 12 is locked and connected to the connecting piece 130 via the second locking member 134 .
  • the second shaft arm 12 may also be rotatably connected to the connecting member 130 directly through the rotating shaft 133 .
  • the rotation shaft 133 and the second shaft arm 12 can be fitted by interference fit or screw fit, so that the position of the second shaft arm 12 can be locked after the second shaft arm 12 is rotated in place.
  • the front side surface 1221 of the second shaft arm 12 is provided with a shaft hole, and the rotating shaft 133 is rotatably connected to the shaft hole.
  • the rear side 1222 of the second axle arm 12 is also provided with a connecting hole 123 which can pass through the second locking member 134 .
  • the second locking member 134 is locked with the rotating end 122 through the connecting hole 123 .
  • the connecting member 130 defines a second slot 1302 .
  • the position of the second card slot 1302 is opposite to that of the first card slot 1301 , and is located on two side surfaces of the connecting member 130 respectively.
  • the second slot 1302 is used for receiving the rotating end 122 of the second axle arm 12 .
  • the rotating end 122 of the second axle arm 12 is rotatably received in the second slot 1302 .
  • the second card slot 1302 can also be omitted, and the connecting member 130 can be provided with two connecting protruding arms, and the two sides of the second shaft arm 12 are respectively connected by the two connecting protruding arms.
  • the free end of the rotating shaft 133 is inserted into the second slot 1302 and is rotatably connected to one side of the rotating end 122 , and the free end of the second locking member 134 is inserted through the second slot 1302 , and is accommodated in the connecting hole 123 of the rotating end 122 .
  • the second locking member 134 includes a second rotating column 1341 and a second rotating head 1342 disposed at one end of the second rotating column 1341 .
  • the second rotating column 1341 is rotatably disposed on the connecting member 130, and the second rotating column 1341 is positioned at an upper limit in the axial direction thereof.
  • the second rotating head 1342 is located at the outer side of the connecting member 130, which is convenient to drive the second rotating column 1341 to rotate, and is convenient to operate.
  • the second rotating column 1341 is rotated, the relative position between the second rotating column 1341 and the connecting member 130 remains unchanged.
  • the free end of the second rotating column 1341 passes through the connecting member 130 and is connected to the rotating end 122 located in the second locking slot 1302 .
  • the free end of the second rotating column 1341 is provided with a screw thread, and the connection hole 123 is provided at a corresponding position of the connecting member 130 .
  • the connecting hole 123 is provided with an internal thread, the free end of the second rotating column 1341 is provided with an external thread, and the second locking member 134 and the second shaft arm 12 are connected with the internal thread in the connecting hole 123 .
  • Rotating the second rotating cylinder 1341 by the second rotating head 1342 can make the second shaft arm 12 approach or move away from the inner wall of the second locking slot 1302 along the axial direction of the second rotating cylinder 1341 , so that the second rotating cylinder 1302 can be locked.
  • the rotation angle of the shaft arm 12 relative to the connecting member 130 is the angle between the locking second shaft arm 12 and the first shaft arm 11 .
  • a limiting portion 15 is provided between the side surface of the second shaft arm 12 and the inner side wall of the second locking slot 1302 .
  • the limiting portion 15 is used to limit the rotation between the second axle arm 12 and the connecting member 130 .
  • the plurality of limiting portions 15 are annular and evenly distributed.
  • the limiting portion 15 includes a plurality of protrusions 151 and accommodating grooves 152 that cooperate and hold with each other.
  • the protrusions 151 can be accommodated in different accommodating grooves 152 , so that the second shaft arm 12 can rotate around the rotating shaft 133 at different angles.
  • the plurality of protrusions 151 and the receiving grooves 152 are annular and evenly distributed.
  • the shape of the protrusion 151 may be a convex point, a convex platform, or a convex rib.
  • a plurality of protrusions 151 are provided on one side of the second shaft arm 12 away from the rotating shaft 133 , and a plurality of receiving grooves 152 are formed on the inner side wall of the second locking slot 1302 , and the second rotating column 1341 can The protrusion 151 is driven close to or away from the receiving groove 152 to adjust the rotation of the protrusion 151 relative to the receiving groove 152 .
  • the protrusions 151 can also be provided on the inner sidewall of the second card slot 1302 , and a plurality of receiving grooves 152 are formed on the side surface of the second shaft arm 12 , as long as the protrusions 151 and the receiving grooves 152 can be engaged with each other to limit the position. .
  • the numbers of the protrusions 151 and the receiving grooves 152 may be the same or different.
  • one protrusion 151 may correspond to a plurality of receiving grooves 152
  • a plurality of protrusions 151 may correspond to one receiving groove 152 .
  • the numbers of the protrusions 151 and the receiving grooves 152 are the same.
  • the cooperation between the plurality of protrusions 151 and the plurality of receiving grooves 152 enables the second axle arm 12 to have a plurality of included angles with different angles relative to the connecting member 130 .
  • the multiple different angles may respectively correspond to multiple different preset angles.
  • the second locking member 134 is rotated to separate the protrusion 151 from the receiving groove 152 , so that the second shaft arm 12 rotates relative to the connecting member 130 , and the protrusion 151 rotates relative to the receiving groove 152 .
  • the second shaft arm 12 rotates to a preset angle relative to the connecting member 130
  • the second locking member 134 is rotated in the opposite direction, so that the protrusion 151 and the accommodating groove 152 cooperate and hold.
  • the second axis arm 12 and the first axis arm 11 are at the preset angle, and the imaging device can take the preset angle as the orientation direction, so that the imaging device can be oriented at a plurality of different orientation angles, Moreover, the adjustment operation is more convenient.
  • the preset angle between the second axle arm 12 and the first axle arm 11 may be 90 degrees, 180 degrees, 270 degrees or 360 degrees.
  • the imaging device 3 shoots horizontally; when the preset angle between the second axis arm 12 and the first axis arm 11 is 90 degrees If it is 180 degrees, the imaging device 3 shoots vertically.
  • the number of the protrusions 151 and the second card slots 152 may also be 8, and the preset angle between the second shaft arm 12 and the first shaft arm 11 may be 45 degrees, 90 degrees, 135 degrees, 180 degrees, etc.
  • the number of the protrusions 151 and the second card grooves 152 is not limited here, and the number and distribution positions of the protrusions 151 and the second card grooves 152 are correspondingly designed according to the distribution of the preset angle.
  • the limiting portion 15 may also be omitted.
  • the space between the second axle arm 12 and the connecting member 130 is limited by maintaining clamping between the outer side surface of the second axle arm 12 and the inner side surface of the second locking slot 1302 .
  • the angle adjustment of the included angle between the first axle arm 11 and the second axle arm 12 may be continuous adjustment.
  • the second slot 1302 of the connector 130 may be omitted.
  • the second axle arm 12 is detachably connected to the connecting member 130 .
  • the first axle arm 11 is provided on one side of the adjusting structure 13
  • the second axle arm 12 is detachably provided on the other side of the adjusting structure 13 .
  • the second axle arm 12 is provided with a plurality of connecting portions 124 , and different connecting portions 124 can be detachably connected to the adjusting structure 13 to change the included angle between the second axle arm 12 and the first axle arm 11 .
  • the adjusting structure 13 and the connecting portion 124 can be detachably connected through bolts, snaps, and the like.
  • connection portion 124 and the adjusting structure 13 may be connected by a snap connection.
  • An engaging structure is provided between the connecting portion 124 and the adjusting structure 13 .
  • the engaging structure includes a third card slot 1303 and a card table, and the card table is engaged in the third card groove 1303 .
  • the connecting member 130 of the adjusting structure 13 is provided with a third slot 1303 .
  • the connection portion 124 is provided with a card holder.
  • the third card slot 1303 is disposed opposite to the first card slot 1301 , and is located on two opposite sides of the connecting member 130 respectively.
  • the third slot 1303 is a dovetail slot.
  • the shape of the card table is adapted to the third card slot 1303 .
  • the clamping table 124 cooperates with the third clamping slot 1303 for clamping, so as to enhance the stability of the connection between the second axle arm 12 and the connecting member 130 .
  • connection parts 124 there are two connection parts 124 .
  • the two connecting portions 124 are respectively disposed on both ends of the second axle arm 12 .
  • One end of the second shaft arm 12 is provided with a first clamping table 1241 .
  • the other end of the second shaft arm 12 is provided with a second clamping table 1242 .
  • the upper surface of the second shaft arm 12 is used for installing the imaging device 3 , and the fifth clamping slot 121 is opened on the upper surface of the second shaft arm 12 .
  • the second clamping table 1242 is disposed on the lower surface of the second shaft arm 12 to avoid interference with the fifth clamping slot 121 .
  • the first clamping table 1241 protrudes toward the outside of the second axle arm 12 along the length direction of the second axle arm 12 .
  • the first clamping surface 1243 of the first clamping table 1241 is used for clamping with the third clamping slot 1303 .
  • the first clamping surface 1243 may be a plurality of side surfaces of the first clamping table 1241 .
  • the first clamping surface 1243 is in a partially annular shape.
  • the third clamping groove 1303 is a dovetail groove, and the shape of the first clamping surface 1243 is a dovetail shape, and two opposite sides of the first clamping surface 1243 are inclined surfaces.
  • the first clamping surface 1243 extends along the axial direction of the first clamping table 1241 .
  • the first clamping surface 1243 is perpendicular to the upper and lower surfaces of the second shaft arm 12 . Therefore, when the first clamping table 1241 is clamped in the third clamping slot 1303 , the second shaft arm 12 is perpendicular to the first shaft arm 11 .
  • the imaging device 3 is placed on the second shaft arm 12 in the lateral direction, the second shaft arm 12 is perpendicular to the first shaft arm 11, and the imaging device 3 is placed in the horizontal direction. orientation to capture the image.
  • the second clamping table 1242 protrudes from the lower surface of the second shaft arm 12 toward the upper surface.
  • the second clamping surface 1244 of the second clamping table 1242 is used for clamping with the third clamping slot 1303 .
  • the second clamping surface 1244 is also a plurality of side surfaces of the second clamping table 1242 .
  • the second holding surface 1244 is in a partially annular shape.
  • the third clamping groove 1303 is a dovetail groove
  • the shape of the second clamping surface 1244 is a dovetail shape
  • two opposite sides of the second clamping surface 1244 are inclined surfaces.
  • the second clamping surface 1244 extends along the axial direction of the second clamping table 1242 .
  • the extending direction of the second clamping surface 1244 is the angle between the second axle arm 12 and the first axle arm 11 .
  • the extending direction of the first holding surface 1243 and the extending direction of the second holding surface 1244 are arranged at an included angle. Then, when the second clamping table 1242 is engaged with the third clamping slot 1303 , the second axle arm 12 and the first axle arm 11 are arranged at an included angle.
  • the extending direction of the first holding surface 1243 is perpendicular to the extending direction of the second holding surface 1244 .
  • the second shaft arm 12 is parallel to the first shaft arm 11 , and the imaging device 3 captures images in a vertical orientation.
  • the adjustment structure 13 includes a third locking member 135 .
  • the third locking member 135 is used for locking the second shaft arm 12 in the third locking slot 1303 .
  • the third locking member 135 is disposed on one side of the third locking slot 1303 .
  • the third locking member 135 can restrain the second axle arm 12 in the third locking groove 1303 at one side of the third locking groove 1303 .
  • the third locking member 135 includes a third rotating column 1351 and a third rotating head 1352 .
  • the third rotating head 1352 can drive the third rotating column 1351 to rotate, which is convenient for operation.
  • the adjusting structure 13 also includes a third pressing block 136 .
  • the third pressing block 136 can pass through the third through hole to press and limit the first clamping stage 1241 or the second clamping stage 1242 .
  • the third pressing block 136 includes a third connecting arm 1361 and a third limiting arm 1362 .
  • the third connecting arm 1361 is screwed to the third rotating column 1351 .
  • a side wall of the third card slot 1303 defines a third via hole.
  • the third limiting arm 1362 passes through the third through hole, and the free end face of the third limiting arm 1362 is pressed against the side surface of the second axle arm 12 .
  • the third connecting arm 1361 moves along the axial direction of the third rotating column 1351 , so that the free end face of the third limiting arm 1362 is close to or away from the second axle arm 12 .
  • the free end surface of the third limiting arm 1362 can cooperate and abut against the side surface of the second axle arm 12 .
  • the free end face of the third limiting arm 1362 is pressed and limited with the inclined surface of the first clamping table 1241 or the second clamping table 1242 .
  • the free end surface of the third limiting arm 1362 may be an inclined surface, so as to be able to maintain clamping with the first clamping table 1241 or the second clamping table 1242 .
  • the side surface of the first shaft arm 11 can also be an outer side surface of other shapes, such as an arc surface, etc., and the free end surface of the first limit arm 1322 is an arc surface adapted to it, so as to form a clamping resistance .
  • the adjusting structure 13 is provided with a fourth slot 137 , and the mounting plate 14 can be engaged in the fourth slot 137 .
  • the fourth card slot 137 in the third embodiment is substantially the same as the third card slot 1303 in the second embodiment, and the main difference is that the fourth card slot 137 can be directly connected to the mounting plate 14 by engaging.
  • the fourth card slot 137 is a dovetail slot.
  • the shape of the mounting plate 14 is adapted to the fourth slot 137 .
  • the third locking member 135 and the third pressing block 136 can press and lock the mounting plate 14 in the fourth clamping slot 137 to ensure the stable setting of the mounting plate 14 .
  • the mounting plate 14 is detachably disposed on the second axle arm 12 .
  • one end of the second axle arm 12 is engaged in the fourth locking slot 137 .
  • the second pivot arm 12 is perpendicular to the first pivot arm 11, and the imaging device 3 captures images in a lateral orientation.
  • the mounting plate 14 When the mounting plate 14 is detached from the second axle arm 12 and the second axle arm 12 is detached from the adjusting structure 13 , the mounting plate 14 can be directly engaged in the fourth slot 137 . Rotate and adjust the connection direction of the imaging device 3 to the mounting plate 14 , so that the mounting plate 14 is parallel to the first shaft arm 11 , and the imaging device 3 captures images in a vertical orientation.
  • the pan/tilt head assembly adjusts the orientation angle of the imaging device 3 by changing the angle between the second pivot arm 12 and the first pivot arm 11 .
  • the second axle arm 12 can be rotated relative to the first axle arm 11 to adjust the angle between it and the first axle arm 11 , and the second axle arm 12 can also be detached and connected to set a different angle with the first axle arm 11 , so the above-mentioned pan/tilt assembly is simple in structure and reliable in operation.
  • the head assembly is still in a state of leveling the center of gravity in the front-rear direction (the Y-axis direction shown in FIG. 2 ), and there is no need to adjust the center of gravity.
  • the gimbal assembly is re-leveled in the fore-aft direction, simplifying operation.

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

Abstract

La présente invention concerne un cardan portatif et un ensemble cardan (1). L'ensemble cardan (1) comprend une première partie d'entraînement (101) et un premier support (102), qui est utilisé pour monter un dispositif d'imagerie (3) sur celui-ci, la première partie d'entraînement (101) pouvant entraîner le premier support (102) en rotation de façon à augmenter la stabilité du dispositif d'imagerie (3) dans une première direction ; le premier support (102) comprend un premier bras d'arbre (11), un second bras d'arbre (12) et une structure de réglage (13) ; le premier bras d'arbre (11) est en raccordement d'entraînement avec la première partie d'entraînement (101), et est raccordé au second bras d'arbre (12) au moyen de la structure de réglage (13) ; et la structure de réglage (13) peut réguler un angle entre le second bras d'arbre (12) et le premier bras d'arbre (11) de telle sorte que le dispositif d'imagerie (3) capture des images à différents angles d'orientation. L'ensemble cardan (1) peut ajuster de manière commode l'angle d'orientation du dispositif d'imagerie, facilitant ainsi une opération de photographie.
PCT/CN2021/083353 2021-03-26 2021-03-26 Cardan portatif et ensemble cardan WO2022198653A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2021/083353 WO2022198653A1 (fr) 2021-03-26 2021-03-26 Cardan portatif et ensemble cardan
CN202180096131.2A CN117063003A (zh) 2021-03-26 2021-03-26 手持云台及云台组件

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/083353 WO2022198653A1 (fr) 2021-03-26 2021-03-26 Cardan portatif et ensemble cardan

Publications (1)

Publication Number Publication Date
WO2022198653A1 true WO2022198653A1 (fr) 2022-09-29

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ID=83395094

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PCT/CN2021/083353 WO2022198653A1 (fr) 2021-03-26 2021-03-26 Cardan portatif et ensemble cardan

Country Status (2)

Country Link
CN (1) CN117063003A (fr)
WO (1) WO2022198653A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205678382U (zh) * 2016-05-30 2016-11-09 深圳市大疆创新科技有限公司 云台、成像装置及无人机
US20180299753A1 (en) * 2014-03-14 2018-10-18 Really Right Stuff, Llc Plate for camera equipment
CN110291323A (zh) * 2018-01-05 2019-09-27 深圳市大疆创新科技有限公司 手持云台设备
CN211176005U (zh) * 2019-11-27 2020-08-04 深圳市大疆创新科技有限公司 集成相机机身的云台组件和拍摄设备
CN212718840U (zh) * 2020-07-21 2021-03-16 浙江越秀外国语学院 一种全景摄影云台

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180299753A1 (en) * 2014-03-14 2018-10-18 Really Right Stuff, Llc Plate for camera equipment
CN205678382U (zh) * 2016-05-30 2016-11-09 深圳市大疆创新科技有限公司 云台、成像装置及无人机
CN110291323A (zh) * 2018-01-05 2019-09-27 深圳市大疆创新科技有限公司 手持云台设备
CN211176005U (zh) * 2019-11-27 2020-08-04 深圳市大疆创新科技有限公司 集成相机机身的云台组件和拍摄设备
CN212718840U (zh) * 2020-07-21 2021-03-16 浙江越秀外国语学院 一种全景摄影云台

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