WO2022217511A1

WO2022217511A1 - Handheld gimbal and gimbal camera

Info

Publication number: WO2022217511A1
Application number: PCT/CN2021/087296
Authority: WO
Inventors: 肖翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2022-10-20

Abstract

A handheld gimbal and a gimbal camera, the handheld gimbal comprising: a handle part (10), a first shaft assembly (20), a second shaft assembly (30), and a third shaft assembly (40). The first shaft assembly (20) comprises a first motor (21) and a first shaft arm (22), and the first motor (21) is connected to the handle part (10) and is used for driving the first shaft arm (22) to rotate; the second shaft assembly (30) comprises a second motor (31) and a second shaft arm (32), and the second motor (31) is used for driving the second shaft arm (32) to rotate; and the third shaft assembly (40) comprises a third motor (41) and a third shaft arm (42), the third motor (41) is used for driving the third shaft arm (42) to rotate, and the third shaft arm is used for mounting a camera (50). When the handheld gimbal is in an unfolded state, the projections of the first shaft arm (22), the second shaft arm (32) and the third shaft arm (42) within a plane in which the first motor (21) is located are roughly enclosed to form a triangular structure; the second shaft arm (32) obliquely extends upward relative to the plane in which the first motor (21) is located, so that a screen of the camera can be avoided; and when the handheld gimbal is in a folded state, centerlines of the projections of the first shaft arm (22), the second shaft arm (32) and the third shaft arm (42) within the plane in which the first motor (21) is located coincide.

Description

Handheld gimbal and gimbal camera

technical field

The present application relates to the technical field of gimbal, and in particular, to a handheld gimbal and a gimbal camera.

Background technique

The handheld gimbal is a device used to enhance the shooting stability of photography equipment such as cameras, and is currently widely used in the fields of film and television production and consumer electronics. As people have more and more shooting needs and higher requirements for shooting quality, handheld gimbal as a matching shooting device provides users with stable and smooth image quality, and equipment that meets the needs of daily shooting and film and television production. It is becoming more and more popular, and users have put forward higher requirements for the handheld gimbal.

The current motion camera gimbal has a relatively large storage volume due to the long arm of the gimbal. In addition, the display screen of the action camera is blocked by the gimbal structure, which makes it inconvenient to monitor the shooting picture.

SUMMARY OF THE INVENTION

The present application provides a handheld gimbal and a gimbal camera.

Specifically, the application is achieved through the following technical solutions:

According to a first aspect of the present application, there is provided a handheld pan/tilt head, comprising: a handle portion, a first shaft assembly, a second shaft assembly and a third shaft assembly;

The first shaft assembly includes a first motor and a first shaft arm, the first motor is connected with the handle part, the first shaft arm is connected with the first motor, and the first motor is used for driving the first axle arm rotates;

The second shaft assembly includes a second motor and a second shaft arm, the second motor is connected to the first shaft arm, the second shaft arm is connected to the second motor, and the second motor uses for driving the second shaft arm to rotate;

The third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third axle arm to rotate, and the third axle arm is used to install the camera;

The handheld platform includes an unfolded state and a folded state. When the handheld platform is in the unfolded state, the first shaft arm, the second shaft arm and the third shaft arm are in the position where the first motor is located. The projection in the plane is roughly enclosed to form a triangular structure, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located; when the hand-held head is in the folded state, the first shaft arm, the first shaft arm, the The centerlines of the projections of the two shaft arms and the third shaft arm in the plane where the first motor is located are coincident.

According to a second aspect of the present application, a pan-tilt camera is provided, comprising: a handle portion, a first shaft assembly, a second shaft assembly, a third shaft assembly, and a camera, wherein a lens is provided on the front of the camera, and the camera There is a display panel on the back of the camera;

The third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third shaft arm to rotate, the camera is mounted on the third shaft arm;

The pan-tilt camera includes an unfolded state and a folded state. When the pan-tilt camera is in the unfolded state, the lens faces the first direction, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located. The projection of the second motor in the plane perpendicular to the first direction is outside the projection range of the display panel in the plane perpendicular to the first direction; when the pan-tilt camera is in the folded state, all The lens faces a second direction opposite to the first direction, and the center line of the projection of the first shaft arm, the second shaft arm and the third shaft arm in the plane where the first motor is located coincide.

It can be seen from the technical solutions provided by the above embodiments of the present application that when the handheld gimbal of the present application is in the unfolded state, the projections of the first axis arm, the second axis arm and the third axis arm in the plane where the first motor is located are approximately enclosed. A triangular structure is formed, and the second axis arm extends upwards obliquely relative to the plane where the first motor is located. The length is shortened, thereby reducing the overall weight of the gimbal, reducing the torque output by the motor, and extending the service life of the gimbal.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a three-dimensional schematic diagram of a gimbal camera in an embodiment of the present application.

FIG. 2 is a front view of the pan-tilt camera in an embodiment of the present application in an unfolded state.

FIG. 3 is a side view of the pan-tilt camera in an embodiment of the present application in an unfolded state.

FIG. 4 is a top view of a pan-tilt camera in an unfolded state according to an embodiment of the present application.

5 to 7 are front views of the folded state of the pan-tilt camera in an embodiment of the present application.

FIG. 8 is a side view of a folded state of the pan-tilt camera in an embodiment of the present application.

FIG. 9 is a top view of a folded state of the pan-tilt camera in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The handheld gimbal and gimbal camera of the present application will be described in detail below with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

Referring to FIG. 1 , an embodiment of the present application provides a handheld pan/tilt head, including: a handle portion 10 , a first shaft assembly 20 , a second shaft assembly 30 and a third shaft assembly 40 , and the third shaft assembly 40 can be used for on-board photography The device 50 is used to form a sports pan-tilt camera or other types of pan-tilt cameras. A battery for supplying power to the whole machine can be arranged in the handle portion 10 .

The first shaft assembly 20 includes a first motor 21 and a first shaft arm 22 , the first motor 21 is connected to the handle portion 10 , and the first shaft arm 22 is connected to the first motor 21 , the first motor 21 is used to drive the first shaft arm 22 to rotate. In this embodiment, the handle portion 10 is substantially cylindrical, and the first motor 21 is disposed on the top of the handle portion 10 .

The second shaft assembly 30 includes a second motor 31 and a second shaft arm 32 , the second motor 31 is connected to the first shaft arm 22 , and the second shaft arm 32 is connected to the second motor 31 , the second motor 31 is used to drive the second shaft arm 32 to rotate. The first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 and the second shaft arm 32 to rotate together.

The third shaft assembly 40 includes a third motor 41 and a third shaft arm 42 , the third motor 41 is connected with the second shaft arm 32 , and the third shaft arm 42 is connected with the third motor 41 , the third motor 41 is used to drive the third shaft arm 42 to rotate, and the third shaft arm 42 is used to install the camera 50 . The first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 , the second shaft arm 32 , the third motor 41 and the third shaft arm 42 to rotate together. The second motor 31 drives the second shaft arm 32 to rotate, and the second shaft arm 32 drives the third motor 41 and the third shaft arm 42 to rotate together.

The handheld cloud platform includes an unfolded state and a folded state. When the handheld pan/tilt is in an unfolded state, as shown in FIG. 1 to FIG. 4 . The projections of the first shaft arm 22 , the second shaft arm 32 and the third shaft arm 42 on the plane where the first motor 21 is located are roughly enclosed to form a triangular structure, as shown in FIG. 4 . And the second shaft arm 32 extends upwards obliquely with respect to the plane where the first motor 21 is located. As shown in FIG. 2 and FIG. 3 , the second motor 31 can be located below the side of the camera 50 to avoid the camera 50 screen, the screen is not blocked when in use. The length of each axis arm can also be shortened, thereby reducing the overall weight of the gimbal, reducing the torque output by the motor, and prolonging the service life of the gimbal.

When the handheld gimbal is in a folded state, as shown in FIGS. 5 to 9 . The centerlines of the projections of the first shaft arm 22 , the second shaft arm 32 and the third shaft arm 42 in the plane where the first motor 21 is located are coincident, and the centerlines are shown in FIG. 9 . Refers to the center line along the horizontal direction, so that the first axle arm 22, the second axle arm 32 and the third axle arm 42 take up as little space as possible in the longitudinal direction after being folded, as shown in Figures 8 and 9, After the first pivot arm 22 , the second pivot arm 32 and the third pivot arm 42 are folded, the volume of the handheld gimbal in the longitudinal direction is substantially equal to the thickness of the camera 50 or the width of the handle portion 10 , thereby achieving the effect of being convenient for folding and storage. .

In some optional embodiments, the first motor 21 is a yaw axis motor, the first axis arm 22 is a yaw axis axis arm, the second motor 31 is a roll axis motor, and the second axis arm 32 is a roll axis The axis arm, the third motor 41 is a tilt axis motor, and the third axis arm 42 is a tilt axis axis arm, so as to constitute a Y/R/P (Yaw/Roll/Pitch) type sports pan-tilt camera.

The first shaft arm 22 is connected to the first motor 21 obliquely relative to the plane where the first motor 21 is located, and the second shaft arm 32 is connected to the second motor relative to the plane where the second motor 31 is located. 31 is connected obliquely, so that when the handheld gimbal is in the unfolded state, the camera 50 can be adjusted to a higher position, so that the second motor 31 is located below the side of the camera 50, so as to avoid the screen of the camera 50. the screen is not blocked. The third axis arm 42 is vertically connected to the third motor 41 relative to the plane where the third motor 41 is located, which facilitates adjusting the image of the camera 50 to face the user and provides the user with a more complete and clearer viewing angle image. .

Referring to FIG. 6 and FIG. 7 , in some optional embodiments, the axis 23 of the first motor 21 and the axis 33 of the second motor 31 are in a non-orthogonal relationship, and the axis 33 of the second motor 31 is in a non-orthogonal relationship. The axis 33 and the axis 43 of the third motor 41 are in a non-orthogonal relationship, forming a handheld pan/tilt with a non-orthogonal structure. Through the above setting, when the handheld gimbal is in the folded state, the position of the camera 50 can be adjusted so that the center line of the projection of the camera 50 in the plane where the first motor 21 is located is in line with the first axis arm 22, the second axis The centerlines of the projections of the arm 32 and the third shaft arm 42 in the plane where the first motor 21 is located coincide, as shown in FIG. 5 and FIG. 9 , the center line as shown in FIG. 9 refers to the center line along the horizontal direction , after the first axle arm 22, the second axle arm 32 and the third axle arm 42 are folded, the first axle arm 22 is inclined upward relative to the first motor 21, and the position of the second axle arm 32 is folded to be located between the first motor 21 and the first motor 21. The space between the first axle arm 22, the position of the third axle arm 42 is folded to the space between the second motor 31 and the second axle arm 32, the camera is folded to the space between the third motor 41 and the third axle arm 42 The space between each component is gradually stacked upward in the longitudinal direction, and the space between each motor and each shaft arm is fully utilized, so that only a part of the camera 50 protrudes from the handle part 10 in the transverse direction, so that the hand-held cloud The volume of the platform in the lateral direction is basically only the length of the portion where the camera 50 protrudes from the handle portion 10 in the lateral direction, so that the pan/tilt can be folded without removing the camera 50 to reduce the loss of the camera's leftover arrow. When the situation occurs, it is more convenient to store and use.

Further, as shown in FIG. 6 , the included angle α between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 is an acute angle, which cooperates with the inclined design of the first axle arm 22 to facilitate When the handheld gimbal is in the unfolded state, adjust the position of the second motor 31 toward the position below the camera 50 side to avoid blocking the screen of the camera 50 . Optionally, the included angle α between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 ranges from 30° to 90°. In this embodiment, the included angle α is 68°.

As shown in FIG. 7 , the included angle β between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 is an acute angle. With the inclined design of the second shaft arm 32, it is convenient to hold the cloud When the table is in the folded state, the position of the camera 50 is adjusted toward the position of the central axis of the handle portion 10 , which reduces the space occupied by the camera 50 and facilitates storage. Optionally, the included angle between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 ranges from 30° to 90°. In this embodiment, the included angle β is 45°.

In some optional embodiments, the handle portion 10 is provided with at least one of a display screen 11 and an operation button 12 . In this embodiment, the handle portion 10 is provided with a display screen 11 and an operation button 12 at the same time, and the display screen 11 and the operation button 12 are both provided with the same side surface of the handle portion 10, which is convenient for operation. The operation buttons 12 may include direction buttons, shooting buttons, and the like. The display screen 11 can be used to display the interactive operation interface with the user. Optionally, a groove may be provided on the side surface of the handle portion 10 , and the display screen 11 and the operation buttons 12 may be embedded in the groove to reduce the space occupied by the handle portion 10 .

Optionally, the camera and the handle can be connected in communication, and the camera can control the handle, or the handle can control the camera. The specific manner of the communication connection between the camera and the handle is not limited in this application, for example, a wireless communication connection can be realized based on Bluetooth technology, or a wired communication connection can be realized based on a communication interface such as RS-232. Optionally, the operation button also supports a function of switching between vertical and horizontal shooting with one button, and double-clicking the operation button can trigger the function of switching between vertical and horizontal shooting with one button. Optionally, the operation button also supports a mode switching function, which is used for the camera to switch between the portrait shooting mode and the landscape shooting mode. The operation button also supports the function of calling up the shortcut menu. The user can operate the operation button to call up the shortcut menu on the display interface of the camera, and can operate the operation button to change the shooting mode, PTZ control mode and enter Preview mode, and no longer need to operate the camera's display interface. PTZ control modes can include pan follow, pitch lock, FPV mode, etc. In this way, the user can control the handle part with one hand, so as to facilitate the user's operation. In some embodiments, the handle portion may be provided with a plurality of operation buttons, and if there is no conflict, the plurality of operation buttons may be used to implement one or more of the above functions, which are not limited herein.

In some optional embodiments, the handheld pan/tilt head further includes three attitude acquisition elements, which may be selected as inertial measurement units (Inertial measurement unit, IMU), such as at least one of an accelerometer or a gyroscope. The three attitude acquiring elements are respectively arranged in the first axle arm, the second axle arm and the third axle arm, and are used for acquiring the attitude information of the corresponding axle arm. Further, the hand-held cloud platform also includes a controller, and the controller is used to control the rotation of the first motor, the second motor and/or the third motor to change the posture of each axis arm and/or the joint angle of each motor, so as to realize the hand-held cloud platform. The station switches between different usage modes.

An embodiment of the present application also provides a pan-tilt camera, including a handheld pan-tilt and a camera. It should be noted that, in the above embodiments and implementations, the description of the handheld pan-tilt is also applicable to the pan-tilt camera of this embodiment. . Taking the handheld gimbal of the above-mentioned embodiment and the accompanying drawings as examples, the gimbal camera will be introduced.

Referring to FIG. 1 , the pan-tilt camera according to the embodiment of the present application includes a handle part 10 , a first shaft assembly 20 , a second shaft assembly 30 , a third shaft assembly 40 and a camera 50 , and the camera 50 is provided with a front surface. There is a lens 51 , and a display panel 52 (ie, the screen of the camera 50 ) is provided on the back of the camera 50 . The gimbal camera can be a sports gimbal camera or other types of gimbal cameras. The camera 50 may be a smartphone, a camera, or the like. A battery for supplying power to the whole machine can be arranged in the handle portion 10 .

The third shaft assembly 40 includes a third motor 41 and a third shaft arm 42 , the third motor 41 is connected with the second shaft arm 32 , and the third shaft arm 42 is connected with the third motor 41 , the third motor 41 is used to drive the third shaft arm 42 to rotate, and the camera 50 is mounted on the third shaft arm 42 . The first motor 21 drives the first shaft arm 22 to rotate, and the first shaft arm 22 drives the second motor 31 , the second shaft arm 32 , the third motor 41 and the third shaft arm 42 to rotate together. The second motor 31 drives the second shaft arm 32 to rotate, and the second shaft arm 32 drives the third motor 41 and the third shaft arm 42 to rotate together.

The pan-tilt camera includes an unfolded state and a folded state. When the pan-tilt camera is in the unfolded state, as shown in FIG. 1 to FIG. 4 . The lens 51 faces the first direction (shown in the X direction in FIG. 1 ), the second shaft arm 32 extends upwards obliquely relative to the plane where the first motor 21 is located, and the second motor 31 is perpendicular to the The projection in the plane of the first direction is outside the projection range of the display panel 52 in the plane perpendicular to the first direction. As shown in FIG. 2 , the second motor 31 is located below the side of the camera 50 , so that The display panel 52 of the camera 50 is avoided, and the display panel 52 is not blocked during use.

When the pan/tilt camera is in a folded state, as shown in FIG. 5 to FIG. 9 . The lens 51 faces a second direction opposite to the first direction (shown in the Y direction in FIG. 1 ), and the first axis arm 22 , the second axis arm 32 and the third axis arm 42 are The centerlines of the projections in the plane where the first motor 21 is located are coincident, and as shown in FIG. After the three-axis arm 42 is folded, it occupies as little space as possible in the longitudinal direction. As shown in FIG. 8 and FIG. 9 , after the first axis arm 22 , the second axis arm 32 and the third axis arm 42 are folded, the pan-tilt camera is in the longitudinal direction. The volume in the direction is basically equal to the thickness of the camera 50 or the width of the handle portion 10, so as to achieve the effect of being convenient for folding and storage.

In some optional embodiments, when the pan/tilt camera is in the unfolded state, the first axle arm 22 , the second axle arm 32 and the third axle arm 42 are located where the first motor 21 is located. The projection in the plane of 2 is roughly enclosed to form a triangular structure. As shown in FIG. 4 , with the second shaft arm 32 extending obliquely upward relative to the plane where the first motor 21 is located, not only can the second motor 31 be located in the camera 50, so as to avoid the display panel 52 of the camera 50, and the display panel 52 is not blocked during use. The length of each axis arm can also be shortened, thereby reducing the overall weight of the gimbal, reducing the torque output by the motor, and prolonging the service life of the gimbal.

The first shaft arm 22 is connected to the first motor 21 obliquely relative to the plane where the first motor 21 is located, and the second shaft arm 32 is connected to the second motor relative to the plane where the second motor 31 is located. 31 is connected obliquely, so that when the pan/tilt camera is in the unfolded state, the camera 50 can be adjusted to a higher position, so that the second motor 31 is located below the side of the camera 50, so as to avoid the display panel 52 of the camera 50, The display panel 52 is not blocked when in use. When the pan/tilt camera is in the unfolded state, the third shaft arm 42 is at least partially located directly above the first motor 21 , and the third shaft arm 42 is opposite to the plane where the third motor 41 is located and the The third motor 41 is connected vertically, which facilitates adjusting the image of the camera 50 to face the user, and provides the user with a more complete and clearer viewing angle image.

Referring to FIG. 6 and FIG. 7 , in some optional embodiments, the axis 23 of the first motor 21 and the axis 33 of the second motor 31 are in a non-orthogonal relationship, and the axis 33 of the second motor 31 is in a non-orthogonal relationship. The axis 33 is in a non-orthogonal relationship with the axis 43 of the third motor 41 . Through the above setting, when the pan-tilt camera is in the folded state, the position of the camera 50 can be adjusted so that the center line of the projection of the camera 50 in the plane where the first motor 21 is located is in line with the first axis arm 22, the second axis The centerlines of the projections of the arm 32 and the third shaft arm 42 in the plane where the first motor 21 is located coincide, as shown in FIG. 5 and FIG. 9 , the center line as shown in FIG. 9 refers to the center line along the horizontal direction , after the first axle arm 22, the second axle arm 32 and the third axle arm 42 are folded, the first axle arm 22 is inclined upward relative to the first motor 21, and the position of the second axle arm 32 is folded to be located between the first motor 21 and the first motor 21. The space between the first axle arm 22, the position of the third axle arm 42 is folded to the space between the second motor 31 and the second axle arm 32, the camera is folded to the space between the third motor 41 and the third axle arm 42 The space between the parts is gradually stacked up in the longitudinal direction, and the space between each motor and each shaft arm is fully utilized, so that only a part of the camera 50 protrudes from the handle part 10 in the transverse direction, so that the pan/tilt The volume of the camera in the lateral direction is basically only the length of the portion where the camera 50 protrudes from the handle portion 10 in the horizontal direction, so that the pan/tilt can be folded without removing the camera 50 to reduce the loss of the camera left arrow. When the situation occurs, it is more convenient to store and use.

Further, as shown in FIG. 6 , the included angle α between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 is an acute angle, which cooperates with the inclined design of the first axle arm 22 to facilitate When the pan-tilt camera is in the unfolded state, the position of the second motor 31 is adjusted toward the position below the camera 50 side to avoid blocking the display panel 52 of the camera 50 . Optionally, the included angle α between the axis 23 of the first motor 21 and the axis 33 of the second motor 31 ranges from 30° to 90°. In this embodiment, the included angle α is 68°.

As shown in FIG. 7 , the included angle β between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 is an acute angle. With the inclined design of the second shaft arm 32 , it is convenient to move the pan/tilt head. When the camera is in the folded state, the position of the camera 50 is adjusted toward the position of the central axis of the handle portion 10 , which reduces the space occupied by the camera 50 and facilitates storage. Optionally, the included angle between the axis 33 of the second motor 31 and the axis 43 of the third motor 41 ranges from 30° to 90°. In this embodiment, the included angle β is 45°.

In some optional embodiments, the handle portion 10 is provided with at least one of a display screen 11 and an operation button 12 . In this embodiment, the handle portion 10 is provided with a display screen 11 and an operation button 12 at the same time, and the display screen 11 and the operation button 12 are both provided with the same side surface of the handle portion 10, which is convenient for operation. The display screen 11 faces the second direction, which is convenient for the user to operate. The number of operation buttons 12 is at least one, which may include direction buttons, shooting buttons, and the like. The display screen 11 can be used to display the interactive operation interface with the user. Optionally, a groove may be provided on the side surface of the handle portion 10 , and the display screen 11 and the operation buttons 12 may be embedded in the groove to reduce the space occupied by the handle portion 10 .

In some optional embodiments, the pan-tilt camera further includes three attitude acquisition elements, which can be optionally an inertial measurement unit (Inertial measurement unit, IMU), such as at least one of an accelerometer or a gyroscope. The three attitude acquiring elements are respectively arranged in the first axle arm, the second axle arm and the third axle arm, and are used for acquiring the attitude information of the corresponding axle arm. Further, the pan-tilt camera also includes a controller, the controller is used to control the rotation of the first motor, the second motor and/or the third motor to change the posture of each axis arm and/or the joint angle of each motor to realize the pan-tilt The camera switches between different usage modes.

It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The pan-tilt handle provided by the embodiments of the present application and the pan-tilt head provided with the pan-tilt handle provided by the embodiments of the present application have been described in detail above. The principles and implementations of the present application are described with specific examples in this paper. The descriptions of the above embodiments are only used to help understanding The method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be It is construed as a limitation of this application.

Claims

A handheld pan/tilt head, comprising: a handle part, a first shaft assembly, a second shaft assembly and a third shaft assembly;

The first shaft assembly includes a first motor and a first shaft arm, the first motor is connected with the handle part, the first shaft arm is connected with the first motor, and the first motor is used for driving the first axle arm rotates;

The second shaft assembly includes a second motor and a second shaft arm, the second motor is connected to the first shaft arm, the second shaft arm is connected to the second motor, and the second motor uses for driving the second shaft arm to rotate;

The third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third axle arm to rotate, and the third axle arm is used to install the camera;

The handheld platform includes an unfolded state and a folded state. When the handheld platform is in the unfolded state, the first shaft arm, the second shaft arm and the third shaft arm are in the position where the first motor is located. The projection in the plane is roughly enclosed to form a triangular structure, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located; when the hand-held head is in the folded state, the first shaft arm, the first shaft arm, the The centerlines of the projections of the two shaft arms and the third shaft arm in the plane where the first motor is located are coincident.
The handheld gimbal according to claim 1, wherein the axis of the first motor and the axis of the second motor are in a non-orthogonal relationship, and the axis of the second motor and the axis of the third motor are in a non-orthogonal relationship. The axes are non-orthogonal.
The handheld pan/tilt head according to claim 2, wherein the included angle between the axis of the first motor and the axis of the second motor is an acute angle.
The handheld pan/tilt head according to claim 3, wherein the included angle between the axis of the first motor and the axis of the second motor ranges from 30° to 90°.
The handheld pan/tilt head according to claim 2, wherein the included angle between the axis of the second motor and the axis of the third motor is an acute angle.
The handheld pan/tilt head according to claim 5, wherein the included angle between the axis of the second motor and the axis of the third motor ranges from 30° to 90°.
The handheld gimbal according to claim 1, wherein the first axis arm is a yaw axis axis arm, the second axis arm is a roll axis axis arm, and the third axis arm is a pitch axis axle arm.
The hand-held pan/tilt head according to claim 1, wherein the first shaft arm is connected obliquely with the first motor relative to a plane where the first motor is located; the second shaft arm is relative to the second motor The plane where the motor is located is connected obliquely with the second motor; the third shaft arm is vertically connected to the third motor relative to the plane where the third motor is located.
The handheld PTZ according to claim 1, wherein the handle portion is provided with at least one of a display screen and an operation button.
A pan-tilt camera is characterized in that it comprises: a handle part, a first shaft assembly, a second shaft assembly, a third shaft assembly and a camera, the front of the camera is provided with a lens, and the back of the camera is provided with a lens. There is a display panel;

The first shaft assembly includes a first motor and a first shaft arm, the first motor is connected with the handle part, the first shaft arm is connected with the first motor, and the first motor is used for driving the first axle arm rotates;

The second shaft assembly includes a second motor and a second shaft arm, the second motor is connected to the first shaft arm, the second shaft arm is connected to the second motor, and the second motor uses for driving the second shaft arm to rotate;

The third shaft assembly includes a third motor and a third shaft arm, the third motor is connected to the second shaft arm, the third shaft arm is connected to the third motor, and the third motor uses for driving the third shaft arm to rotate, the camera is mounted on the third shaft arm;

The pan-tilt camera includes an unfolded state and a folded state. When the pan-tilt camera is in the unfolded state, the lens faces the first direction, and the second shaft arm extends upwards obliquely relative to the plane where the first motor is located. The projection of the second motor in the plane perpendicular to the first direction is outside the projection range of the display panel in the plane perpendicular to the first direction; when the pan-tilt camera is in the folded state, all The lens faces a second direction opposite to the first direction, and the center line of the projection of the first shaft arm, the second shaft arm and the third shaft arm in the plane where the first motor is located coincide.
The pan-tilt camera according to claim 10, wherein when the pan-tilt camera is in an unfolded state, the first pivot arm, the second pivot arm and the third pivot arm are in the first pivot arm. The projections in the plane where the motor is located are roughly enclosed to form a triangular structure.
The pan-tilt camera according to claim 10, wherein the axis of the first motor and the axis of the second motor are in a non-orthogonal relationship, and the axis of the second motor and the axis of the third motor are in a non-orthogonal relationship. The axes are non-orthogonal.
The pan-tilt camera according to claim 12, wherein the included angle between the axis of the first motor and the axis of the second motor is an acute angle.
The pan-tilt camera according to claim 13, wherein the included angle between the axis of the first motor and the axis of the second motor ranges from 30° to 90°.
The pan-tilt camera according to claim 12, wherein the included angle between the axis of the second motor and the axis of the third motor is an acute angle.
The pan-tilt camera according to claim 15, wherein the included angle between the axis of the second motor and the axis of the third motor ranges from 30° to 90°.
The pan-tilt camera according to claim 10, wherein the first axis arm is a yaw axis arm, the second axis arm is a roll axis arm, and the third axis arm is a pitch axis axle arm.
The pan-tilt camera according to claim 10, wherein the first shaft arm is connected obliquely with the first motor relative to a plane where the first motor is located; the second shaft arm is relative to the second motor. The plane where the motor is located is connected obliquely with the second motor; the third shaft arm is vertically connected to the third motor relative to the plane where the third motor is located;

When the pan-tilt camera is in the unfolded state, the third shaft arm is at least partially located directly above the first motor.
The pan-tilt camera according to claim 10, wherein the handle portion is provided with a display screen, and the display screen faces the second direction.
The pan-tilt camera according to claim 10, wherein the handle portion is provided with at least one operation button.