WO2022252692A1

WO2022252692A1 - Photographing apparatus holder, photographing apparatus and unmanned aerial vehicle

Info

Publication number: WO2022252692A1
Application number: PCT/CN2022/076502
Authority: WO
Inventors: 张正力
Original assignee: 深圳市道通智能航空技术股份有限公司
Priority date: 2021-06-04
Filing date: 2022-02-16
Publication date: 2022-12-08
Also published as: CN113264197A

Abstract

Provided are a photographing apparatus holder (10), a photographing apparatus, and an unmanned aerial vehicle. The photographing apparatus holder (10) comprises: a rotatable holder body (100), the holder body (100) extending to form a connecting part (140); a mounting assembly (200) which provides at least one mounting position (210), wherein the mounting assembly (200) is mounted on the holder body (100) by means of the connecting part (140), and can rotate about a first axis, a second axis and a third axis; and a rotating assembly (220) provided on the mounting assembly (200), wherein the mounting position (210) is provided at one end of the rotating assembly (220), and can rotate about a fourth axis. The photographing apparatus holder (10) has more rotational degrees of freedom on the basis of maintaining the stable functions of an original photographing apparatus holder such as a cradle head, and may provide users with more abundant special photographing modes, such as online switching between portrait photography and landscape photography, roll photography, tilt photography, etc.

Description

Shooting device bracket, shooting device and drone

【Technical field】

The invention relates to the field of cloud platform technology, in particular to a camera bracket, a camera and an unmanned aerial vehicle.

【Background technique】

When image acquisition devices such as video cameras and cameras are used in high-speed motion and similar application scenarios. Usually, the image acquisition device is installed and fixed on the pan/tilt or a supporting device with similar functions, so as to ensure the stability of the shooting picture and provide a wide enough monitoring range.

For example, three-axis gimbals are widely used in drones. It can rotate independently around three mutually perpendicular rotation axes (such as the x-axis, y-axis and z-axis in the three-dimensional coordinate system), providing a richer range of shooting angles and shooting methods for users to choose.

However, with the continuous development of electronic information technology, it is still expected to provide more shooting freedom than the traditional three-axis gimbal, so as to meet the needs of more special shooting.

【Content of invention】

The embodiment of the present invention aims to provide a shooting device bracket, a shooting device and a drone, which can solve the defects existing in the existing three-axis gimbal.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a camera bracket. The camera mount includes:

A rotatable bracket body, the bracket body is extended to form a connecting portion;

A mounting assembly providing at least one mounting position; the mounting assembly is mounted on the bracket body through the connecting portion, and is rotatable around a first axis, a second axis, and a third axis;

The rotating assembly is arranged on the mounting assembly, the mounting position is arranged at one end of the rotating assembly, and can rotate around the fourth axis.

Optionally, the rotating assembly includes: a fixed part and a rotating part movably connected with the fixed part;

The fixed part is rigidly connected to the mounting assembly, and the rotating part can rotate around the fourth axis relative to the fixed part;

The installation position is arranged at the first end away from the fixing part.

Optionally, the rotating part is connected to the fixed part with a rotating shaft;

The second end of the rotating portion separated from the first end extends outward to form a rotating shaft;

A shaft hole matching the rotating shaft is opened on the fixing part;

The rotating shaft is accommodated in the shaft hole so that the rotating part can rotate around the rotating shaft.

The fixing part extends outward to form a rotating shaft;

The second end of the rotating part away from the first end is provided with a shaft hole adapted to the rotating shaft;

Optionally, the first rotating assembly further includes: a plurality of limiting devices;

The limiting device is arranged between the fixed part and the rotating part, and limits the rotation of the rotating part relative to the fixing part at one or more extreme positions, so that the rotating part can rotate at a predetermined Rotate within a range of angles.

Optionally, the preset rotation angle range is greater than (-360°,+360°);

Wherein, the clockwise rotation of the rotating part around the fourth axis is positive, and the counterclockwise rotation of the rotating part around the fourth axis is negative.

Optionally, the limiting device includes:

At least two movable limiting parts, the movable limiting parts are sleeved on the rotating shaft and can rotate relative to the rotating shaft; the movable limiting parts have outwardly extending protrusions;

The protruding portion can abut against the protruding portion of the adjacent movable limiting component during at least a part of the rotating process of the movable limiting component, so as to drive the adjacent movable limiting component to rotate;

A guide part that is coupled with the rotation part and rotates with the rotation of the rotation part. During at least a part of the rotation process, the guide part can abut against the protrusion of the first movable limiting part to drive the The first movable limiting part rotates;

A restricting part coupled with the fixed part, the restricting part can abut against the protruding part of the second movable limiting part during at least a part of the rotation of the rotating part, so as to restrict the second movable restricting part rotation of parts;

The first movable limiting component is a movable limiting component adjacent to the guiding component, and the second movable limiting component is a movable limiting component adjacent to the limiting component.

Optionally, the movable limiting part is provided with a through hole adapted to the rotating shaft, so as to allow the rotary pump to pass through the movable limiting part;

The raised portion is: a first block extending outward from the outer periphery of the movable limiting part;

The first stopper has an axial length greater than that of the movable limiting parts, so that the protrusions between adjacent movable limiting parts have at least a part of overlap on the axial plane and the radial plane. projection;

The axial plane is a projected plane in the axial direction of the rotating shaft, the radial plane is a projected plane in the radial direction of the rotating shaft; the axial length is a projected length in the axial direction.

Optionally, the guide member includes: a second stopper disposed on the rotating part and located at the first end of the rotating shaft;

The second stopper has a size suitable for the protrusion, and overlaps with at least a part of the projection of the protrusion of the first movable limiting component on both the axial plane and the radial plane ;

The restricting component includes: a third stopper disposed on the fixing portion and located at the second end of the rotating shaft;

The third stopper has a size suitable for the protrusion, and overlaps with at least a part of the projection of the protrusion of the second movable limiting component on both the axial plane and the radial plane .

Optionally, the restricting component includes at least two third stoppers, forming at least two different limit positions;

In the limit position, the third stopper abuts against the second movable limiting part, the second movable limiting part abuts against the adjacent movable limiting part, and the first movable limiting part abuts against the adjacent movable limiting part. The component abuts against the guide component to limit the rotation of the guide component.

Optionally, the bracket body includes: a first bracket, a second bracket and a third bracket;

The second bracket is rotatably connected to the first bracket, and can rotate around a first axis relative to the first bracket;

The third bracket is rotatably connected to the second bracket, and can rotate around a second axis relative to the second bracket;

The third bracket extends to form the connecting portion; the mounting assembly is fixed to the third bracket through the connecting portion, and can rotate around a third axis relative to the third bracket.

Optionally, the connection part includes: a first support wall and a second support arm oppositely disposed along the third axis direction;

The installation component is installed between the first support arm and the second support arm, and can rotate around the third rotating shaft.

Optionally, the limit assembly further includes: a driving device;

The driving device is arranged between the rotating part and the fixing part, and is used for driving the rotating part to rotate around the fourth axis relative to the fixing part.

In order to solve the above technical problem, the embodiment of the present invention also provides the following technical solution: a photographing device. The camera set includes:

The above-mentioned shooting device bracket; image acquisition equipment, the image acquisition equipment is installed and fixed on the installation position of the shooting device bracket, and can independently rotate around the first axis, the second axis, the third axis and the fourth axis rotate.

In order to solve the above technical problems, the embodiment of the present invention also provides the following technical solution: a drone. This drone includes:

The fuselage is provided with several propellers; the motor is installed on the fuselage to drive the propellers to rotate and provide flight power for the drone; the above-mentioned shooting device, the The photographing device is arranged on the fuselage for collecting images.

The shooting device bracket of the embodiment of the present invention can further rotate around a fourth different rotation axis through reasonable structural design on the basis of independent rotation of the three axes. On the basis of maintaining the stabilization function of the original gimbal and other shooting device brackets, it can also provide users with richer special shooting methods, such as online switching between vertical shooting and horizontal shooting, rolling shooting and tilting shooting, etc.

【Description of drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute a limitation to the embodiments. Elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the drawings in the drawings are not limited to scale.

FIG. 1 is a schematic structural view of a camera bracket provided by an embodiment of the present invention;

Fig. 2 is a schematic structural view of a stent body provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an installation assembly provided by an embodiment of the present invention;

Fig. 4 is a structural block diagram of a rotating assembly provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of an exploded structure of a rotating assembly provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of an exploded structure of an installation assembly provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of an exploded structure of a limiting device provided by an embodiment of the present invention;

Fig. 8a is a schematic diagram of the limiting principle of the limiting device provided by the embodiment of the present invention;

Fig. 8b is a schematic diagram of the limit device provided by the embodiment of the present invention moving to the first extreme position;

Fig. 8c is a schematic diagram of the limit device provided by the embodiment of the present invention moving to the second extreme position;

FIG. 9 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention;

FIG. 10 is a schematic diagram of different shooting operations performed by a shooting device according to an embodiment of the present invention.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", and "bottom" used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The invention and the simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

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

FIG. 1 is a schematic structural diagram of a camera bracket provided by an embodiment of the present invention. As shown in FIG. 1 , the camera bracket 10 mainly includes a rotatable bracket body 100 and a mounting assembly 200 .

Wherein, the bracket body 100 is the main structure of the camera bracket 10, which can have a plurality of rotational degrees of freedom in different axis directions, so that the mounting assembly 200 can rotate around a plurality of different axes, so as to keep the camera stable and adjust The effect of camera angle, etc.

In some embodiments, the bracket body 100 can adopt a typical three-axis pan/tilt, which allows the installation component to rotate around the x-axis, y-axis and z-axis in the Cartesian coordinate system.

In this embodiment, for simplicity of presentation, the z-axis, y-axis and x-axis are respectively referred to as "first axis", "second axis" and "third axis". Those skilled in the art can understand that terms such as "first" and "second" are only used to distinguish different rotating shafts, and are not used to limit a specific axis. The order of the axes or the specifically designated axes can be arbitrarily replaced with each other.

Taking the bracket body 100 shown in FIG. 1 and FIG. 2 as an example, the specific realization of the above-mentioned “three-axis pan/tilt” will be described below, so as to fully illustrate the implementation and operation principle of the bracket body 100 .

As shown in FIG. 2 , the bracket body 100 may roughly consist of a first bracket 110 , a second bracket 120 and a third bracket 130 .

Wherein, a part of the first bracket 110 is installed on the base of the supporting device (such as the fuselage of the drone). The second bracket 120 is rotationally connected to the first bracket 110 , and can rotate around the z-axis relative to the first bracket 110 .

Secondly, the third bracket 130 is also rotatably connected to the second bracket 120 , so that the third bracket 130 can rotate around the y-axis relative to the second bracket 120 .

Finally, the third bracket 130 also provides relevant structural components for mounting and fixing the mounting assembly 200 , so that the mounting assembly 200 can rotate relative to the third bracket 130 around the x-axis.

In this embodiment, the structural part related to the mounting and fixing of the mounting assembly 200 on the bracket body 100 is called a "connecting part". The connecting portion 140 may specifically adopt any suitable structure, as long as the mounting assembly 200 can be stably mounted on the bracket body 100 .

For example, the connection part 140 may adopt a double support arm encircling structure as shown in FIG. 2 . The connecting portion 140 includes a first support arm 141 and a second support arm 142 formed by extending outward from the third bracket 130 .

The first support arm 141 and the second support arm 142 are arranged along the direction of the third rotation axis, and the installation assembly 200 can be installed and fixed between the first support arm 141 and the second support arm 142 and can rotate around the x-axis.

It should be noted that the stent body shown in FIG. 1 is only used to illustrate the stent body 100 that can rotate around the z-axis, y-axis and x-axis, and is not intended to limit the specific implementation of the stent body 100 . Those skilled in the art can also adjust, replace or omit one or more structural components in the bracket body shown in FIG. 1 to achieve similar technical effects.

For example, one of the support arms of the connecting part 140 can be omitted, and a single support arm support form is adopted, so that the installation assembly 200 is installed and fixed on the end of the support arm, or the first support 110, the second support 120 and the second The rotation axes "z-axis", "y-axis" and "x-axis" corresponding to the three brackets 130 are adjusted, replaced or changed in order.

The mounting assembly 200 is a component used to install and fix the photographing device in the photographing device bracket. In other words, a photographing device (such as a video camera, a motion camera, etc.) for collecting image information is installed and fixed on the installation assembly 200 .

In this embodiment, as shown in FIG. 3 , the mounting assembly 200 is used to accommodate and fix the related components of a certain shooting device, which is called "mounting position". The number and structure of the installation positions 210 can be determined according to actual needs (such as the size and structure of the photographing device), and are not limited to one installation position shown in FIG. 3 . In the case of multiple installation locations, installation locations with different fixing structures can also be used.

The mounting position 210 is disposed at one end of the rotating component 220 of the mounting assembly 200, so that the mounting position 210 can rotate around a fourth axis (indicated by an x′ axis in the figure) relative to the mounting component 200 .

In this embodiment, the rotating assembly 220 is a rotating mechanism disposed on the mounting assembly 200 (for example, accommodated in the housing 260 of the mounting assembly 200 ) so that the mounting position 210 can rotate. It can be composed of a series of components arranged along the direction of the fourth axis, and the component at one end can form the above-mentioned installation position 210 or be rigidly connected with some of the components forming the installation position 210 .

The "fourth axis" is an axis whose direction is different from that of the above-mentioned first axis, second axis and third axis. For example, in the case where the first axis, the second axis and the third axis are "z axis, y axis and x axis" of the Cartesian coordinate system, the fourth axis can be the x axis perpendicular to the x axis as shown in Figure 3 `Shaft.

It should be noted that, in addition to the structures related to the installation position 210 and the rotation assembly 220, the installation assembly 200 may also include other components or functional modules to realize corresponding functions.

For example, as shown in FIG. 3 , the mounting assembly 200 may also include a main body bracket 230 as a basic structure, which provides a fixed base or a mounting position for each component or functional module, and is installed on the side of the main body bracket 230 for driving The drive motor 240 for the installation assembly 200 to rotate around the third axis and the circuit board 250 integrated with the sensor for detecting the inclination angle of the installation assembly and the related control unit.

In some embodiments, in order to facilitate the description of the rotation movement, according to whether it can rotate relative to the installation assembly 200, as shown in FIG. 4 , the rotation assembly 220 can be roughly divided into two parts: a "fixed part" and a "rotating part".

Wherein, the fixed part 220 a refers to a static structural component that is rigidly connected with the installation assembly 200 . It can be an independent part that is fixedly connected to the main structure of the installation assembly 200 (such as bolt connection or buckle connection), or it can be a base that is directly extended from the main body of the installation assembly 200 (such as integral molding). .

The rotating part 220b refers to a movable part that can rotate around the fourth axis with reference to the fixed part. The rotating part 220b and the fixed part 220a are distributed along the direction of the fourth axis. The mounting position 210 is disposed at the end of the rotating part 220b away from the fixing part 220a, and rotates following the rotation of the rotating part.

In the embodiment of the present invention, there is a relatively independent structural design between the rotating assembly 220 arranged on the mounting assembly and the bracket body 100 . Therefore, the rotation of the rotating assembly 220 will not negatively affect the rotation of the installation assembly 200 around the first axis, the second axis and the third axis.

Such a shooting device support can be supported by rotating around a fourth axis on the basis of enhanced shooting stability (hereinafter referred to as "stabilization" state) based on rotation around a first axis, a second axis, and a third axis. Richer shooting methods. In other words, the shooting device bracket does not affect the functions of the traditional three-axis gimbal to keep the shooting stable and adjust the shooting angle, and can also provide and support more abundant shooting methods.

In some other embodiments, please continue to refer to FIG. 4 , the rotating assembly 220 may further include a plurality of limiting devices 220c disposed between the fixing part 220a and the rotating part 220b. The number of limiting devices 220c can be set according to actual conditions.

Wherein, the limiting device 220c is a related component used to limit the rotation of the rotating part 220b relative to the fixing part 220a. It can generally be composed of one or more sets of parts that are paired with each other, such as matching protrusions, stepped surfaces or latches, etc., which can limit the rotation of the rotation part 220b when the rotation part 220b rotates to a specific position relative to the fixed part 220a. 220b continues to rotate.

In this embodiment, the position formed by the limiting device 220c and restricting the rotation part 220b from continuing to rotate is called a "limit position". When the rotating part 220b is rotated to the limit position, it can only rotate in the reverse direction and cannot continue to rotate in the forward direction. In other words, the rotating part can only rotate within the range of rotation angles between the limit positions.

The shooting device bracket provided by the embodiment of the present invention, on the basis of the conventional three-axis gimbal, further provides an additional rotation axis, without affecting the stability of the three-axis gimbal, it can realize, for example, horizontal There are many different shooting methods such as shooting/vertical shooting switching, rolling shooting and tilting shooting.

Furthermore, in addition to enriching shooting methods, the degree of freedom of rotation of the image acquisition device in the direction of the fourth axis can further play a secondary stabilization effect. That is to say, on the basis of the stability enhancement of the conventional three-axis platform, the stability of the image captured by the shooting device is further enhanced to ensure a clearly focused image.

Fig. 5 and Fig. 6 are structural schematic diagrams of the rotating assembly provided by the embodiment of the present invention. In this embodiment, the rotating part 220b and the fixed part 220a of the rotating assembly may be connected by a rotating shaft.

"Rotating shaft connection" is the connection between the rotating part 220b and the fixed part 220a through a tubular structure with a specific length that coincides with the direction of the fourth axis. Such a tubular structure may be referred to as a "rotating shaft", through which a structure similar to a bearing is formed to realize the rotational movement of the rotating part 220b relative to the fixed part 220a.

Of course, other suitable flexible connection methods can also be used between the rotating part and the fixed part, so that the relative rotation between the two parts can occur, and it is not limited to the "rotating shaft connection" with a solid rotating shaft.

As shown in FIG. 5 , the rotating assembly includes: a rotating shaft 221 , a rotor seat 222 , an installation seat 223 and a fixed base 224 .

Wherein, the end surface of the mounting seat 223 forms the mounting position 210 for accommodating and installing the photographing device, and has a fixed storage structure adapted to the size of the photographing device. The bottom surface of the mounting base 223 is fixed on the first end of the rotor base 222 . The second end of the rotor seat 222 apart from the first end extends outward along the fourth axis to form the rotating shaft 221 .

The fixing base 224 is rigidly connected to the main body bracket 230 of the installation assembly (for example, fixed to the main body bracket 230 by bolts, buckles, bonding or integral molding). The fixed base 224 is provided with a shaft hole 225 adapted to the rotating shaft 221 .

The rotating shaft 221 passes through the fixed base 224, and is assembled on the fixed base through bearings, oil seals or slip rings, etc. Axis rotation.

In some embodiments, the rotating shaft 221 is designed with a ball bearing or similar structure to reduce the friction between the rotating shaft 221 and the shaft hole 225 to facilitate the rotation of the rotating part.

It can be understood that, the above-mentioned mounting base 223 , rotor base 222 and rotating shaft 221 together constitute the moving part 220 b, which can rotate relative to the fixed base 224 . The fixed base 224 is rigidly connected to the main body portion of the mounting assembly. It and at least a part of the main body bracket 230 can be regarded as part of the fixing part 220a, and will not move relative to the installation assembly 200.

It should be noted that the structure shown in FIG. 5 is only used to describe the structure of the rotating assembly in detail, and is not used to limit the specific implementation of the rotating assembly. Those skilled in the art can also adjust or change the structure shown in FIG. 5 to obtain more different embodiments.

For example, the positions of the rotating shaft 221 and the shaft hole 225 can also be replaced with each other. In other words, the rotating shaft 221 can be formed by extending outward from the fixed base 224 , while the shaft hole 225 is opened on the rotor seat 222 and/or the mounting seat 223 . Such adjustment can also achieve the effect of making the rotating part rotate around the fixed part.

In some embodiments, one or more functional structures can be further added, so that the rotating assembly can add new functions on this basis. For example, as shown in FIG. 5 , a driving device 220d for driving the rotating part to rotate may also be added in the rotating assembly.

The driving device 220d can be realized by a motor. Wherein, the stator part of the motor is coupled to the fixed base 224 , and the rotor part of the motor is coupled to the rotor seat 222 to achieve the purpose of driving the rotating part 220b to rotate.

Of course, based on the motor-based driving device 220d, one or more functional structures such as a control circuit board for driving/controlling the motor and an angle sensor for detecting the rotation angle of the rotating part can be further added.

In some embodiments, as shown in FIG. 6 , the limiting device 220c provided on the rotating assembly includes: at least two movable limiting components 226 , a guiding component 227 and a limiting component 228 .

Wherein, the specific number of the movable limiting parts 226 can be set according to the needs of the actual situation, and is not limited to two as shown in FIG. 6 . Each movable limiting part 226 is provided with a through hole 2261 adapted to the rotating shaft 221 , and is provided with an outwardly extending protrusion 2262 .

The rotating shaft 221 can pass through the through hole 2261 , so that each movable limiting part 226 is sequentially stacked and sleeved on the rotating shaft 221 . Each movable limiting part 226 is connected to the rotating shaft 221 in a flexible manner (such as a bearing connection), so that the movable limiting part 226 can rotate freely relative to the rotating shaft 221 .

The protruding part 2262 is used to realize distribution along the fourth axis direction of the rotating shaft 221 (such as the adjacent movable limiting component, the movable limiting component and the adjacent guiding component, and the limiting component and the connected guiding component). interrelated components.

The guide member 227 is a member coupled with the rotation part 220b, and can rotate following the rotation of the rotation part 220b. In this embodiment, "coupling" means that there is a direct or indirect connection relationship between two components or functional structures, so that the movement of one component can exert or affect the other component (or in other words, there is a linkage between the two of).

The restricting part 228 is a part coupled with the fixing part 220a, and cannot rotate relative to the mounting assembly. They can be distributed on the outside of the rotating shaft 221, and are mainly used to block the rotation of the movable limiting component and thereby limit the relative rotation of the rotating part 220b from continuing.

In this embodiment, for the convenience of describing and distinguishing the movable limiting parts 226 located in different positions, the movable limiting part adjacent to the guiding part 227 is called "the first movable limiting part", and the movable limiting part adjacent to the guiding part 227 is referred to as "the first movable limiting part", while the limiting part 228 and Adjacent movable limiting parts are called "second movable limiting parts".

As shown in Figure 7, between the guide part 227 and the first movable limiting part 226a, between the first movable limiting part 226a and the second movable limiting part 226b, between the limiting part 227 and the second movable limiting part 226b Both of them can realize the rotation limit of the rotating part through the method called "movable limit".

The movable limit is based on the process of the protruding part 2262 abutting against adjacent components during the rotation of the rotating part, thereby pushing/driving or restricting the movement between adjacent components.

Specifically, during at least a part of the rotation process of the guiding part 227, it abuts against the protrusion of the first movable limiting part, so as to drive the first movable limiting part 226a to rotate. The protruding portion of the first movable limiting component 226a can abut against the protruding portion of the adjacent movable limiting component during at least a part of the rotation process, so as to drive the adjacent second movable limiting component 226b to rotate. When the second movable limiting component 226b is rotated to a specific position, its protrusion will abut against the limiting component 228, thereby being limited to continue to rotate.

In some embodiments, the movable limiting part 226, the guiding part 227 and the restricting part 228 can realize the aforementioned movable limiting through various suitable structures.

For example, as shown in FIG. 8a, the movable limiting component 226 may be a pie-shaped structure with a circular main body. A through hole 2261 is opened at the center of the circle. Its raised portion is a first stopper 2263 extending outward from the edge of the center of the circle.

The first block 2263 has an axial length greater than the movable limiting part 226 (that is, the thickness of the pie-shaped movable limiting part), so that adjacent movable limiting parts (such as the first movable limiting part 226a and the second movable limiting part 226a) The first stopper 2263 between the movable limiting parts 226b) has at least partially overlapping projections on the axial plane and the radial plane.

Wherein, in this embodiment, the axial plane P1 refers to the projection plane in the axial direction of the rotating shaft, the radial plane P2 refers to the projection plane in the radial direction of the rotating shaft, and the axial length is the projected length in the axial direction.

In other words, the first stopper 2263 exceeds the area where the main body of the movable limiting component 226 is located, and can form an abutting position with the adjacent movable limiting component or other adjacent components at a certain angle and in the direction of rotation. state.

The guiding component 227 can be implemented by a second block 2271 extending from a rotating member 2272 disposed at the end of the rotating shaft 221 . The rotating member 2272 can be fixed on the end of the rotating shaft 221 by means of interference fit or the like, so as to follow the rotation of the rotating shaft 221 .

The second stopper 2271 extends outward from the rotating member 2272, and overlaps with at least a part of the projection of the protrusion of the first movable limiting component 226a on both the axial plane P1 and the radial plane P2. The second stopper 2271 with such a structural design can abut against the first stopper 2263 of the first movable limiting part 226a when it has a specific angle and rotation direction, so as to drive the first movable limiting part 226a to rotate.

Of course, other different structures can also be used to realize the function of the above-mentioned guiding component 227 . For example, the guide member 227 can be implemented by a stopper or similar protruding member extending outward directly at the end of the rotating shaft 221, as long as it can be coupled with the rotating part 220b, and can be connected with the first movable part during at least a part of the rotating process. The protruding parts of the limiting parts are in contact with each other, and only need to drive the first movable limiting part to rotate.

The limiting component 228 can be implemented by a third block 2281 disposed on the main body bracket 230 . The third stopper 2281 is a protrusion extending a certain distance toward the direction of the rotating shaft 221, on the axial plane and the radial plane, it is at least aligned with the first stopper 2263 of the second movable limiting part 226b. A part of the projection overlaps, so as to be in contact with the raised portion of the second movable limiting member 226b which has been rotated in place, so as to limit the rotation of the second movable limiting member 226b, and further restrict the rotating part from continuing to rotate.

Of course, other suitable structures can also be used to realize the functions of the above-mentioned limiting components. For example, on the side of the fixed base 224 facing the movable limiting part 226, an upwardly protruding rib or similar structure abuts against the raised portion of the second movable limiting part that is rotated in place to limit the The rotation of the second movable limiting part.

In some embodiments, as shown in FIG. 8 a , the limiting member 228 includes two third stoppers 2281 . There is a certain arc length between the two third stoppers 2281, thus forming two different limit positions.

Of course, according to the needs of the actual situation, it is also possible to choose to set more third stops or to adjust the arc length between the third stops, so as to change the limit position or the rotation angle range formed by the limit device.

The rotation angle range formed by the limiting device 220c will be described in detail below in conjunction with FIGS. 8a-8c :

As shown in Figure 8a, during the clockwise rotation of the rotating part 2272 following the rotating part 220b, the second stopper 2271 will abut against the first stopper 2263 of the first movable limiting part 226a, pushing the first movable limiting The component 226a rotates following the rotating member 2272 .

When the first movable limiting part 226a rotates with the rotating member 2272, its first stopper 2263 will abut against the second movable limiting part 226b, pushing the second movable limiting part 226b to rotate accordingly.

As shown in Figure 8b, when the second movable limiting part 226b rotates to the position where one of the third stoppers 2281 is located, the first stopper 2263 extending outward will be blocked by the third stopper 2281, and cannot continue to move along the Rotate clockwise. At this time, the first movable part 226b and the rotating member 2272 are also in a state of abutting against each other, and cannot continue to rotate in the clockwise direction, reaching the first limit position.

In the first extreme position, the rotating part 2272 can follow the rotating part 220b and rotate counterclockwise in the opposite direction. After one round of reverse rotation, the second stopper 2271 will meet the first stopper of the first movable limiting part 226a on the other side. The block 2263 abuts against each other, and pushes the first movable limiting part 226a to follow the rotation part 2272 to rotate reversely.

When the first movable limiting part 226a reversely rotates with the rotating member 2272 to the position of the first stopper 2263 of the second movable part 226b, the second movable limiting part 226b can be pushed to reversely rotate accordingly.

As shown in Figure 8c, when the second movable limiting part 226b reversely rotates to the position where another third stopper 2281 is located, its first stopper 2263 will also be blocked by the third stopper 2281, and cannot continue to move along the reverse direction. Rotate clockwise. At this time, the first movable part 226b and the rotating member 2272 are also in a state of abutting against each other, and cannot continue to rotate in the counterclockwise direction, reaching the second extreme position.

Therefore, the rotating part 220b can only rotate within the rotation angle range formed by the first limit position and the second limit position. The rotation angle range provided by the limiting device 220c designed in this way is roughly equal to: one rotation clockwise plus the circumferential angle corresponding to the arc length between the two third stoppers 2281 to one rotation counterclockwise plus The circular angle corresponding to the arc length between the two third blocks 2281 .

The limiting device provided in the embodiment of the present invention can form a preset angle range greater than (-360°, +360°) by providing two or more movable limiting components. Among them, the clockwise rotation of the rotating part around the fourth axis is defined as positive, that is, one rotation of the rotating part in the clockwise direction is +360°; the counterclockwise rotation of the rotating part around the fourth axis is defined as negative, that is, the rotating part rotates counterclockwise One rotation is -360°. Such a range of rotation angles can well meet the needs of actual shooting (such as shooting with vertigo), and has a good application prospect.

It should be noted that the technical features involved in different embodiments of the present invention can be combined with each other as long as there is no conflict with each other, so as to achieve similar functions and form more embodiments. For example, the driving device 220d applied to the rotating assembly can also be used in the bracket body 100 to drive the second bracket 120 to rotate around the first bracket 110, the third bracket 130 to rotate around the second bracket 120, and the mounting assembly 200 to rotate around the third bracket. The bracket 130 rotates.

Based on the photographing device bracket provided in the embodiment of the present invention, the embodiment of the present invention further provides a photographing device. FIG. 9 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention. As shown in FIG. 9 , the photographing device includes a photographing device bracket 10 and an image acquisition device 20 .

Wherein, the camera bracket 10 is a supporting structure provided by the embodiment of the present invention, which can allow the installation position of the installation assembly 200 to rotate around the first axis, the second axis, the third axis and the fourth axis.

The image collection device 20 may be any suitable type of electronic device for collecting images or shooting video information, including a sports camera or a video camera. The image acquisition device 20 is generally composed of an optical system 21 and an electronic photosensitive part 22 .

Its electronic photosensitive part 22 can be installed and fixed on the installation position provided by the installation assembly 200, and the optical system (such as lens, etc.) can be installed and fixed on the housing of the installation assembly 200 to perform various shooting operations.

During the actual shooting process, the rotational degrees of freedom of the shooting device support 10 in the directions of the first axis, the second axis and the third axis can provide enhanced shooting stability and ensure accurate focusing of the image capture device.

Further, through the rotation of the image acquisition device in the direction of the fourth axis (such as the x` axis), as shown in Figure 10, the following shooting modes can be supported:

1) Online switching of the image acquisition device 20 between "horizontal shooting" and "vertical shooting" (that is, the image acquisition device is rotated 90° around the fourth axis in the stabilized state);

2) In the state of enhancing the shooting stability, realize the roll photography of the image acquisition device 20 (that is, the image acquisition device turns around the fourth axis at a certain rotation speed and at a certain angle under the stability enhancement state);

3) Oblique shooting of the image acquisition device 20 is realized in a state of enhanced shooting stability (that is, the image acquisition device is rotated by a certain angle around the fourth axis in a stabilized state).

The embodiment of the present invention further provides an unmanned aerial vehicle. The drone can use the shooting device to shoot or collect image information during flight and cruise.

Among them, the fuselage, as the main structure of the drone, can be made of any suitable material and has a structure and size that meet the needs of use. Various functional components such as a tripod and a propeller can be arranged on the fuselage.

The motor is mounted on the fuselage and is used to provide flight power for the UAV (such as by driving the propeller to rotate).

The photographing device can be installed on a specific position of the fuselage through the connector of the photographing device bracket 10 to collect images or video information during the flight of the drone.

Of course, based on the UAV application scenarios provided in the above embodiments, those skilled in the art can also apply the shooting device provided in the above embodiments to other similar mobile devices (such as remote control vehicles) or similar mobile devices that need to use a three-axis gimbal to maintain Image capture of stabilized scenes is not limited to drones.

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; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, The steps may be performed in any order, and there are many other variations of the different aspects of the invention as described above, which have not been presented in detail for the sake of brevity; although the invention has been described in detail with reference to the preceding examples, those of ordinary skill in the art The skilled person should understand that it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the various implementations of the present invention. The scope of technical solutions.

Claims

A camera bracket, characterized in that it comprises:

A rotatable bracket body (100), the bracket body (100) is extended to form a connecting portion (140);

A mounting assembly (200) providing at least one mounting position (210); the mounting assembly (200) is mounted on the bracket body (100) through the connecting portion (140), and can be around the first axis and the second axis and third axis rotation;

The rotating assembly (220) is arranged on the installation assembly (200), and the installation position (210) is arranged at one end of the rotating assembly (220), and can rotate around a fourth axis.
The shooting device bracket according to claim 1, characterized in that, the rotating assembly (220) comprises: a fixed part (220a) and a rotating part (220b) movably connected with the fixed part (220a);

The fixed part (220a) is rigidly connected with the installation assembly (200), and the rotating part (220b) can rotate around the fourth axis relative to the fixed part (220a);

The installation position (210) is arranged at the first end away from the fixing part (220a).
The camera bracket according to claim 2, characterized in that, the rotating part (220b) is connected to the fixed part (220a) by a rotating shaft;

The second end of the rotating part (220b) separated from the first end extends outward to form a rotating shaft (221);

A shaft hole (225) matching the rotating shaft (221) is opened on the fixing part (220a);

The rotating shaft (221) is accommodated in the shaft hole (225), so that the rotating part (220b) rotates around the rotating shaft (221).
The camera bracket according to claim 2, characterized in that, the rotating part (220b) is connected to the fixed part (220a) by a rotating shaft;

The fixing part (220a) extends outward to form a rotating shaft (221);

The second end of the rotating part (220b) away from the first end is provided with a shaft hole (225) adapted to the rotating shaft (221);

The rotating shaft (221) is accommodated in the shaft hole (225), so that the rotating part (220b) rotates around the rotating shaft (221).
The shooting device bracket according to claim 3 or 4, characterized in that, the rotating assembly (220) further comprises: a plurality of limiting devices (220c);

The limiting device (220c) is arranged between the fixed part (220a) and the rotating part (220b), and restricts the rotating part (220b) relative to the fixed part ( 220a) rotate, so that the rotating part (220b) rotates within a preset rotation angle range.
The camera bracket according to claim 5, wherein the preset rotation angle range is greater than (-360°, +360°);

Wherein, the clockwise rotation of the rotating part (220b) around the fourth axis is positive, and the counterclockwise rotation of the rotating part (220b) around the fourth axis is negative.
The shooting device bracket according to claim 6, characterized in that, the limiting device (220c) comprises:

At least two movable limiting parts (226), the movable limiting parts (226) are sleeved on the rotating shaft (221), and can rotate relative to the rotating shaft (221); the movable limiting parts (226 ) has an outwardly extending raised portion (2262);

The protruding portion (2262) can abut against the protruding portion (2262) of the adjacent movable limiting component (226) during at least a part of the rotation process of the movable limiting component (226), so as to drive the corresponding Adjacent movable limiting part (226) rotates;

A guide member (227) coupled with the rotation part (220b), the guide member (227) rotates with the rotation of the rotation part (220b), and can be in contact with the first movable limit during at least a part of the rotation process The protrusion (2262) of the positioning part (226a) abuts against each other, so as to drive the first movable limiting part (226a) to rotate;

A restricting part (228) coupled with the fixed part (220a), the restricting part (228) can be connected with the second movable restricting part (226b) during at least a part of the rotation process of the rotating part (220b) The protrusions (2262) are in contact with each other to limit the rotation of the second movable limiting part (226b);

The first movable limiting part (226a) is a movable limiting part adjacent to the guide part (227), and the second movable limiting part (226b) is adjacent to the limiting part (228) movable limit parts.
The camera bracket according to claim 7, characterized in that, the movable limiting part (226) is provided with a through hole (2261) adapted to the rotating shaft, so as to allow the rotating shaft (221) to pass through Pass the movable limiting part (226);

The raised portion (2262) is: a first block (2263) extending outward from the outer periphery of the movable limiting part (226);

The first stopper (2263) has an axial length greater than that of the movable limiting part (226), so that the first stopper (2263) between adjacent movable limiting parts (226) is axially have at least partially overlapping projections on both the plane (P1) and the radial plane (P2);

The axial plane (P1) is a projected plane in the axial direction of the rotating shaft (221), and the radial plane (P2) is a projected plane in the radial direction of the rotating shaft (221); the axial length is The projected length in the axial direction of the rotating shaft (221).
The camera bracket according to claim 8, characterized in that, the guide member (227) comprises: a second stopper arranged on the rotating part (220b) and located at the first end of the rotating shaft (211) (2271);

The second stopper (2271) has a size suitable for the protrusion (2262), and on the axial plane (P1) and the radial plane (P2), it is consistent with the first movable At least a part of projections of the protrusions (2262) of the limiting component (226a) overlap;

The limiting component (228) includes: a third stopper (2281) arranged on the fixing portion (220a) and at the second end of the rotating shaft (221);

The third stopper (2281) has a size suitable for the protrusion (2262), and on the axial plane (P1) and the radial plane (P2), it is aligned with the second movable At least part of projections of the protrusions (2262) of the limiting component (226b) overlap.
The camera bracket according to claim 9, characterized in that, the limiting component comprises at least two third stops (2281), forming at least two different limit positions;

In the limit position, the third stopper (2281) abuts against the second movable limiting component (226b), and the second movable limiting component (226b) contacts the adjacent movable limiting component ( 226), the first movable limiting component (226a) is in contact with the guiding component (227), so as to limit the rotation of the guiding component (227).
The camera bracket according to any one of claims 1-10, characterized in that, the bracket body (100) comprises: a first bracket (110), a second bracket (120) and a third bracket (130);

The second bracket (120) is rotatably connected to the first bracket (110), and can rotate around a first axis relative to the first bracket (110);

The third bracket (130) is rotatably connected to the second bracket (120), and can rotate around a second axis relative to the second bracket (120);

The third bracket (130) is extended to form the connecting portion (140); the mounting assembly (200) is installed and fixed on the third bracket (130) through the connecting portion (140), and can be relative to the The third bracket (130) rotates around the third axis.
The camera bracket according to claim 11, characterized in that, the connecting part (140) comprises: along the direction of the third axis, a first support arm (141) and a second support arm (142) oppositely arranged ;

The installation assembly (200) is installed between the first support arm (141) and the second support arm (142), and can rotate around the third axis.
The camera bracket according to any one of claims 2-9, characterized in that the limit assembly further comprises: a driving device (220d);

The driving device (220d) is arranged between the rotating part (220b) and the fixed part (220a), and is used to drive the rotating part (220b) relative to the fixed part (220a), around the Fourth axis rotation.
A photographing device, characterized in that it comprises:

The camera bracket (10) according to any one of claims 1-13;

An image acquisition device (20), the image acquisition device (20) is installed and fixed on the installation position (210) of the shooting device bracket (10), and can independently rotate around the first axis, the second axis, and the third axis and a fourth axis of rotation.
A kind of unmanned aerial vehicle, is characterized in that, comprises:

fuselage, the fuselage is provided with several propellers;

A motor, mounted on the fuselage, is used to drive the propeller to rotate to provide flight power for the drone;

The photographing device according to claim 14, the photographing device is arranged on the body and is used for collecting images by one or more photographing methods.