WO2023035117A1

WO2023035117A1 - Leveling device, handheld gimbal, photographic apparatus, and mobile platform

Info

Publication number: WO2023035117A1
Application number: PCT/CN2021/117011
Authority: WO
Inventors: 杨乃旭; 徐振华; 刘国尧
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2023-03-16

Abstract

A leveling device (100), a handheld gimbal (300), a photographic apparatus (700), and a mobile platform (1000). The leveling device (100) comprises a support member (10), a guide member (20), a bearing component (30), and a drive component (40), wherein the bearing component (30) is configured to install a load (500); and the drive component (40) can drive the bearing component (30) to move, so that the load (500) moves relative to the support member (10) in a first direction and/or a second direction.

Description

Leveling device, handheld pan/tilt, shooting equipment and movable platform

technical field

The present application relates to the technical field of photography, in particular to a leveling device, a handheld pan-tilt, a photographing device, and a movable platform.

Background technique

When holding a shooting device such as a mobile phone for video or image shooting, the shaking of the user may easily cause shaking or blurring of the captured picture. Therefore, the user will load the shooting device on the gimbal to shoot, and the gimbal can eliminate the shake generated by the shooting device through reverse motion compensation, so that the shooting device such as a mobile phone can obtain a stable shooting effect, and then obtain high-quality images. However, in order to ensure that the mobile phone and other shooting devices mounted on the gimbal can stably capture images, the current handheld gimbal often requires the user to manually level it before use. Not only is the leveling difficult, the entry threshold is high, and the leveling is not in place. Case.

Contents of the invention

Embodiments of the present application provide a leveling device, a handheld pan-tilt, a photographing device, and a movable platform.

The leveling device of the embodiment of the present application includes a support member, a guide member, a bearing assembly, and a driving assembly. The guide is installed on the support. The bearing assembly can be movably mounted on the guide and used for mounting loads. The driving assembly can drive the carrying assembly to move the load relative to the supporting member along the first direction and/or the second direction, and the guiding member can limit the carrying assembly to move along the first direction. The stroke of motion, the first direction is different from the second direction.

The handheld platform according to the embodiment of the present application includes a handle, an axis arm assembly, and a leveling device. The leveling assembly is installed on the shaft arm assembly. The leveling device includes a support piece, a guide piece, a carrying component, and a driving component. The guide is installed on the support. The bearing assembly can be movably mounted on the guide and used for mounting loads. The driving assembly can drive the carrying assembly to move the load relative to the supporting member along the first direction and/or the second direction, and the guiding member can limit the carrying assembly to move along the first direction. The stroke of motion, the first direction is different from the second direction.

The shooting equipment implemented in this application includes a payload and a handheld pan/tilt. The handheld platform includes a handle, a shaft arm assembly, and a leveling device. The load is mounted on a bearing assembly of the leveling device. The leveling assembly is installed on the shaft arm assembly. The leveling device includes a support piece, a guide piece, a carrying component, and a driving component. The guide is installed on the support. The bearing assembly can be movably mounted on the guide and used for mounting loads. The driving assembly can drive the carrying assembly to move the load relative to the supporting member along the first direction and/or the second direction, and the guiding member can limit the carrying assembly to move along the first direction. The stroke of motion, the first direction is different from the second direction.

The mobile platform implemented in this application includes a handheld pan-tilt and a mobile platform body. The handheld pan-tilt is installed on the movable platform body. The handheld platform includes a handle, a shaft arm assembly, and a leveling device. The leveling assembly is installed on the shaft arm assembly. The leveling device includes a support piece, a guide piece, a carrying component, and a driving component. The guide is installed on the support. The bearing assembly can be movably mounted on the guide and used for mounting loads. The driving assembly can drive the carrying assembly to move the load relative to the supporting member along the first direction and/or the second direction, and the guiding member can limit the carrying assembly to move along the first direction. The stroke of motion, the first direction is different from the second direction.

In the leveling device, the handheld pan/tilt, the photographing equipment, and the movable platform of the embodiments of the present application, the driving component can drive the carrying component to move, so that the load mounted on the carrying component moves relative to the support along the first direction and/or the second direction. Direction movement to automatically adjust the shooting position of the load. When the leveling device is applied to the handheld platform, it can automatically level the handheld platform, and the leveling speed is fast and the precision is high.

Additional aspects and advantages of the embodiments of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the embodiments of the application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

FIG. 1 is a schematic perspective view of a leveling device in some embodiments of the present application;

FIG. 2 is a schematic perspective view of a photographing device in some embodiments of the present application;

Fig. 3 is a three-dimensional schematic diagram of a handheld pan-tilt and a load in some embodiments of the present application;

Fig. 4 is a three-dimensional exploded schematic diagram of a leveling device in some embodiments of the present application;

5 is a schematic cross-sectional view of a leveling device in some embodiments of the present application;

Fig. 6 is a schematic diagram of the cooperative relationship between the transmission rod and the first transmission member in some embodiments of the present application;

Fig. 7 is a schematic perspective view of a leveling device in some embodiments of the present application;

Figure 8 is a schematic diagram of a movable platform according to some embodiments of the present application.

Detailed ways

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "thickness", "upper", "top", "bottom", "inner", "outer", etc. The orientation or positional relationship is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as limiting the application . In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction of two components relation.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are examples only and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or reference letters in various instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, various specific process and material examples are provided herein, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

When holding a shooting device, such as a mobile phone, for video or image shooting, the shaking of the user may easily cause shaking or blurring of the captured picture. Therefore, the user will load the shooting device on the gimbal to shoot, and the gimbal can eliminate the shake generated by the shooting device through reverse motion compensation, so that the shooting device such as a mobile phone can obtain a stable shooting effect, and then obtain high-quality images. However, in order to ensure that the mobile phone and other shooting devices mounted on the gimbal can stably capture images, the current handheld gimbal often requires the user to manually level it before use. Not only is the leveling difficult, the entry threshold is high, and the leveling is not in place. Case.

Referring to FIG. 1 and FIG. 2 , the present application provides a leveling device 100 . The leveling device 100 includes a support 10 , a guide 20 , a carrying component 30 , and a driving component 40 . The guide 20 is mounted on the support 10 . The bearing assembly 30 can be movably installed on the guide member 20 and used for installing the load 500 . The driving assembly 40 can drive the bearing assembly 30 to move, so that the load 500 moves relative to the support member 10 along the first direction X and/or the second direction Y, and the guide member 20 can limit the movement stroke of the bearing assembly 30 along the first direction X. The one direction X is different from the second direction Y.

The load 500 may be a shooting device with a shooting function, such as a mobile phone, a camera, a tablet computer, a video camera, a smart watch, and other shooting devices, which are not limited here. The leveling device 100 can carry the load 500 to realize the fixing of the load 500 . The leveling device 100 can also be used to automatically adjust the shooting position of the load 500. For example, the first direction X is the vertical direction, and the second direction Y is the horizontal direction. Move in the first direction X and/or the second direction Y, thereby adjusting the shooting position of the load 500 in the horizontal direction and the vertical direction, so that the shooting field of view of the load 500 at the current shooting position can meet the user's demand for the shooting field of view .

Please refer to FIG. 3 , the leveling device 100 according to the embodiment of the present application can be applied to the handheld platform 300 shown in FIG. 3 . When the handheld gimbal 300 carries the payload 500 alone for shooting, the handheld gimbal 300 needs to be leveled to ensure that the shooting image (shooting field of view) of the payload 500 is stable. For example, the load 500 is installed on the shaft arm 321 of the handheld pan/tilt 300. When the handheld pan/tilt 300 is in a leveled state, no matter how the shaft arm 321 drives the load 500 to move (translation, rotation, etc.), the shooting picture of the load 500 can be guaranteed. Stablize. However, it is difficult for the user to accurately adjust the relative position between the payload 500 and the shaft arm 321 of the handheld platform 300 so that the handheld platform 300 carrying the payload 500 is leveled, especially when manually leveling the platform, it is difficult to accurately position the platform. When the payload 500 is adjusted to the leveling position, it is difficult to keep the payload 500 in a certain shooting posture stably during shooting. The payload 500 may tilt, shake, etc., and the picture may be unstable during shooting. In addition, manual leveling is more difficult, and the threshold for entry is higher. It takes a long time for users to level the handheld gimbal 300. The leveling device 100 according to the embodiment of the present application can be used to level the hand-held gimbal 300 to ensure that the payload 500 is kept stably at a certain shooting posture when shooting. Specifically, the leveling device 100 can be installed on the handheld platform 300 , such as on the shaft arm 321 of the handheld platform 300 . The load 500 is mounted on the bearing assembly 30, and the driving assembly 40 can drive the bearing assembly 30 to move to drive the load 500 to move along the first direction X and/or the second direction Y, so as to adjust the load 500 to a leveling position, so that the loaded The handheld platform 300 with the load 500 is in a leveling state. In this way, no matter how the shaft arm 321 drives the payload 500 to move, it can ensure that the shooting picture of the payload 500 is stable.

To sum up, the leveling device 100 of the embodiment of the present application can drive the carrying assembly 30 to move through the driving assembly 40, so that the load 500 carried on the carrying assembly 30 moves relative to the support 10 along the first direction X and/or the second direction Y. , to realize the automatic adjustment of the shooting position of the load 500. When the leveling device 100 is applied to the handheld platform 300, the leveling device 100 can drive the carrying assembly 30 to move through the driving assembly 40, so that the load 500 carried on the carrying assembly 30 moves relative to the support 10 in the first direction X and/or The movement in the second direction Y adjusts the position of the payload 500 on the handheld platform 300 so that the handheld platform 300 can be automatically leveled to ensure that the payload 500 can stably capture images.

Further description will be made below in conjunction with the accompanying drawings.

Referring to FIG. 1 , in some embodiments, the carrier assembly 30 includes a body 31 movably mounted on the guide 20 and a loading part 33 movably mounted on the body 31 , the loading part 33 is used for mounting the load 500 .

Wherein, the main body 31 is movably installed on the guide member 20, so that the main body 31 can move along the first direction X on the guide member 20, including moving along the first direction X1 and moving along the first direction X2. The guide member 20 can limit the movement stroke of the carrying assembly 30 along the first direction X, so as to prevent the main body 31 from moving along the first direction X and out of the guide member 20 . The drive assembly 40 can be used to drive the body 31 to move along the first direction X on the guide 20, specifically, the drive assembly 40 can drive the body 31 to move along the first direction X on the guide 20 to adjust the position of the body 31 on the guide. 20 on position. That is, when the carrying assembly 30 carries the load 500, the driving assembly 40 can move along the first direction X on the guide 20 through the drive body 31 to adjust the position of the load 500 relative to the guide 20, so as to realize the adjustment of the load 500 in the first direction X. shooting location.

The loading part 33 is movably installed on the main body 31 so that the loading part 33 can move relative to the main body 31 along the second direction Y, including moving along the second direction Y1 and moving along the second direction Y2. The maximum stroke that the loading part 33 moves relative to the main body 31 along the second direction Y is determined by the mounting relationship between the loading part 33 and the main body 31. At the critical position, the loading part 33 moves relative to the main body 31 along the second direction Y to reach the maximum stroke. The driving assembly 40 is used to drive the loading part 33 to move along the second direction Y on the body 31 . The drive assembly 40 can be used to drive the loading part 33 to move along the second direction Y on the body 31. Specifically, the drive assembly 40 can drive the loading part 33 to move along the second direction Y on the body 31 to adjust the loading part 33 on the body. 31 on position. That is, when the carrying assembly 30 carries the load 500, the driving assembly 40 can move the loading member 33 on the body 31 along the second direction Y to adjust the position of the load 500 relative to the guide 20, so as to realize the adjustment of the load 500 in the second direction Y. shooting location.

Please refer to FIG. 1 and FIG. 2 , in some embodiments, the first direction X and the second direction Y intersect. That is, the value range of the angle α between the first direction X and the second direction Y is (0°, 180°), for example, the angle α can be 1°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 179°, etc. are not listed here. That is to say, the driving assembly 40 can drive the carrying assembly 30 to drive the payload 500 to move on the two-dimensional plane composed of the first direction X and the second direction Y, so as to automatically adjust the shooting position of the payload 500 on the two-dimensional plane.

In some embodiments, the first direction X is opposite to the second direction Y. That is, the angle α between the first direction X and the second direction Y is 180°. That is to say, the first direction X and the second direction Y form a one-dimensional vector, and the driving assembly 40 can drive the bearing assembly 30 to drive the load 500 to move along the one-dimensional vector, so as to be able to automatically adjust the shooting of the load 500 on the one-dimensional vector Location.

In some embodiments, the first direction X is perpendicular to the second direction Y. That is, the angle α between the first direction X and the second direction Y is 90°. When the maximum stroke of the main body 31 moving along the first direction X and the maximum stroke of the loading part 33 moving along the second direction Y are determined, if the angle α between the first direction X and the second direction Y is not 0°, then The two-dimensional plane formed by the first direction X and the second direction Y is a parallelogram plane whose perimeter is determined. When the included angle α is 90°, the parallelogram plane is a rectangular plane with the largest area. Therefore, when the first direction X is perpendicular to the second direction Y, the movable range of the load 500 on the two-dimensional plane formed by the first direction X and the second direction Y is the largest.

In some embodiments, the shape of the guide 20 is a cylinder or a cuboid. When the shape of the guide member 20 is a cylinder, the body 31 can move along the guide member 20 relatively smoothly, and the guide member 20 is not easy to be worn during the moving process. When the shape of the guide 20 is a cuboid, the main body 31 will not tilt or rotate relative to the guide 20 during the process of moving along the guide 20, so as to ensure that the load 500 mounted on the bearing assembly 30 can always remain stable and not shake. Similarly, the shape of the guide member 20 can also be a polygonal prism such as a triangular prism in cross section, a quadrangular prism in cross section, a pentagonal prism in cross section, a hexagonal prism in cross section, and an octagonal prism in cross section. I won't list them all here.

Referring to FIG. 1 , in some embodiments, the support 10 includes a main body 11 and a bracket 13 disposed on the main body 11 . The bracket 13 can be formed by extending from the surface of the main body 11 and integrated with the main body 11, or it can be fixed and installed on the main body 11 by means of screw connection, riveting, welding, bonding, etc., which is not limited here.

The guide piece 20 is installed on the bracket 13, and the bracket 13 is used to support and fix the guide piece 20, so as to prevent the guide piece 20 from tilting, rotating and the like. In one embodiment, the bracket 13 is also used to elevate the guide 20, so that there is a certain distance between the guide 20 and the main body 11, so that the body 31 sleeved on the guide 20 can move freely along the guide 20 , avoiding the contact between the main body 31 and the main body 11 hindering the movement of the main body 31 along the guide member 20 .

In some embodiments, the number of brackets 13 is two, and the two brackets 13 are arranged on the main body 11 opposite to each other. The guide piece 20 is installed between the two brackets 13, and the guide piece 20 is supported and fixed by the two brackets 13, so that the guide piece 20 can be more stably fixed on the bracket 13, so as to further ensure that the body 31 of the bearing assembly 30 can be stable The ground moves along the guide member 20, so as to ensure that the shooting field of view of the load 500 mounted on the bearing assembly 30 remains stable all the time.

In some embodiments, the number of the guides 20 is two, and the two guides 20 are installed on the bracket 13 substantially in parallel and at intervals. Substantially parallel refers to allowing a certain angle between the major axis directions of the two guides 20, for example, there is an angle of 1°, 2°, 3°, 4°, or 5° between the major axes of the two guides 20. It can still be considered that the two guides 20 are substantially parallel when the angle is included. The body 31 of the driving assembly 40 is mounted on two substantially parallel and spaced guides 20 , so that the body 31 moves smoothly along the guides 20 and avoids tilting or rotation when the body 31 moves along the guides 20 .

In some embodiments, the body 31 is provided with two through holes 311 , and the two guide members 20 are respectively provided with the two through holes 311 . In this way, the body 31 can be stably installed on the two guides 20 . The smaller the gap between the through hole 311 and the guide 20 , the harder it is for the main body 31 to shake; when the gap between the through hole 311 and the guide 20 reaches a preset value, the main body 31 can move smoothly along the guide 20 .

Referring to FIG. 1 , FIG. 4 , and FIG. 5 , in some embodiments, the driving assembly 40 may include a driving member 41 , two transmission rods 43 , and a transmission assembly 45 . Two transmission rods 43 are arranged in parallel between the two brackets 13 of the support member 10 , and the driving member 41 is connected to the two transmission rods 43 and is used to drive the two transmission rods 43 to rotate. The first side 451 of the transmission assembly 45 cooperates with the two transmission rods 43 , and the second side 452 of the transmission assembly 45 cooperates with the loading member 33 .

When the transmission rod 43 rotates, the transmission rod 43 can drive the transmission assembly 45 to rotate, so as to drive the bearing assembly 30 to move. The driving member 41 controls the movement of the bearing assembly 30 by controlling the rotation of the transmission rod 43 .

Specifically, referring to Fig. 1, Fig. 5, and Fig. 6, in one embodiment, the two transmission rods 43 are both worms, and the first side 451 of the transmission assembly 45 is provided with a first transmission member 454, the first transmission member 454 can be a turbine, or other transmission parts, which is not limited here. The first transmission member 454 cooperates with the two transmission rods 43, for example, through helical gears. When the rotation directions of the two transmission rods 43 are different, the first transmission member 454 receives a transmission force along the first direction X to drive the main body 31 to move along the first direction X on the guide member 20 . As shown in the left figure of FIG. 6 , when the rotation directions of the two transmission rods 43 are different, the body 31 moves along the first direction X on the guide member 20 . For example, when the transmission rod 4301 rotates in the clockwise direction C1, and the transmission rod 4302 rotates in the counterclockwise direction A1, the component force (FY1 , FY2) cancel each other out, and the component forces (FX01, FX02) of the force exerted by the transmission rod 4301 and the transmission rod 4302 on the first transmission member 454 along the first direction X all face the first direction X1, so that the transmission assembly 45 can drive the body 31 moves along the first direction X1. Similarly, when the transmission rod 4301 rotates in the counterclockwise direction A1 and the transmission rod 4302 rotates in the clockwise direction C1, the transmission assembly 45 can drive the body 31 to move in the first direction X2. According to the different inclination directions of the gears of the transmission rod 43, it can also be realized that: when the transmission rod 4301 rotates in the clockwise direction C1 and the transmission rod 4302 rotates in the counterclockwise direction A1, the transmission assembly 45 can drive the body 31 to move in the first direction X2 ; When the transmission rod 4301 rotates in the counterclockwise direction A1, and the transmission rod 4302 rotates in the clockwise direction C1, the transmission assembly 45 can drive the body 31 to move in the first direction X1.

Please continue to refer to FIG. 1 , FIG. 5 , and FIG. 6 , in one embodiment, the two transmission rods 43 are worms, and the transmission assembly 45 includes a transmission shaft 453 , a first transmission member 454 , and a second transmission member 455 . The first transmission member 454 is mounted on the transmission shaft 453 and cooperates with the two transmission rods 43 . The second transmission member 455 is disposed on the transmission shaft 453 and cooperates with the loading member 33 . For example, the second transmission part 455 is a gear, and the loading part 33 is provided with a rack. The member 33 moves along the second direction Y relative to the main body 31 . Wherein, when the second transmission member 455 rotates in the clockwise direction C2, the loading member 33 can move in the second direction Y1 or the second direction Y2; similarly, when the second transmission member 455 rotates in the counterclockwise direction A2, the loading The member 33 can move along the second direction Y1 or the second direction Y2.

As shown in the right figure of FIG. 6 , when the two transmission rods 43 rotate in the same direction, the first transmission member 454 rotates to drive the transmission shaft 453 and the second transmission member 455 to rotate. When the second transmission member 455 rotates, the second transmission member 455 can drive the loading member 33 to move relative to the main body 31 along the second direction Y. For example, when the transmission rod 4301 and the transmission rod 4302 both rotate in the clockwise direction C1, the component forces (FY1, FY2) of the force exerted by the transmission rod 4301 and the transmission rod 4302 on the first transmission member 454 along the second direction Y cancel each other out, The force component (FX01) of the force exerted by the transmission rod 4301 on the first transmission member 454 along the first direction X faces the first direction X2, and the force component (FX01) of the force applied by the transmission rod 4302 on the first transmission member 454 along the first direction X ( FX02) towards the first direction X1, so that the first transmission member 454 can rotate in the counterclockwise direction A2, because the first transmission member 454 and the second transmission member 455 are coaxial, so the second transmission member 455 can also rotate in the counterclockwise direction A2 , so as to drive the loading part 33 to move along the second direction Y. Similarly, when both the transmission rod 4301 and the transmission rod 4302 rotate in the counterclockwise direction A1, the component forces of the forces exerted by the transmission rod 4301 and the transmission rod 4302 on the first transmission member 454 along the second direction Y cancel each other out, and the transmission rod 4301 The component force of the force applied to the first transmission member 454 along the first direction X is towards the first direction X1, and the component force of the force applied by the transmission rod 4302 to the first transmission member 454 along the first direction X is towards the first direction X2, so that The first transmission member 454 can rotate in the clockwise direction C2. Since the first transmission member 454 is coaxial with the second transmission member 455, the second transmission member 455 can also rotate in the clockwise direction C2 to drive the loading member 33 along the second Move in direction Y.

To sum up, in the leveling device 100 of the embodiment of the present application, the driving assembly 40 only needs to adjust the rotation direction and rotational speed of the two transmission rods 43 to drive the carrying assembly 30 along the first direction X and the loading part 33 along the second direction X. The direction Y is moved to adjust the position of the load 500 mounted on the loading part 33 in the leveling device 100 , so as to automatically adjust the shooting position of the load 500 . Please refer to FIG. 3, when the leveling device 100 is applied to the handheld platform 300, the driving assembly 40 can drive the bearing assembly 30 along the first direction X and the loading part 33 along the second direction by adjusting the rotation direction and speed of the two transmission rods 43. Two-direction Y movement, so that the position of the payload 500 on the handheld gimbal 300 (including the position of the center of gravity relative to the handheld gimbal 300, the orientation of the payload 500, the attitude angle, etc.) Leveling of Taiwan 300.

Further, referring to FIG. 4 , FIG. 5 , and FIG. 7 , in some embodiments, the loading member 33 may include a matching portion 331 and a loading portion 333 . The loading portion 333 is installed on the body 31 and is used to install the load 500 . The matching portion 331 is installed on the loading portion 333 and is used to cooperate with the second side 452 of the transmission assembly 45 .

In one embodiment, the loading part 333 is provided with a through hole 3335 , and the hot shoe structure of the load 500 can be installed in the through hole 3335 to fix the load 500 on the loading part 333 .

In one embodiment, the matching portion 331 is provided with a rack, and the second side 452 of the transmission assembly 45 is provided with a gear. The gear can cooperate with the rack, and when the gear rotates, the matching part 331 drives the loading part 33 to move relative to the main body 31 along the second direction Y. Please refer to FIG. 4 , in one embodiment, the mating portion 331 is mated with the second transmission member 455 on the second side 452 of the transmission assembly 45 , when the second transmission member 455 rotates, the mating portion 331 drives the loading member 33 relative to the body 31 Move in the second direction Y. Wherein, the second transmission member 455 may be a gear.

In one embodiment, the loading part 333 is provided with a receiving cavity 3334 , and the matching part 331 is installed in the receiving cavity 3334 and fixedly connected with the loading part 333 . The second transmission part 455 cooperates with the matching part 331 in the receiving cavity 3334, so as to prevent the second transmission part 455 from being scratched, scratched, and impacted to affect the cooperation between the second transmission part 455 and the matching part 331, and can prevent The foreign matter blocks the second transmission member 455 and affects the rotation of the second transmission member 455 .

Please continue to refer to FIG. 4 and FIG. 7 , in one embodiment, the loading portion 333 includes a first wall 3331 , a second wall 3332 and a third wall 3333 connected in sequence, and the first wall 3331 , the second wall 3332 and the third wall The wall 3333 forms a receiving cavity 3334 , and the matching portion 331 is installed on the first wall 3331 or the third wall 3333 (the third wall 3333 is taken as an example in FIG. 7 ), and is located in the receiving cavity 3334 .

In one embodiment, the body 31 is provided with two guide rails 312 opposite to each other and extending along the second direction Y, and the first wall 3331 and the third wall 3333 cooperate with the two guide rails 312 respectively. When the loading part 33 moves relative to the main body 31 along the second direction Y, the first wall 3331 and the third wall 3333 move along the guide rail 312 .

In one embodiment, the second wall 3332 is provided with a through hole 3335 for installing the load 500 . For example, the load 500 includes a hot shoe structure, and the hot shoe structure can be installed in the through hole 3335 to fix the load 500 on the second wall 3332 .

Please refer to FIG. 4 , in some embodiments, the carrying assembly 30 may further include a fixing seat 35, the fixing seat 35 is located between the body 31 and the support member 10 and forms a receiving space with the body 31, and the two transmission rods 43 are arranged along the first The direction X runs through the receiving space, and the transmission assembly 45 connects the body 31 and the fixing seat 35 .

In some embodiments, the transmission assembly 45 includes a transmission shaft 453 and a first transmission member 454 , and the transmission shaft 453 is rotatably passed through the body 31 and the fixing seat 35 . The first transmission member 454 is mounted on the transmission shaft 453 and cooperates with the two transmission rods 43 . In combination with the foregoing, when the two transmission rods 43 rotate in different directions, the first transmission member 454 receives a transmission force along the first direction X to drive the body 31 to move along the first direction X on the guide member 20. The specific transmission principle has been described It was introduced in the previous article and will not be repeated here.

Wherein, the first transmission member 454 is accommodated in the accommodation space, so as to prevent the first transmission member 454 from being scratched, scratched, and impacted to affect the cooperation between the first transmission member 454 and the transmission rod 43, and to prevent foreign objects from being stuck. The first transmission member 454 affects the rotation of the first transmission member 454 .

In some embodiments, the transmission assembly 45 further includes a second transmission member 455 , the second transmission member 455 is disposed on the transmission shaft 453 and cooperates with the loading member 33 . In combination with the foregoing, when the two transmission rods 43 rotate in the same direction, the first transmission member 454 rotates to drive the transmission shaft 453 and the second transmission member 455 to rotate, and when the second transmission member 455 rotates, it can drive the matching part of the loading member 33 331 to move the loading part 33 relative to the main body 31 along the second direction Y. The specific transmission principle has been introduced above and will not be repeated here.

Please refer to FIG. 8 , in some embodiments, the body 31 can be provided with a first hole 313, and the transmission assembly 45 can also include a first bearing 456. The first bearing 456 is arranged in the first hole 313 and sleeved on the transmission shaft. 453, to reduce the friction coefficient when the transmission shaft 453 rotates, and ensure the rotation accuracy of the transmission shaft 453.

In some embodiments, the fixing base 35 can be provided with a second hole 351, and the transmission assembly 45 can also include a second bearing 457, the second bearing 457 is arranged in the second hole 351, and sleeved on the transmission shaft 453, so as to reduce the friction coefficient when the transmission shaft 453 rotates, and ensure the rotation accuracy of the transmission shaft 453.

In some embodiments, the end of the transmission shaft 453 away from the second transmission member 455 is provided with a blocking portion 4531 , and the blocking portion 4531 is used to limit the second bearing 457 . In this way, under the action of the pretightening force of the transmission shaft 453 and the limiting action of the blocking portion 4531 , the fixing base 35 , the body 31 , and the loading member 33 can move along the first direction X as a whole.

In some embodiments, the transmission assembly 45 may further include a shaft sleeve 458, which is sleeved on the transmission shaft 453 and located between the second transmission member 455 and the first bearing 456 to reduce the vibration of the transmission shaft 453, And prevent the transmission shaft 453 from shifting, so as to ensure the stability of the movement of the bearing assembly 30 and the stability of the shooting field of view of the payload 500 .

In some embodiments, the body 31 may include a first inclined surface 314, and the fixing seat 35 may include a second inclined surface 353, and the first inclined surface 314 cooperates with the second inclined surface 353 to avoid relative sliding between the body 31 and the fixing seat 35. , so that the structure of the bearing assembly 30 composed of the fixing seat 35 and the body 31 is stable, which is conducive to maintaining a stable shooting field of view of the load 500 .

Please refer to FIG. 4 , in some embodiments, the driving member 41 may include two motors 411, and the number of brackets 13 may also be two. The output shafts 4111 of the two motors 411 are respectively connected to the two transmission rods 43 on the sides of the two brackets 13 away from the carrying assembly 30 . In this way, each motor 411 can independently control the rotation direction and rotation speed of a transmission rod 43 , so that the driving member 41 can control the transmission assembly 45 more precisely, so that the position adjustment of the load 500 is more precise.

In some embodiments, the number of brackets 13 is two, and the two brackets 13 are arranged at intervals. There are two guide pieces 20 , and the two guide pieces 20 are installed between the two brackets 13 substantially in parallel and at intervals. The number of transmission rods 43 is two, and the two transmission rods 43 are arranged between the two guide members 20 at intervals. The driving member 41 can drive the two transmission rods 43 to rotate at a preset speed and rotation direction, so that the transmission assembly 45 drives the bearing assembly 30 to move along the first direction X on the guide member 20 and drives the loading member 33 on the body 31 Move in the second direction Y.

Referring to FIG. 1 , in some embodiments, the body 31 has a first axis L1 along a first direction X. Referring to FIG. In one embodiment, each bracket 13 may be symmetrical about the first axis L1. In yet another embodiment, the two transmission rods 43 may be symmetrical about the first axis L1. In yet another embodiment, the two guides 20 may be symmetrical about the first axis L1. No limitation is imposed here.

Please refer to FIG. 3 , in one embodiment, each bracket 13 is symmetrical about the first axis L1 , the two transmission rods 43 are symmetrical about the first axis L1 , and the two guides 20 are symmetrical about the first axis L1 . In this way, when the leveling device 100 is installed on the shaft arm 321 of the handheld platform 300, it is only necessary to make the first axis L1 parallel to a certain rotation axis of the handheld platform 300, and then the two transmission rods 43 and the two guide members 20 are equal to each other. It can be parallel to the rotating shaft, so as to drive the carrying assembly 30 to move along the rotating shaft. For example, when the leveling device 100 is installed on the shaft arm 321 of the handheld platform 300, the first axis L1 is parallel to the pitch axis of the handheld platform 300, and the first direction X is the same as the direction of the tilt axis of the handheld platform 300. direction, when the driving assembly 40 drives the carrying assembly 30 to move along the first direction X, the payload 500 moves along the pitch axis of the handheld platform 300, so as to adjust the position of the payload 500 on the handheld platform 300, which is beneficial to the handheld platform 300 leveling.

In some embodiments, the body 31 has a second axis L2 along the second direction Y. In one embodiment, the two brackets 13 may be symmetrical about the second axis L2. In yet another embodiment, each transmission rod 43 may be symmetrical about the second axis L2. In yet another embodiment, each guide 20 may be symmetrical about the second axis L2.

Please refer to FIG. 3 , in one embodiment, the two brackets 13 are symmetrical about the second axis L2, each transmission rod 43 is symmetrical about the second axis L2, and each guide member 20 is symmetrical about the second axis L2. In this way, when the leveling device 100 is installed on the shaft arm 321 of the handheld platform 300, it is only necessary to make the second axis L2 perpendicular to a certain rotation axis of the handheld platform 300, and then the two transmission rods 43 and the two guides 20 are equal to each other. It can be perpendicular to the rotating shaft, so as to drive the carrying assembly 30 to move along the direction perpendicular to the rotating shaft. For example, when the leveling device 100 is installed on the shaft arm 321 of the handheld platform 300, the second axis L2 is perpendicular to the pitch axis of the handheld platform 300, then the second direction Y is perpendicular to the direction of the tilt axis of the handheld platform 300 , when the drive assembly 40 drives the loading part 33 to move along the second direction Y, the load 500 moves along the direction perpendicular to the pitch axis of the handheld platform 300, so as to adjust the position of the load 500 on the handheld platform 300, which is beneficial to the hand-held platform. Leveling of Desk 300.

Referring to FIG. 3 , the present application provides a handheld pan-tilt 300 . The handheld platform 300 includes a handle 310 , a shaft arm assembly 320 , and the leveling device 100 of any one of the above-mentioned embodiments. The leveling device 100 is installed on the shaft arm assembly 320 .

The leveling device 100 may be non-detachably installed on the shaft arm assembly 320 and integrated with the handheld platform 300 . Or the leveling device 100 is detachably installed on the shaft arm assembly 320, that is, the leveling device 100 can be adapted to different types of handheld pan-tilts 300, or the handheld pan-tilt 300 can be adapted to different types of leveling devices 100, which will not be described here. limit.

The handheld pan/tilt 300 can be connected to a tripod, for example, the handle 310 is installed on the tripod to stably fix the handheld pan/tilt 300 at a certain shooting position, so that the shooting field of view of the payload 500 is more stable. According to the number of the shaft arm 321 (or the motor driving the shaft arm 321 ) in the shaft arm assembly 320 , the types of the handheld platform 300 are also different. For example, when the shaft arm assembly 320 includes two shaft arms 321 , the handheld gimbal 300 is a two-axis gimbal, and when the shaft arm assembly 320 includes three shaft arms 321 , the handheld gimbal 300 is a three-axis gimbal. The handheld pan/tilt 300 may also be a single-axis or multi-axis pan/tilt with more than three axes, which will not be listed here.

When the handheld platform 300 is in the leveling state, no matter how the shaft arm 321 of the handheld platform 300 translates or rotates, the shooting field of view of the payload 500 carried by the handheld platform 300 can be guaranteed to be stable. The leveling device 100 is installed with the shaft arm assembly 320, and the leveling device 100 can drive the load 500 to move along the first direction X and/or the second direction Y to adjust the position of the load 500 on the handheld platform 300 so that the center of gravity of the load 500 location changes. When the position of the center of gravity of the load 500 satisfies the leveling requirement, the handheld pan/tilt 300 reaches a leveling state.

In the handheld pan/tilt 300 of the embodiment of the present application, the leveling device 100 drives the carrying assembly 30 to move through the driving assembly 40 to drive the load 500 to move along the first direction X and/or the second direction Y, so as to realize the adjustment of the handheld pan/tilt 300 Automatic leveling.

In some embodiments, the leveling device 100 is electrically connected to the battery in the handle 310 so that the handheld platform 300 can provide energy for the drive assembly 40 . The handle 310 is provided with a control instrument 311, and the control instrument 311 may include control elements such as buttons, knobs, keyboards, displays, and remote sensing. According to the user's input to the control instrument 311 , the control instrument 311 can control the movement or rotation of the shaft arm 321 . According to the user's input to the control instrument 311 , the control instrument 311 can also control the driving component 40 to drive the carrying component 30 to move, so as to drive the load 500 to move along the first direction X and/or the second direction Y. For example, if the user inputs a "move left" command on the control instrument 311, the driver 41 drives the two transmission rods 43 to rotate in different directions, so that the bearing assembly 30 moves along the first direction X1; the user inputs "move forward" on the control instrument 311 command, the driving member 41 drives the two transmission rods 43 to rotate in the same direction, so that the carrying assembly 30 moves in the second direction Y1.

In one embodiment, the leveling device 100 further includes a level (not shown in the figure), which is used to detect whether the load 500 is in a horizontal position, and the direction and degree of deviation of the load 500 from the horizontal position. The user can control the leveling device 100 to drive the load 500 to move relative to the support 10 along the first direction X and/or the second direction Y according to the detection result of the spirit level, so as to adjust the load 500 to a horizontal position and level the handheld platform 300 .

In one embodiment, the holding platform also includes an inertial measurement unit 330 and a processor 340, the inertial measurement unit 330 is arranged on the shaft arm assembly 320, the inertial measurement unit 330 is used to obtain the attitude angle of the shaft arm assembly 320, and the processor 340 uses Analyze the leveling state of the handheld platform 300 according to the attitude angle, and control the driving assembly 40 to drive the bearing assembly 30 to move according to the leveling state, so that the load 500 moves relative to the support 10 along the first direction X and/or the second direction Y . That is to say, the user only needs to install the load 500 on the leveling device 100, input the "leveling" command on the control instrument 311 of the handle 310, and the processor 340 can automatically control the driving component 40 to drive the carrying component 30 according to the measurement result of the inertial measurement unit 330 Movement, so that the hand-held gimbal 300 carrying the load 500 is automatically leveled.

Further, in one embodiment, the payload 500 is a zoom camera. When the focal length of the zoom camera changes, the center of gravity of the zoom camera on the handheld gimbal 300 will also change. The processor 340 can acquire the zoom state of the zoom camera. When the focal length of the zoom camera changes, the processor 340 of the hand-held pan-tilt 300 controls the drive assembly 40 to drive the bearing assembly 30 to move, so as to level the hand-held pan-tilt 300, so that the zoom camera can zoom when zooming. It can still ensure the stability of the shooting field of view.

Referring to FIG. 2 , the present application provides a photographing device 700 . The photographing device 700 includes a payload 500 and the handheld pan/tilt 300 of any of the above-mentioned embodiments. The load 500 is installed on the bearing assembly 30 of the leveling device 100 . In one embodiment, the hand-held gimbal 300 has built-in leveling parameters of the handheld gimbal 300 when the load 500 is loaded after the shooting device 700 leaves the factory. The shaft arm assembly 320 can switch the handheld pan/tilt 300 between the stowed and unfolded states by moving and rotating. When the handheld platform 300 is in the deployed state, the handheld platform 300 automatically controls the leveling device 100 for leveling, that is, the automatic control of the leveling device 100 drives the load 500 to move along the first direction X and/or the second direction Y.

Referring to FIG. 8 , the present application provides a movable platform 1000 . The mobile platform 1000 includes the handheld pan-tilt 300 and the mobile platform body 900 in any of the above-mentioned embodiments. The handheld platform 300 is installed with the movable platform body 900 . The movable platform 1000 can be a pan-tilt bracket 13, a drone, an unmanned vehicle, an unmanned ship, and the like. The movable platform 1000 can carry the handheld pan/tilt 300 to move, so that when the handheld pan/tilt 300 is loaded with the payload 500, it can drive the payload 500 to move, so as to take pictures in places that are difficult for users to reach. Since the movable platform 1000 is easy to shake when moving, keeping the shooting field of view of the payload 500 stable has higher requirements on the leveling of the handheld pan-tilt 300 . In the movable platform 1000 of the embodiment of the present application, the leveling device 100 drives the bearing assembly 30 to move through the drive assembly 40, so that the load 500 moves relative to the support 10 along the first direction X and/or the second direction Y, thereby accurately adjusting The position of the load 500 on the handheld platform 300 makes the leveling of the handheld platform 300 fast and accurate.

To sum up, in the leveling device 100 , the handheld pan/tilt 300 , the photographing device 700 , and the movable platform 1000 according to the embodiment of the present application, the driving component 40 can drive the carrying component 30 to move, so that the load 500 installed on the carrying component 30 is relatively The supporting member 10 moves along the first direction X and/or the second direction Y to automatically adjust the shooting position of the payload 500 . When the leveling device 100 is applied to the handheld platform 300, it can automatically level the handheld platform 300 with fast leveling speed and high precision.

In the description of this specification, reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific examples", or "some examples" etc. The specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

A leveling device, characterized in that it comprises:

supporting item;

a guide, the guide is mounted on the support;

a bearing assembly, the bearing assembly can be movably mounted on the guide and used for mounting loads;

a driving assembly, the driving assembly can drive the carrying assembly to move the load relative to the support in a first direction and/or a second direction, and the guide can limit the carrying assembly to move along the A motion stroke in a first direction, the first direction being different from the second direction.
The leveling device according to claim 1, wherein the bearing assembly includes a body movably mounted on the guide and a loading part that can be movably mounted on the body, and the loading part is used for installing said load;

The drive assembly is used to drive the body to move along the first direction on the guide, and/or the drive assembly is used to drive the loading part to move along the second direction on the body .
The leveling device according to claim 1, wherein the first direction intersects or is opposite to the second direction.
The leveling device according to claim 1, wherein the first direction is perpendicular to the second direction.
The leveling device according to claim 1, wherein the shape of the guide member comprises: a cylinder or a cuboid.
The leveling device according to claim 1, wherein the supporting member comprises: a main body and a bracket arranged on the main body.
The leveling device according to claim 6, wherein the number of the brackets is two, and the two brackets are arranged on the main body oppositely at intervals.
The leveling device according to claim 6, wherein the number of the guides is two, and the two guides are installed on the bracket substantially in parallel and at intervals.
The leveling device according to claim 8, characterized in that, the body is provided with two through holes, and the two guide members respectively pass through the two through holes.
The leveling device according to claim 1, wherein the drive assembly comprises:

driver;

Two transmission rods, the two transmission rods are arranged in parallel and spaced between the two brackets of the support member, the driving member is connected to the two transmission rods, and is used to drive the two transmission rods to rotate; and

A transmission assembly, the first side of the transmission assembly cooperates with the two transmission rods, and the second side of the transmission assembly cooperates with the loading part of the carrying assembly.
The leveling device according to claim 10, characterized in that, when the rotation directions of the two transmission rods are different, the body of the bearing assembly moves along the first direction on the guide member; When the rotation directions of the transmission rods are the same, the loading part moves along the second direction on the body.
The leveling device according to claim 10, wherein the loading part includes a matching part and a loading part, the loading part is installed on the body and is used to install the load, and the matching part is installed on the The loading portion is used to cooperate with the second side of the transmission assembly.
The leveling device according to claim 12, wherein the matching portion is provided with a rack, the second side of the transmission assembly is provided with a gear, and the gear meshes with the rack.
The leveling device according to claim 13, wherein the loading part is provided with a receiving cavity, and the matching part is installed in the receiving cavity and fixedly connected with the loading part.
The leveling device according to claim 14, wherein the loading part comprises a first wall, a second wall and a third wall connected in sequence, and the first wall, the second wall and the The third wall forms a receiving cavity, and the matching part is installed on the first wall or the third wall and is located in the receiving cavity.
The leveling device according to claim 15, characterized in that, the body is provided with two guide rails spaced opposite each other and extending along the second direction, the first wall and the third wall are respectively connected to the two The guide rail is matched, and the second wall is provided with a through hole for installing the load.
The leveling device according to claim 10, wherein the carrying assembly further comprises a fixing seat, the fixing seat is located between the body and the support member and forms a receiving space with the body, two The transmission rod passes through the receiving space along the first direction, and the transmission assembly connects the body and the fixing seat.
The leveling device according to claim 17, wherein the transmission assembly includes a transmission shaft and a first transmission member, the transmission shaft can rotatably pass through the body and the fixing seat, and the first The transmission part is installed on the transmission shaft and cooperates with the two transmission rods; when the rotation directions of the two transmission rods are different, the first transmission part receives the transmission force along the first direction to drive the two transmission rods. The body moves along the first direction on the guide piece.
The leveling device according to claim 18, wherein the transmission assembly further includes a second transmission member, the second transmission member is arranged on the transmission shaft and cooperates with the loading member; when two When the rotation directions of the transmission rods are the same, the first transmission member rotates to drive the transmission shaft and the second transmission member to rotate.
The leveling device according to claim 18, wherein the body is provided with a first hole, and the transmission assembly further includes a first bearing, and the first bearing is arranged in the first hole and sleeved on the drive shaft.
The leveling device according to claim 18, wherein the fixing base is provided with a second hole, and the transmission assembly further includes a second bearing, and the second bearing is arranged in the second hole, and covers set on the transmission shaft.
The leveling device according to claim 21, wherein a blocking portion is provided at the end of the transmission shaft away from the second transmission member, and the blocking portion is used to limit the position of the second bearing.
The leveling device according to claim 18, characterized in that, the transmission assembly further comprises a bushing, the bushing is sleeved on the transmission shaft and located between the second transmission member and the first bearing between.
The leveling device according to claim 17, wherein the body includes a first slope, the fixing seat includes a second slope, and the first slope cooperates with the second slope.
The leveling device according to claim 10, wherein the driving member includes two motors, the number of the brackets is two, and the two brackets are arranged on the main body oppositely at intervals, and the two brackets are arranged opposite to each other. The motors are respectively arranged on the sides of the two brackets away from the carrying assembly, and the output shafts of the two motors are respectively connected to the two transmission rods.
The leveling device according to claim 10, wherein the body has a first axis along the first direction, the number of the brackets is two, and the number of the transmission rods is two,

each of said supports is symmetrical about said first axis; and/or

two said transmission rods are symmetrical about said first axis; and/or

The two guides are symmetrical about the first axis.
The leveling device according to claim 10, wherein the body has a second axis along the second direction, the number of the brackets is two, and the number of the transmission rods is two,

two of said supports are symmetrical about said second axis; and/or

each said drive rod is symmetrical about said second axis; and/or

Each of the guides is symmetrical about the second axis.
A kind of handheld cloud platform is characterized in that, comprises:

handle;

shaft arm assembly; and

The leveling device according to any one of claims 1-27, wherein the leveling device is installed on the shaft arm assembly.
The handheld platform according to claim 28, characterized in that, the handheld platform also includes an inertial measurement unit and a processor, the inertial measurement unit is arranged on the shaft arm assembly, and the inertial measurement unit is used to obtain the attitude angle of the shaft-arm assembly, the processor is used to analyze the leveling state of the handheld platform according to the attitude angle, and control the drive assembly to drive the bearing assembly to move according to the leveling state, so as to The load is moved relative to the support in a first direction and/or a second direction.
A photographing device, characterized in that it comprises:

The handheld platform according to any one of claims 28-29; and

a load, and the load is installed on the bearing assembly of the leveling device.
The photographing device according to claim 30, wherein the load is a zoom camera, and when the focal length of the zoom camera changes, the processor of the handheld pan/tilt controls the driving component to drive the carrying component to move, to level the handheld gimbal.
A mobile platform, characterized in that it comprises:

The handheld platform according to any one of claims 28-29; and

A movable platform body; the handheld pan-tilt is installed on the movable platform body.