WO2023035117A1 - Dispositif de mise à niveau, cardan portatif, appareil photographique et plateforme mobile - Google Patents

Dispositif de mise à niveau, cardan portatif, appareil photographique et plateforme mobile Download PDF

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Publication number
WO2023035117A1
WO2023035117A1 PCT/CN2021/117011 CN2021117011W WO2023035117A1 WO 2023035117 A1 WO2023035117 A1 WO 2023035117A1 CN 2021117011 W CN2021117011 W CN 2021117011W WO 2023035117 A1 WO2023035117 A1 WO 2023035117A1
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WO
WIPO (PCT)
Prior art keywords
transmission
leveling device
assembly
drive
guide
Prior art date
Application number
PCT/CN2021/117011
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/117011 priority Critical patent/WO2023035117A1/fr
Publication of WO2023035117A1 publication Critical patent/WO2023035117A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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 .
  • 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.
  • features defined as “first” and “second” may explicitly or implicitly include one or more features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • 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 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.
  • 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.
  • 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.
  • the first direction X is the vertical direction
  • 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 .
  • the leveling device 100 can be applied to the handheld platform 300 shown in FIG. 3 .
  • 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.
  • the load 500 is installed on the shaft arm 321 of the handheld pan/tilt 300.
  • 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.
  • the leveling device 100 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the first direction X and the second direction Y intersect. That is, the value range of the angle ⁇ between the first direction X and the second direction Y is (0°, 180°), for example, the angle ⁇ 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.
  • the first direction X is opposite to the second direction Y. That is, the angle ⁇ 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.
  • the first direction X is perpendicular to the second direction Y. That is, the angle ⁇ between the first direction X and the second direction Y is 90°.
  • the two-dimensional plane formed by the first direction X and the second direction Y is a parallelogram plane whose perimeter is determined.
  • 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.
  • the shape of the guide 20 is a cylinder or a cuboid.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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
  • the second side 452 of the transmission assembly 45 cooperates with the loading member 33 .
  • the transmission rod 43 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 .
  • 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.
  • 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.
  • the body 31 moves along the first direction X on the guide member 20 .
  • the transmission rod 4301 rotates in the clockwise direction C1
  • the transmission rod 4302 rotates in the counterclockwise direction A1
  • the component force (FY1 , FY2) cancel each other out
  • 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.
  • the transmission assembly 45 can drive the body 31 to move in the first direction X2.
  • the transmission assembly 45 can drive the body 31 to move in the first direction X2 ;
  • the transmission assembly 45 can drive the body 31 to move in the first direction X1.
  • the two transmission rods 43 are worms
  • 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 .
  • the second transmission part 455 is a gear
  • the loading part 33 is provided with a rack. The member 33 moves along the second direction Y relative to the main body 31 .
  • the loading member 33 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.
  • the first transmission member 454 rotates to drive the transmission shaft 453 and the second transmission member 455 to rotate.
  • the second transmission member 455 can drive the loading member 33 to move relative to the main body 31 along the second direction Y.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • the second transmission member 455 may be a gear.
  • the loading part 333 is provided with a receiving cavity 3334
  • 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 .
  • 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
  • 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 .
  • 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.
  • 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 .
  • the second wall 3332 is provided with a through hole 3335 for installing the load 500 .
  • 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 .
  • 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 .
  • 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 .
  • 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 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 .
  • 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 .
  • the first transmission member 454 rotates to drive the transmission shaft 453 and the second transmission member 455 to rotate
  • 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.
  • 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.
  • the fixing base 35 can be provided with a second hole 351
  • 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.
  • 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 .
  • the blocking portion 4531 is used to limit the second bearing 457 .
  • 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 .
  • 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 .
  • 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 .
  • 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.
  • the number of brackets 13 is two, and the two brackets 13 are arranged 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.
  • the body 31 has a first axis L1 along a first direction X.
  • each bracket 13 may be symmetrical about the first axis L1.
  • the two transmission rods 43 may be symmetrical about the first axis L1.
  • the two guides 20 may be symmetrical about the first axis L1. No limitation is imposed here.
  • each bracket 13 is symmetrical about the first axis L1
  • the two transmission rods 43 are symmetrical about the first axis L1
  • the two guides 20 are symmetrical about the first axis L1 .
  • the first axis L1 is parallel to the pitch axis of the handheld platform 300
  • the first direction X is the same as the direction of the tilt axis of the handheld platform 300.
  • 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.
  • the body 31 has a second axis L2 along the second direction Y.
  • the two brackets 13 may be symmetrical about the second axis L2.
  • each transmission rod 43 may be symmetrical about the second axis L2.
  • each guide 20 may be symmetrical about the second axis L2.
  • the two brackets 13 are symmetrical about the second axis L2
  • each transmission rod 43 is symmetrical about the second axis L2
  • each guide member 20 is symmetrical about the second axis L2.
  • the second axis L2 is perpendicular to the pitch axis of the handheld platform 300
  • the second direction Y is perpendicular to the direction of the tilt axis of the handheld platform 300
  • 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 is beneficial to the hand-held platform.
  • 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.
  • the types of the handheld platform 300 are also different.
  • the handheld gimbal 300 is a two-axis gimbal
  • 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.
  • 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.
  • the handheld pan/tilt 300 reaches a leveling state.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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
  • 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 .
  • 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.
  • the payload 500 is a zoom camera.
  • the processor 340 can acquire the zoom state of the zoom camera.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the leveling device 100 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission Devices (AREA)

Abstract

Dispositif de mise à niveau (100), cardan portatif (300), appareil photographique (700) et plateforme mobile (1000). Le dispositif de mise à niveau (100) comprend un élément de support (10), un élément de guidage (20), un composant de palier (30) et un composant d'entraînement (40), le composant de palier (30) étant configuré pour installer une charge (500) ; et le composant d'entraînement (40) peut entraîner le composant de palier (30) en déplacement, de sorte que la charge (500) se déplace par rapport à l'élément de support (10) dans une première direction et/ou dans une seconde direction.
PCT/CN2021/117011 2021-09-07 2021-09-07 Dispositif de mise à niveau, cardan portatif, appareil photographique et plateforme mobile WO2023035117A1 (fr)

Priority Applications (1)

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PCT/CN2021/117011 WO2023035117A1 (fr) 2021-09-07 2021-09-07 Dispositif de mise à niveau, cardan portatif, appareil photographique et plateforme mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/117011 WO2023035117A1 (fr) 2021-09-07 2021-09-07 Dispositif de mise à niveau, cardan portatif, appareil photographique et plateforme mobile

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5413295A (en) * 1991-08-09 1995-05-09 Heiwa Seiki Kagya Co., Ltd. Weight balancer for tripod head
US5737657A (en) * 1995-11-17 1998-04-07 Paddock; George K. Adjustable platform having a quick release mechanism for use with a camera
CN104603517A (zh) * 2014-06-27 2015-05-06 深圳市大疆创新科技有限公司 云台
CN107002939A (zh) * 2016-12-28 2017-08-01 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN107110417A (zh) * 2016-12-28 2017-08-29 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN107110418A (zh) * 2016-12-28 2017-08-29 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN206993246U (zh) * 2017-07-07 2018-02-09 昊翔电能运动科技(昆山)有限公司 成像装置、云台以及成像模组
CN212959663U (zh) * 2020-06-30 2021-04-13 桂林智神信息技术股份有限公司 一种竖向减震装置及稳定器

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5413295A (en) * 1991-08-09 1995-05-09 Heiwa Seiki Kagya Co., Ltd. Weight balancer for tripod head
US5737657A (en) * 1995-11-17 1998-04-07 Paddock; George K. Adjustable platform having a quick release mechanism for use with a camera
CN104603517A (zh) * 2014-06-27 2015-05-06 深圳市大疆创新科技有限公司 云台
CN107002939A (zh) * 2016-12-28 2017-08-01 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN107110417A (zh) * 2016-12-28 2017-08-29 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN107110418A (zh) * 2016-12-28 2017-08-29 深圳市大疆灵眸科技有限公司 云台负载安装组件、云台及拍摄设备
CN206993246U (zh) * 2017-07-07 2018-02-09 昊翔电能运动科技(昆山)有限公司 成像装置、云台以及成像模组
CN212959663U (zh) * 2020-06-30 2021-04-13 桂林智神信息技术股份有限公司 一种竖向减震装置及稳定器

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