WO2023178477A1 - Vibration reduction structure, gimbal system, and movable platform - Google Patents

Abstract

A vibration reduction structure (10), comprising a first support (12), a plurality of groups of vibration reduction members (18), a second support (14), and a third support (16), wherein the second support (14) is connected to a head portion of a movable platform body (200), and is connected to a first connecting portion (1224) by means of a first vibration reduction member (182); the third support (16) is connected to the head portion, and is connected to a second connecting portion (1264) by means of a second vibration reduction member (184); and the first connecting portion (1224) is closer to the top of the movable platform body (200) than the second connecting portion (1264).

Description

Vibration-absorbing structure, pan/tilt system and movable platform Technical field

The present application relates to the field of vibration reduction technology, and in particular to a vibration reduction structure, a pan/tilt system with the vibration reduction structure, a movable platform with the vibration reduction structure, and a movable platform with the pan/tilt system.

Background technique

With the rapid development of mobile platforms, such as drones, unmanned vehicles, and unmanned ships, in addition to being widely used in consumer fields, more and more mobile platforms are beginning to be used in search and rescue, public security, anti-drug, and fire prevention , police and other industrial fields, compared with movable platforms in the consumer field, the salient features of movable platforms in industrial application fields are high frequency of use, high complexity of the operating environment, high product reliability requirements, and ease of transportation and mobility requirements. powerful. In these industry application fields, shooting equipment (such as cameras) required to be mounted on a movable platform also needs to see farther. However, during the movement of the movable platform, the shooting equipment will move together with the movable platform, resulting in the photos taken Or the video shakes.

In order to solve this problem, a three-axis gimbal is added to the shooting equipment. There is an inertial measurement unit (IMU) inside the shooting equipment. The IMU is used to detect the current posture of the shooting equipment in real time. The motor of the gimbal rotates a certain angle according to the current posture. To correct the posture of the shooting equipment, thus achieving a stabilizing effect. However, since the gimbal is mounted on a movable platform, the vibration generated by the movable platform during movement will be transmitted to the gimbal, making the shooting equipment mounted on the gimbal unable to shoot stably, resulting in low imaging quality of the shooting equipment.

Contents of the invention

Embodiments of the present application provide a vibration reduction structure, a pan/tilt system with the vibration reduction structure, a movable platform with the vibration reduction structure, and a movable platform with the pan/tilt system.

The vibration damping structure provided by the embodiment of the present application includes a first bracket, multiple sets of damping parts, a second bracket, and a third bracket. Opposite ends of the first bracket are respectively provided with first connecting parts and second connecting parts. The plurality of sets of damping members include first damping members and second damping members. The second bracket can be connected to the head of the movable platform body and is connected to the first connection part through the first shock absorber. The third bracket can be connected to the head of the movable platform body and connected to the second connection part through the second shock absorber. The first connecting part is closer to the top of the movable platform body than the second connecting part. The second bracket can apply a pulling force toward the top of the movable platform body to the first connection portion through the first damping member, and the third bracket can exert a pulling force toward the top of the movable platform body through the second damping member. The second connecting portion exerts a pulling force toward the tail of the movable platform body.

The pan/tilt system provided by the embodiment of the present application includes a vibration reduction structure and a pan/tilt. The cloud platform is connected to the vibration reduction structure. The damping structure includes a first bracket, multiple sets of damping parts, a second bracket, and a third bracket. Opposite ends of the first bracket are respectively provided with first connecting parts and second connecting parts. The plurality of sets of damping members include first damping members and second damping members. The second bracket can be connected to the head of the movable platform body and is connected to the first connection part through the first shock absorber. The third bracket can be connected to the head of the movable platform body and connected to the second connection part through the second shock absorber. The first connecting part is closer to the top of the movable platform body than the second connecting part. The second bracket can apply a pulling force toward the top of the movable platform body to the first connection portion through the first damping member, and the third bracket can exert a pulling force toward the top of the movable platform body through the second damping member. The second connecting portion exerts a pulling force toward the tail of the movable platform body.

The embodiment of the present application provides a movable platform including a movable platform body and a vibration-absorbing structure. The damping structure is connected to the movable platform. The damping structure includes a first bracket, multiple sets of damping parts, a second bracket, and a third bracket. Opposite ends of the first bracket are respectively provided with first connecting parts and second connecting parts. The plurality of sets of damping members include first damping members and second damping members. The second bracket can be connected to the head of the movable platform body and is connected to the first connection part through the first shock absorber. The third bracket can be connected to the head of the movable platform body and connected to the second connection part through the second shock absorber. The first connecting part is closer to the top of the movable platform body than the second connecting part. The second bracket can apply a pulling force toward the top of the movable platform body to the first connection portion through the first damping member, and the third bracket can exert a pulling force toward the top of the movable platform body through the second damping member. The second connecting portion exerts a pulling force toward the tail of the movable platform body.

Another movable platform provided by the embodiment of the present application includes a movable platform body and a pan/tilt system. The pan/tilt system includes a vibration reduction structure and a pan/tilt. The cloud platform is connected to the vibration reduction structure. The damping structure includes a first bracket, multiple sets of damping parts, a second bracket, and a third bracket. Opposite ends of the first bracket are respectively provided with first connecting parts and second connecting parts. The plurality of sets of damping members include first damping members and second damping members. The second bracket can be connected to the head of the movable platform body and is connected to the first connection part through the first shock absorber. The third bracket can be connected to the head of the movable platform body and connected to the second connection part through the second shock absorber. The first connecting part is closer to the top of the movable platform body than the second connecting part. The second bracket can apply a pulling force toward the top of the movable platform body to the first connection portion through the first damping member, and the third bracket can exert a pulling force toward the top of the movable platform body through the second damping member. The second connecting portion exerts a pulling force toward the tail of the movable platform body. The vibration reduction structure is connected to the movable platform body.

In the vibration reduction structure, pan/tilt system and movable platform in this application, the second bracket and the third bracket are both connected to the head of the movable platform body, and the first connection part of the first bracket is connected to the head of the movable platform body through the first damping member. The second bracket is connected, and the second connection part of the first bracket is connected to the third bracket through the second vibration damping member, so that the vibration generated by the movable platform during movement is transmitted to the first bracket through the second bracket, It is at least partially absorbed by the first damping member, and at the same time, the vibration generated by the movable platform during its movement is at least partially absorbed by the second damping member during the process of being transmitted to the first bracket through the third bracket, thereby reducing the transmission to the first bracket. The vibration of the first bracket further reduces the vibration transmitted to the shooting equipment mounted on the first bracket, ensuring the imaging quality of the shooting equipment.

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

Description of the drawings

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

Figure 1 is a schematic three-dimensional structural diagram of a vibration-damping structure according to certain embodiments of the present application;

Figure 2 is a front view of the vibration damping structure shown in Figure 1;

Figure 3 is a schematic cross-sectional view of the vibration damping structure shown in Figure 2;

Figure 4 is a side view of the vibration damping structure shown in Figure 1;

Figure 5 is a bottom view of the vibration damping structure shown in Figure 1;

Figure 6 is a schematic structural diagram of a damping member in a damping structure according to certain embodiments of the present application;

Figure 7 is a schematic cross-sectional view of the damping member shown in Figure 6;

Figure 8 is a schematic three-dimensional structural diagram of a pan/tilt system according to certain embodiments of the present application;

Figure 9 is a side view of the pan/tilt system shown in Figure 8;

Figure 10 is a schematic cross-sectional view of the pan/tilt system shown in Figure 8;

Figure 11 is a schematic three-dimensional structural diagram of the shooting equipment in the pan/tilt system according to certain embodiments of the present application;

Figure 12 is a schematic cross-sectional view of the shooting device shown in Figure 11;

Figure 13 is a schematic structural diagram of the first shell of the shooting device shown in Figure 11;

Figure 14 is a schematic structural diagram of a movable platform according to certain embodiments of the present application.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application.

In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The directions indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" etc. or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and 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, Therefore, it cannot be construed as a limitation on this application. In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the description of this application, it should be noted that, unless otherwise clearly stated 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. Connection, or integral connection; it can be mechanical connection, electrical connection or mutual communication; it can be direct connection, or indirect connection through an intermediary, it can be internal connection of two elements or interaction of two elements relation. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

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

When the movable platform carries the shooting equipment through the gimbal to perform shooting tasks, the shooting equipment is equipped with an inertial measurement unit to detect the current posture of the shooting equipment in real time. The motor of the gimbal rotates a certain angle according to the current posture to correct the shooting equipment. posture, thus achieving a stabilizing effect. However, since the gimbal is mounted on a movable platform, the vibrations generated by the movable platform during movement will be transmitted to the gimbal, making the shooting equipment mounted on the gimbal unable to shoot stably, resulting in low imaging quality of the shooting equipment. In order to solve this problem, the present application provides a vibration reduction structure 10 (shown in FIG. 1 ), a pan/tilt system 100 (shown in FIG. 8 ), and a movable platform 1000 (shown in FIG. 14 ).

Referring to FIGS. 1 and 14 , a vibration damping structure 10 provided by an embodiment of the present application includes a first bracket 12 , a second bracket 14 , a third bracket 16 and multiple sets of damping members 18 . A first connecting part 1224 and a second connecting part 1264 are respectively provided at opposite ends of the first bracket 12 . The plurality of sets of damping members 18 include first damping members 182 and second damping members 184 . The second bracket 14 can be connected to the head 202 of the movable platform body 200 and connected to the first connection part 1224 through the first shock absorber 182 . The third bracket 16 can be connected to the head 202 of the movable platform body 200 and connected to the second connection part 1264 through the second shock absorber 184 . The first connecting portion 1224 is closer to the top 204 of the movable platform body 200 than the second connecting portion 1264 . The second bracket 14 can exert a pulling force toward the top 204 of the movable platform body 200 through the first damping member 182 to the first connecting portion 1224, and the third bracket 16 can exert a pulling force toward the second connecting portion 1264 through the second damping member 184. A pulling force toward the tail 206 of the movable platform body 200.

In the vibration damping structure 10 of the embodiment of the present application, the second bracket 14 and the third bracket 16 are both connected to the head 202 of the movable platform body 200 , and the first connection portion 1224 of the first bracket 12 passes through the first damping member 182 Connected to the second bracket 14 , the second connecting portion 1264 of the first bracket 12 is connected to the third bracket 16 through the second vibration damping member 184 , so that the vibration generated by the movable platform 1000 during movement is transmitted through the second bracket 14 In the process of reaching the first bracket 12, it is at least partially absorbed by the first vibration damping member 182, and at the same time, the vibration generated by the movable platform 1000 during its movement is transmitted to the first bracket 12 through the third bracket 16, at least Part of it is absorbed by the second vibration damping member 184, thereby reducing the vibration transmitted to the first bracket 12, thereby reducing the vibration transmitted to the load 30 (photography equipment) mounted on the first bracket 12, and ensuring the imaging quality of the photography equipment.

The vibration damping structure 10 of the present application will be further described in detail below with reference to the accompanying drawings.

Please refer to FIGS. 1 and 4 . In some embodiments, the first bracket 12 has a semi-encircled bending structure and includes a first sub-bracket 122 , a second sub-bracket 124 and a third sub-bracket 126 that are connected in sequence. .

Please refer to FIG. 8 , the first sub-bracket 122 is connected to the yaw axis motor 21 of the gimbal 20 . Specifically, the first sub-frame 122 includes a first sub-frame body 1222 and a first connecting portion 1224 provided on the first sub-frame body 1222 . The first sub-support body 1222 has a cylindrical structure and is used to connect with the yaw axis motor 21 of the gimbal 20 . The first connecting portion 1224 protrudes and extends from the outer peripheral edge of the first sub-bracket body 1222 .

Please refer to FIG. 2 and FIG. 5 . In one embodiment, the number of the first connecting parts 1224 is two. The two first connecting parts 1224 are respectively located on opposite sides of the first sub-bracket body 1222 and are connected from the first sub-bracket body 1222 . The connection point of the bracket body 1222 extends in a direction close to the second sub-bracket 124 . In one example, the two first connecting parts 1224 are symmetrically distributed about an axis of the first sub-support body 1222 (parallel to the roll axis), so that the movable platform body 200 (shown in FIG. 14 ) passes through the second The forces transmitted by the bracket 14, the first damping member 182, and the first connecting portion 1224 to the first sub-bracket body 1222 are distributed on both sides of the symmetry, and can offset each other to a certain extent, reducing the vibration of the first sub-bracket body 1222, thereby reducing the vibration of the first sub-bracket body 1222. Reducing the vibration of the pan/tilt 20 (shown in Figure 8) can better ensure the stability of the shooting equipment, thereby ensuring the quality of images captured by the shooting equipment. Of course, in other examples, the two first connecting parts may not be symmetrically distributed with respect to the axis of the first sub-support body (parallel to the roll axis), and the position distribution of the two first connection parts on the first sub-support body may be consistent with that of the first sub-support body. The structure of the mobile platform body is adapted to make the structure of the mobile platform more compact.

In other embodiments, the number of first connecting portions 1224 may also be three, four or more, and the plurality of first connecting portions 1224 all protrude and extend from the outer periphery of the first sub-bracket body 1222 . In one example, the plurality of first connection parts 1224 are evenly distributed around the center of the first sub-support body 1222. In this way, the movable platform body 200 can pass through the second support 14, the first damping member 182, and the first connection in sequence. The force transmitted by the portion 1224 to the first sub-support body 1222 is also evenly distributed around the center of the first sub-support body 1222 . When the number of the first connecting portions 1224 is an even number, an even number of forces will also be generated. The even numbers of forces can cancel each other out to a certain extent, reducing the vibration of the first sub-support body 1222 and further reducing the vibration of the first sub-support body 1222 . The vibration of the pan/tilt 20 can further ensure the stability of the shooting equipment, thereby ensuring the quality of images captured by the shooting equipment. When the number of the first connecting portions 1224 is an odd number, an odd number of forces will also be generated. The odd number of forces will make the overall force acting on the first sub-bracket body 1222 more balanced, and can also reduce the first sub-bracket body 1222 to a certain extent. The vibration of the bracket body 1222 further reduces the vibration of the pan/tilt 20, thus ensuring the stability of the shooting equipment and thus ensuring the quality of images captured by the shooting equipment.

Please refer to FIG. 1 and FIG. 9 together. The second sub-frame 124 surrounds the first arm 261 (yaw axis arm) of the gimbal 20 . Specifically, the second sub-bracket 124 has a bent structure to form an surrounding space. The surrounding space can be used to place the pan-tilt 20 and the load 30 (photography equipment), so that the pan-tilt 20 , the load 30 and the vibration-absorbing structure 10 The assembly is more compact and meets the miniaturization of the movable platform 1000. One end of the second sub-bracket 124 extends from the first sub-bracket body 1222 .

Please refer to FIG. 1 and FIG. 14 together. The third sub-bracket 126 includes a third sub-bracket body 1262 and a second connecting part 1264 provided on the third sub-bracket body 1262 . The third sub-bracket body 1262 is connected to the other end of the second sub-bracket 124 and extends relative to opposite sides of the second sub-bracket 124 . The first connecting portion 1224 is closer to the top 204 of the movable platform body 200 than the second connecting portion 1264 .

Referring to FIG. 2 , in one embodiment, the number of the second connecting parts 1264 is two, and the two second connecting parts 1264 are respectively located at opposite ends of the third sub-bracket body 1262 . Please refer to FIG. 5 . In one example, the two second connecting parts 1264 are symmetrically distributed about an axis of the third sub-support body 1262 (parallel to the roll axis). In this way, the movable platform body 200 passes through the third support in sequence. 16. The force transmitted by the second vibration damping member 184 and the second connecting part 1264 to the third sub-bracket body 1262 is distributed on both sides of the symmetry, and can offset each other to a certain extent, reducing the vibration of the third sub-bracket body 1262, thereby reducing the vibration of the third sub-bracket body 1262. The vibration of the small pan/tilt 20 can further ensure the stability of the shooting equipment, thereby ensuring the quality of images captured by the shooting equipment. Of course, in other examples, the two second connecting parts may not be symmetrically distributed with respect to the axis of the third sub-support body (parallel to the roll axis), and the position distribution of the two second connecting parts on the third sub-support body may be consistent with that of the third sub-support body. The structure of the mobile platform body is adapted to make the structure of the mobile platform more compact. In other embodiments, the number of second connecting portions 1264 may also be three, four, or more, which is not limited here.

Please continue to refer to FIG. 1 and FIG. 14 . The second bracket 14 and the third bracket 16 are both connected to the head 202 of the movable platform body 200 . In some embodiments, the head 202 of the movable platform body 200 is provided with a receiving cavity 201. The extending direction of the first side wall 2011 of the receiving cavity 201 is substantially consistent with the extending direction of the end surface of the top 204 of the movable platform 1000, and Located between the top 204 and the belly 208 of the movable platform 1000. The extending direction of the second side wall 2013 of the receiving cavity 201 is substantially consistent with the extending direction of the end surface of the tail 206 of the movable platform 1000 , and is located between the head 202 and the tail 206 of the movable platform 1000 . The second side wall 2013 is connected with the first side wall 2011.

The second bracket 14 is combined with the first side wall 2011. In one embodiment, the second bracket 14 can be installed inside the movable platform body 200 and connected to the inside of the first side wall 2011 . In this way, the integration degree of the second bracket 14 and the movable platform body 200 can be higher, and the overall structure of the movable platform 1000 can be compact. In addition, the second bracket 14 is located inside the movable platform body 200, and the first side wall 2011 can protect the second bracket 14 from water, dust, etc., so that it can have a longer service life when used in harsh environments. In another embodiment, the second bracket 14 can be installed on the outside of the movable platform body 200 and connected to the outside of the first side wall 2011 . At this time, the second bracket 14 is located in the receiving cavity 201. In this way, the installation of the second bracket 14 becomes simpler, and once damaged, it is easy to replace.

The third bracket 16 is combined with the second side wall 2013. In one embodiment, the third bracket 16 can be installed inside the movable platform body 200 and connected to the inside of the second side wall 2013 . In this way, the integration degree of the third bracket 16 and the mobile platform body can be higher, and the overall structure of the movable platform 1000 can be compact. In addition, the third bracket 16 is located inside the movable platform body 200, and the second side wall 2013 can protect the third bracket 16 from water, dust, etc., so that it can have a longer service life when used in harsh environments. In another embodiment, the third bracket 16 may be installed on the outside of the movable platform body 200 and connected to the outside of the second side wall 2013 . At this time, the third bracket 16 is located in the receiving cavity 201. In this way, the installation of the third bracket 16 becomes simpler, and once damaged, it is easy to replace.

Please refer to Figure 1 and Figure 14. In some embodiments, the multiple sets of shock absorbers 18 include two groups of shock absorbers, namely a first group of shock absorbers and a second group of shock absorbers. The first group of shock absorbers Corresponding to the first connecting part 1224, the second set of damping members corresponds to the second connecting part 1264. In the embodiment of the present application, the first group of shock absorbers includes two first shock absorbers 182 , and the two first shock absorbers 182 correspond to the two first connection parts 1224 respectively. The two first shock absorbers 122 of the first bracket 12 A connecting portion 1224 is connected to the second bracket 14 through a corresponding first damping member 182 , and the second bracket 14 can exert a force on the corresponding first connecting portion 1224 toward the top of the movable platform body 200 through the first damping member 182 . 204 pull force. The second group of shock absorbers includes two second shock absorbers 184 . The two second shock absorbers 184 respectively correspond to the two second connection parts 1264 . The two second connection parts 1264 of the first bracket 12 respectively pass through corresponding The second damping member 184 is connected to the third bracket 16, and the third bracket 16 can exert a pulling force toward the tail portion 206 of the movable platform body 200 through the second damping member 184 to the corresponding second connecting portion 1264.

It can be understood that the first group of shock absorbers is not limited to the embodiment of the present application including two first shock absorbers 182, but may also include three, four, or even more first shock absorbers 182. It is necessary that the number of first damping members 182 corresponds to the number of first connecting parts 1224, the distribution of the first damping members 182 corresponds to the distribution of the first connecting parts 1224, and serves to connect the first bracket 12 and the second bracket. The effect of 14 is enough. Similarly, the second set of shock absorbers is not limited to the embodiment of the present application including two second shock absorbers 184, and may also include three, four, or even more second shock absorbers 184. It is only necessary that the number of the second damping members 184 corresponds to the number of the second connecting parts 1264, the distribution of the second damping members 184 corresponds to the distribution of the second connecting parts 1264, and serves to connect the first bracket 12 and the third The function of bracket 16 is enough.

Please refer to FIG. 1 and FIG. 5 . In some embodiments, multiple sets of damping members 18 are located on the same side of the first sub-frame body 1222 . In one example, the axes of the two first damping members 182 may be in the same plane, such as both being in the second plane M2, that is, the axes of the two first damping members 182 form the second plane M2. In another example, the axes of the two second damping members 184 may also be in the same plane, for example, both are in the third plane M3. That is, the axes of the two second damping members 184 form the third plane M3. When the axes of the two first damping members 182 are in the second plane M2 and the axes of the two second damping members 184 are in the third plane M3, the second plane M2 intersects the second plane M2, And the angle between them is an acute angle. In one embodiment, the axes of the two first damping members 182 are in a figure-eight shape, and the axes of the two second damping members 184 are also in a figure-eight shape.

Please refer to FIGS. 6 and 7 together. Specifically, each damping member 18 may include a damping body 181 , a first buckle part 183 , and a second buckle part 185 . The first buckle part 183 and the second buckle part 185 are respectively located at opposite ends of the damping body 181. The first buckle part 183 is used to buckle the second bracket 14 or the third bracket 16. The second buckle part 185 Used to buckle the first connection part 1224 or the second connection part 1264.

More specifically, please refer to FIG. 1 , the damping body 181 is used to buffer vibration, and includes a first end 1811 and a second end 1813 that are opposite to each other. The first buckle part 183 is located at the first end 1811, and the second buckle part 185 is located at the second end 1813. The damping body 181 also includes a damping ball 1812, a first boss 1814, and a second boss 1816. The vibration-absorbing ball 1812 is used to buffer vibration. The first boss 1814 is disposed on an end of the damping ball 1812 close to the first buckle part 183 and surrounds the damping ball 1812 for cooperating with the first buckle part 183 to limit the second bracket 14 or the third Movement of bracket 16. The second boss 1816 is disposed on an end of the damping ball 1812 away from the first buckle part 183 and surrounds the damping ball 1812 for cooperating with the second buckle part 185 to limit the first connecting part 1224 or the second buckle part 185 . Movement of the second connecting part 1264.

In some embodiments, the number of damping balls 1812 is one, and the first boss 1814 and the second boss 1816 are respectively provided at opposite ends of the one damping ball 1812. At this time, the damping member 18 has a small volume and a compact structure. In other embodiments, the number of damping balls 1812 is multiple, for example, greater than or equal to two. The multiple damping balls 1812 are arranged in series, and the first boss 1814 and the second boss 1816 are respectively arranged on the outermost two. The free end of a damping ball 1812. At this time, the multiple damping balls 1812 provide better buffering and damping effects, thereby improving the overall damping effect of the damping structure 10 .

In some embodiments, the damping ball 1812 is made of elastic material such as rubber or resin with wrinkles. Therefore, when the vibration is transmitted to the damping ball 1812, the wrinkles and elastic properties buffer or even absorb the vibration. The function of the vibration damping member 18 is to have a vibration damping and buffering effect, thereby reducing the vibration transmitted to the first bracket 12, thereby reducing the vibration transmitted to the shooting equipment mounted on the first bracket 12, and ensuring the imaging quality of the shooting equipment .

In some embodiments, the damping ball 1812 has a hollow structure. The hollow structure of the damping ball 1812 can provide more buffering space for the transmitted vibration, thereby improving the damping effect of the damping structure 10 . In one example, the damping ball 1812 may be a fully hollow structure. In another example, the damping ball 1812 is a partially hollow structure, that is, part of it is solid and part of it is hollow. Of course, in other embodiments, the damping ball 1812 may also have a fully solid structure. In this case, the damping ball 1812 needs to have strong elastic deformation characteristics, or be provided with multiple layers of wrinkles to ensure the damping and buffering effect.

In some embodiments, the damping element 186 may be provided in the damping ball 1812, such as damping oil. The damping oil has good vibration damping, buffering, sealing, waterproofing, damping and other properties, so that the damping ball equipped with the damping oil 1812 also has a good vibration-absorbing and buffering effect, further improving the vibration-absorbing and buffering effect of the vibration-absorbing structure 10 .

Referring to FIG. 2 and FIG. 3 , the second bracket 14 is combined with the first connecting portion 1224 of the first bracket 12 through the first damping member 182 . Specifically, the second bracket 14 is clamped between the first buckle portion 183 of the first damper 182 and the first boss 1814 of the first damper 182 , and the first connecting portion 1224 is clamped between the first damper 182 and the first boss 1814 of the first damper 182 . between the second buckling portion 185 of the vibration member 182 and the second boss 1816 of the first vibration damping member 182 .

Please continue to refer to FIG. 2 and FIG. 3 . In one embodiment, along the extending direction of the first damping member 182 , the first buckle portion 183 of the first damping member 182 and the first protrusion of the first damping member 182 The width of the gap between the platforms 1814 is less than or equal to the thickness of the second bracket 14 . In this way, the gap between the first buckle portion 183 of the first damper 182 and the first boss 1814 of the first damper 182 It is completely filled by the second bracket 14, without any space to accommodate sand, dust and other impurities. In comparison, when the first damping member 182 is not provided with the first boss 1814, impurities will accumulate on the outer peripheral surface of the damping ball 1812. Alternatively, the gap between the first buckle portion 183 of the first damping member 182 and the first boss 1814 of the first damping member 182 is greater than the thickness of the second bracket 14 , and impurities may also enter the gap and accumulate. Regardless of the above situation, the accumulation of impurities will rub the damping ball 1812 during the process of the damping ball 1812 being pulled to exert the damping and buffering effect, causing the damping ball 1812 to be worn. This lasts for a long time or is in extremely bad conditions. In a working environment (environment with a lot of impurities), the vibration-absorbing ball 1812 will break, affecting the vibration-absorbing and buffering effect. In the first damping member 182 of the present application, the first buckle portion 183 and the first boss 1814 are provided so that impurities have nowhere to hide, thereby preventing the damping ball 1812 from being pulled to exert its damping and buffering effect. The accumulation of impurities rubs the damping ball 1812, thereby extending the life of the first damping member 182 and ensuring the long-term damping effect of the entire damping structure 10.

In one embodiment, along the extension direction of the first damping member 182 , the width of the gap between the second buckling portion 185 of the first damping member 182 and the second boss 1816 of the first damping member 182 is less than Or equal to the thickness of the first connecting portion 1224 , so that the gap between the second buckling portion 185 of the first damping member 182 and the second boss 1816 of the first damping member 182 is completely filled by the first connecting portion 1224 , there is no space to accommodate impurities such as sand, dust, etc. In comparison, when the first damping member 182 is not provided with the second boss 1816, impurities will accumulate on the outer peripheral surface of the damping ball 1812. Alternatively, the gap between the second buckle portion 185 of the first damping member 182 and the second boss 1816 of the first damping member 182 is greater than the thickness of the first connecting portion 1224, and impurities may also enter the gap and form an accumulation. . Regardless of the above situation, the accumulation of impurities will rub the damping ball 1812 during the process of the damping ball 1812 being pulled to exert the damping and buffering effect, causing the damping ball 1812 to be worn. This lasts for a long time or is in extremely bad conditions. In a working environment (environment with a lot of impurities), the vibration-absorbing ball 1812 will break, affecting the vibration-absorbing and buffering effect. In the first damping member 182 of the present application, the second buckle portion 185 and the second boss 1816 are provided so that impurities have nowhere to hide, thereby preventing the damping ball 1812 from being pulled to exert its damping and buffering effect. The accumulation of impurities rubs the damping ball 1812, thereby extending the life of the first damping member 182 and ensuring the long-term damping effect of the entire damping structure 10.

In some embodiments, the damping member 18 may further include a holding portion 187 extending from the second buckle portion 185 for the user to hold to make it easier to install the damping member 18 . Specifically, during the process of installing the first damping member 182 into the first bracket 12 and the second bracket 14, after the gripping portion 187 passes through the second bracket 14, the user pulls the gripping portion 187 to deform the damping body 181. And let the holding part 187 pass through the first connecting part 1224 of the first bracket 12, until the second bracket 14 is clamped between the first buckle part 183 of the first damping part 182 and the first part of the first damping part 182. Between the bosses 1814, the first connecting part 1224 is clamped between the second buckle part 185 of the first damper 182 and the second boss 1816 of the first damper 182. At this time, the first damper The vibrator 182 is installed in place. After the first shock absorber 182 is installed in place, the holding portion 187 of the first shock absorber 182 can be retained. When the first shock absorber 182 needs to be replaced, it is convenient for the user to hold and make it easier to remove the first shock absorber. The piece 182 is pulled out from the side where the first connecting portion 1224 is located. Of course, the holding portion 187 of the first damping member 182 can also be removed to maintain the overall appearance of the damping structure 10 .

Please continue to refer to FIG. 2 and FIG. 3 . The third bracket 16 is combined with the second connecting portion 1264 of the first bracket 12 through the second damping member 184 . Specifically, please refer to FIG. 6 and FIG. 7 , the third bracket 16 is clamped between the first buckle portion 183 of the second damping member 184 and the first boss 1814 of the second damping member 184 . The second connection The portion 1264 is clamped between the second buckling portion 185 of the second damping member 184 and the second boss 1816 of the second damping member 184 .

In one embodiment, along the extension direction of the second shock absorber 184, the width of the gap between the first buckle portion 183 of the second shock absorber 184 and the first boss 1814 of the second shock absorber 184 is less than Or equal to the thickness of the third bracket 16, so that the gap between the first buckle portion 183 of the second damping member 184 and the first boss 1814 of the second damping member 184 is completely filled by the third bracket 16, without Any space holds sand, dust and other impurities. In comparison, when the second damping member 184 is not provided with the first boss 1814, impurities will accumulate on the outer peripheral surface of the damping ball 1812. Alternatively, the gap between the first buckle portion 183 of the second damping member 184 and the first boss 1814 of the second damping member 184 is greater than the thickness of the third bracket 16, and impurities may also enter the gap and accumulate. Regardless of the above situation, the accumulation of impurities will rub the damping ball 1812 during the process of the damping ball 1812 being pulled to exert the damping and buffering effect, causing the damping ball 1812 to be worn. This lasts for a long time or is in extremely bad conditions. In a working environment (environment with a lot of impurities), the vibration-absorbing ball 1812 will break, affecting the vibration-absorbing and buffering effect. In the second damping member 184 of the present application, the first buckle portion 183 and the first boss 1814 are provided so that impurities have nowhere to hide, thereby preventing the damping ball 1812 from being pulled to exert its damping and buffering effect. The accumulation of impurities rubs the damping balls 1812, thereby extending the life of the second damping member 184 and ensuring the long-term damping effect of the entire damping structure 10.

In one embodiment, along the extension direction of the second damping member 184, the width of the gap between the second buckling portion 185 of the second damping member 184 and the second boss 1816 of the second damping member 184 is less than Or equal to the thickness of the second connecting portion 1264 , so that the gap between the second buckling portion 185 of the second damping member 184 and the second boss 1816 of the second damping member 184 is completely filled by the second connecting portion 1264 , there is no space to accommodate impurities such as sand, dust, etc. In comparison, when the second damping member 184 is not provided with the second boss 1816, impurities will accumulate on the outer peripheral surface of the damping ball 1812. Alternatively, the gap between the second buckle portion 185 of the second damping member 184 and the second boss 1816 of the second damping member 184 is greater than the thickness of the second connecting portion 1264, and impurities may also enter the gap and form an accumulation. . Regardless of the above situation, the accumulation of impurities will rub the damping ball 1812 during the process of the damping ball 1812 being pulled to exert the damping and buffering effect, causing the damping ball 1812 to be worn. This lasts for a long time or is in extremely bad conditions. In a working environment (environment with a lot of impurities), the vibration-absorbing ball 1812 will break, affecting the vibration-absorbing and buffering effect. In the second damping member 184 of the present application, the second buckle portion 185 and the second boss 1816 are provided so that impurities have nowhere to hide, thereby preventing the damping ball 1812 from being pulled to exert its damping and buffering effect. The accumulation of impurities rubs the damping balls 1812, thereby extending the life of the second damping member 184 and ensuring the long-term damping effect of the entire damping structure 10.

When the damping member 18 further includes a holding portion 187 extending from the second buckle portion 185 , when the second damping member 184 is installed into the first bracket 12 and the third bracket 16 , the holding portion 187 extends from the second buckle portion 185 . After the holding part 187 passes through the third bracket 16, the user pulls the holding part 187 to deform the damping body 181 and passes the holding part 187 through the second connecting part 1264 of the first bracket 12, until the third bracket 16 clamps Between the first buckle portion 183 of the second shock absorber 184 and the first boss 1814 of the second shock absorber 184, the second connecting portion 1264 is clamped by the second buckle portion of the second shock absorber 184. 185 and the second boss 1816 of the second damping member 184. At this time, the second damping member 184 is installed in place. After the second shock absorber 184 is installed in place, the holding portion 187 of the second shock absorber 184 can be retained. When the second shock absorber 184 needs to be replaced, it is convenient for the user to hold it and make it easier to remove the second shock absorber. The piece 184 is pulled out from the side where the second connecting portion 1264 is located. Of course, the holding portion 187 of the second damping member 184 can also be removed to maintain the overall appearance of the damping structure 10 .

Referring to FIG. 8 , a pan/tilt system 100 provided by an embodiment of the present application includes a vibration reduction structure 10 and a pan/tilt 20 . The pan/tilt 20 is connected to the vibration reduction structure 10 . Referring to FIG. 1 , the damping structure 10 includes a first bracket 12 , multiple sets of damping members 18 , a second bracket 14 , and a third bracket 16 . A first connecting part 1224 and a second connecting part 1264 are respectively provided at opposite ends of the first bracket 12 . The plurality of sets of damping members 18 include first damping members 182 and second damping members 184 . The second bracket 14 can be connected to the head 202 of the movable platform body 200, and is connected to the first connection part 1224 through the first shock absorber 182. The third bracket 16 can be connected to the head 202 of the movable platform body 200 and connected to the second connection part 1264 through the second shock absorber 184 . The first connecting portion 1224 is closer to the top 204 of the movable platform body 200 than the second connecting portion 1264 . The second bracket 14 can exert a pulling force toward the top 204 of the movable platform body 200 through the first damping member 182 to the first connecting portion 1224, and the third bracket 16 can exert a pulling force toward the second connecting portion 1264 through the second damping member 184. A pulling force toward the tail 206 of the movable platform body 200.

In the pan/tilt system 100 of the embodiment of the present application, both the second bracket 14 and the third bracket 16 are connected to the head 202 of the movable platform body 200 , and the first connection portion 1224 of the first bracket 12 passes through the first damping member 182 Connected to the second bracket 14 , the second connecting portion 1264 of the first bracket 12 is connected to the third bracket 16 through the second vibration damping member 184 , so that the vibration generated by the movable platform 1000 during movement is transmitted through the second bracket 14 In the process of reaching the first bracket 12, it is at least partially absorbed by the first vibration damping member 182, and at the same time, the vibration generated by the movable platform 1000 during its movement is transmitted to the first bracket 12 through the third bracket 16, at least Part of it is absorbed by the second vibration damping member 184, thereby reducing the vibration transmitted to the first bracket 12, thereby reducing the vibration transmitted to the photographing equipment mounted on the first bracket 12, and ensuring the imaging quality of the photographing equipment.

It should be noted that the vibration reduction structure 10 in the pan/tilt system 100 can be the vibration reduction structure 10 of any of the above embodiments. For the specific structure, please refer to the above description. The following will further describe in detail the pan/tilt 20 in the pan/tilt system 100 of the present application, the combination of the pan/tilt 20 and the vibration-absorbing structure 10, and other structures in the pan/tilt system 100 in conjunction with the accompanying drawings.

Please refer to FIGS. 8 and 9 together. The gimbal 20 includes a yaw axis motor 21 , a roll axis motor 22 , a tilt axis motor 23 and an axis arm 26 . Specifically, the axis arm 26 includes a first arm 261 and a second arm 263. The first arm 261 and the first bracket 12 are rotationally connected through the yaw axis motor 21, and the second arm 263 and the first arm 261 are connected through a yaw axis motor 21. The roll axis motor 22 is rotationally connected. More specifically, the first arm 261 is rotationally connected to the first sub-frame body 1222 of the first bracket 12 through the yaw axis motor 21 .

After the pan/tilt 20 is combined with the damping structure 10, that is, when the yaw axis motor 21 is rotationally connected to the first sub-frame body 1222 of the first frame 12:

In one embodiment, in the first plane M1 formed by the pitch axis and the roll axis, the projection of the center of the first damping member 182 is located between the projection of the center of the yaw axis motor 21 and the projection of the second damping member 184 between the center projections. More specifically, in the first plane M1 , the projection of the center of the first damper 182 is located between the projection of the center of the yaw axis motor 21 and the center of the roll axis motor 22 . It should be noted that the center of the first damping member 182 in this article may refer to the center of the first buckle portion 183 of the first damping member 182 , and the center of the second damping member 184 may refer to the second damping member 184 the center of the first buckling portion 183 .

In addition, in one example, the intersection point of the axes of the two first damping members 182 may be located above the first plane M1; in another example, the intersection point of the axes of the two first damping members 182 may be located above the first plane M1. in the plane M1; in another example, the intersection of the axes of the two second damping members 184 is located above the first plane M1; in yet another example, the intersection of the axes of the two second damping members 184 is located on the first plane M1. In a plane M1.

In the vibration damping structure 10 of the pan/tilt system 100 of the present application, the above-mentioned optimization is adopted for the arrangement position and arrangement angle of the damping members 18. On the basis of ensuring the vibration damping attenuation characteristics and vibration damping decoupling, the vibration damping is reduced. Piece 18 layout footprint.

Please continue to refer to FIGS. 8 and 9 . Further, in some embodiments, the pan/tilt system 100 may further include a load 30 , and the load 30 is rotationally connected to the second arm 263 through the tilt axis motor 23 . The load 30 may be a photographing device, a detector (including but not limited to detecting air pressure, temperature, etc.), or a detection device such as radar. This application only takes the load 30 as a shooting device as an example for explanation.

Please refer to Figure 11. Specifically, the load 30 includes a housing 31 and a functional module. The functional modules include but are not limited to at least one of the ranging module 32 , the infrared camera module 33 , the zoom camera module 34 and the wide-angle camera module 35 . The following description takes the functional module including the ranging module 32, the infrared camera module 33, the zoom camera module 34 and the wide-angle camera module 35 as an example. The ranging module 32, the infrared camera module 33, the zoom camera module 34 and wide-angle camera module 35 are installed in the housing 31 . Among them, the ranging module 32 can be a laser radar, which is used to detect the distance between the load 30 and the object to provide a basis for obstacle avoidance of the movable platform 1000 (shown in Figure 14). The infrared camera module 33 uses infrared light for imaging, and can capture clear images in low-light environments, such as at night or indoors or outdoors with poor lighting, without being limited by brightness. The zoom camera module 34 can be a telephoto camera with a wide focal range, for example, it can zoom in the range of (3-10) times, and can especially image objects at a longer distance clearly. The wide-angle camera module 35 has a larger field of view, and the focal length range can be complementary to the focal length range of the zoom camera module 34, so that the payload 30 as a whole covers a wider zoom range. When the payload 30 performs shooting, the zoom camera module 34 and The wide-angle camera module 35 can form relay focusing, and can clearly image distant and near objects, as well as objects in a wider range. Compared with traditional shooting equipment, the payload 30 of this application does not use the telephoto lens with the widest focal length (the lens needs to be as long as possible), but uses the wide-angle camera module 35 to complement the zoom camera module 34 to avoid This eliminates the excessive length of the zoom camera module 34 (along the direction of incident light), thereby reducing the total length of the load 30 and achieving overall miniaturization of the pan/tilt system 100.

Please continue to refer to Figure 11. In some embodiments, two pairs of the ranging module 32, the infrared camera module 33, the zoom camera module 34 and the wide-angle camera module 35 are arranged side by side along the width direction of the housing 31. Or they are arranged side by side along the length and height direction of the housing 31 . In one example, in the width direction of the housing 31 , the zoom camera module 34 and the infrared camera module 33 are arranged side by side, and the ranging module 32 and the wide-angle camera module 35 are arranged side by side. In the height direction of the housing 31, the infrared camera module 33 and the wide-angle camera module 35 are arranged side by side, and the zoom camera module 34 and the ranging module 32 are arranged side by side. This layout allows the ranging module 32, the infrared camera module 33, the zoom camera module 34 and the wide-angle camera module 35 to be compactly installed in the housing 31, with high integration and miniaturization.

More specifically, please refer to Figures 11 and 12 together. In some embodiments, the housing 31 has a square structure and includes a first housing 312, a second housing 314 and a third housing 316 connected in sequence. 30 also includes a mounting bracket 36, the mounting bracket 36 is installed on the second shell 314, the zoom camera module 34 is installed on the mounting bracket 36, the ranging module 32 is installed on the mounting bracket 36, and the infrared camera module 33 is installed on the first shell 312 , the wide-angle camera module 35 is installed on the first shell 312. In one example, at least one vertex corner of the square-structured housing 31 is recessed inward to form a groove 318 . In this application, the four top corners of the square-structured housing 31 are all recessed inward to form grooves 318 . In this way, on the one hand, the arrangement of the groove 318 makes the overall envelope of the load 30 smaller, achieving miniaturization. On the other hand, the groove 318 can provide a certain degree of clearance for other structures on the pan/tilt 20 to avoid interference.

Please refer to Figure 13. The first shell 312 is provided with a first hole 3122, a second hole 3123, a third hole 3124 and a fourth hole 3125. The first hole 3122 corresponds to the infrared camera module 33, and the second hole 3123 corresponds to the infrared camera module 33. The zoom camera module 34 corresponds, the third hole 3124 corresponds to the ranging module 32 , and the fourth hole 3125 corresponds to the wide-angle camera module 35 . The first hole 3122, the second hole 3123, the third hole 3124 and the fourth hole 3125 are distributed at different positions of the first shell 312, and the first hole 3122, the second hole 3123, the third hole 3124 and the fourth hole 3125 are mutually distributed. Without interference, along the width direction of the first shell 312, the first hole 3122 and the second hole 3123 are arranged side by side, and the third hole 3124 and the fourth hole 3125 are arranged side by side; along the height direction of the first shell 312, the first hole 3122 and the fourth hole 3125 are arranged side by side. The fourth holes 3125 are arranged side by side, and the second holes 3123 and the third holes 3124 are arranged side by side.

Please refer to Figure 14. The working environment of the movable platform 1000 is somewhat harsh, such as in places with heavy dust and large temperature differences. In order to enable the load 30 to work normally in these environments, in some embodiments, the load 30 may include a conductive layer 38 and a protective glass 39. The protective glass 39 is disposed on the housing 31 and can allow light to pass through. The protective glass 39 and At least one of the infrared camera module 33, the zoom camera module 34, the ranging module 32 and the wide-angle camera module 35 corresponds to, for example, the first hole 3122, the second hole 3123, the third hole 3124 and the fourth hole 3125. At least one of them is provided with a protective glass 39, which can protect the infrared camera module 33, the zoom camera module 34, the ranging module 32 or the wide-angle camera module 35 from dust, water, impurities, falls, etc. . The conductive layer 38 is disposed on the protective glass 39. The conductive layer 38 can be electrically connected to the circuit board in the housing 31. When the load 30 is at a low temperature, the conductive layer 38 can be energized to generate heat, and the heat is conducted to the protective glass 39, which can prevent The protective glass 39 is fogged, thereby ensuring that the functional modules corresponding to the protective glass 39 can work normally, especially the imaging quality of the zoom camera module 34 and the wide-angle camera module 35 .

The movable platform 1000 may also work in situations where there is heavy water vapor, rainy days, and fire extinguishing is required. In order to make the load 30 work normally in these environments, some waterproof designs need to be made to the load 30. In certain embodiments, load 30 may also include a seal.

Please refer to Figure 12. In one example, a first seal 371 is provided at the connection between the first shell 312 and the second shell 314. The first seal 371 is used to seal the gap between the first shell 312 and the second shell 314. The gap prevents water vapor from entering through the gap between the first shell 312 and the second shell 314 and damaging the functional modules or other components in the shell 31 . The first sealing member 371 may be a sealing ring made of rubber.

Please continue to refer to FIG. 12 . In another example, a second seal 373 is provided at the connection between the second shell 314 and the third shell 316 . The second seal 373 is used to seal the gap between the second shell 314 and the third shell 316 to prevent water vapor from entering from the gap between the second shell 314 and the third shell 316 and damaging the functional module in the shell 31 or Other components. The second sealing member 373 may be a sealing ring made of rubber.

Please refer to FIGS. 9 to 11 together. In another example, the second housing 314 and the yoke of the tilt axis motor 23 of the gimbal 20 are sealed by a third seal 375 . The third seal 375 is used to seal the gap between the magnetic yoke of the tilt axis motor 23 and the second shell 314 to prevent water vapor from entering from the gap between the second shell 314 and the magnetic yoke of the tilt axis motor 23 and damaging the shell. functional modules or other components in the body 31. The third sealing member 375 may be sealant.

Please refer to Figures 9 and 10 together. In another example, the pan/tilt 20 can also include a coaxial line 27 and a fourth seal 377. The coaxial line 27 passes through the fourth seal 377. The fourth seal 377 It is used to seal the gap between the coaxial line 27 and the second arm 263 of the pan/tilt 20 . The fourth sealing member 377 may be a sealing rubber plug.

Referring to FIG. 1 and FIG. 14 , a movable platform 1000 provided by an embodiment of the present application includes a movable platform body 200 and the vibration reduction structure 10 of any of the above embodiments. The vibration-absorbing structure 10 is connected to the movable platform body 200 . The specific structure of the vibration-absorbing structure 10 in the movable platform 1000 may refer to the previous description. No further explanation will be given here.

Referring to FIG. 1 and FIG. 14 , another movable platform 1000 provided by an embodiment of the present application includes a movable platform body 200 and the pan/tilt system 100 of any of the above embodiments. The vibration reduction structure 10 of the pan/tilt system 100 is connected to the movable platform body 200 . The specific structure of the pan/tilt system 100 in the movable platform 1000 may refer to the previous description. No further explanation will be given here.

In some embodiments, when the damping structure 10 is connected to the movable platform body 200, the multiple sets of damping members 18 are closer to the tail 206 of the movable platform 1000 than the yaw axis motor 21 of the gimbal 20, and, The shock absorber 18 is completely hidden inside the movable platform body 200. On the one hand, the movable platform 1000 is more beautiful. On the other hand, the shock absorber 18 can be well protected by the movable platform 1000 to avoid erosion and friction from impurities and moisture. , the service life can be further extended.

In the movable platform 1000 in the embodiment of the present application, both the second bracket 14 and the third bracket 16 are connected to the head 202 of the movable platform body 200 , and the first connection part 1224 of the first bracket 12 passes through the first shock absorber 182 Connected to the second bracket 14 , the second connecting portion 1264 of the first bracket 12 is connected to the third bracket 16 through the second vibration damping member 184 , so that the vibration generated by the movable platform 1000 during movement is transmitted through the second bracket 14 In the process of reaching the first bracket 12, it is at least partially absorbed by the first vibration damping member 182, and at the same time, the vibration generated by the movable platform 1000 during its movement is transmitted to the first bracket 12 through the third bracket 16, at least Part of it is absorbed by the second vibration damping member 184, thereby reducing the vibration transmitted to the first bracket 12, thereby reducing the vibration transmitted to the load 30 (photography equipment) mounted on the first bracket 12, and ensuring the imaging quality of the photography equipment.

In the description of this specification, reference is made to terms such as "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples." The description of means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is 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.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include at least one of the described features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

Although the embodiments of the present application have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be construed as limitations of the present application. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present application. The embodiments are subject to changes, modifications, substitutions and variations, and the scope of the application is defined by the claims and their equivalents.

Claims (32)

1. A vibration-damping structure, characterized in that the vibration-damping structure includes:

   A first bracket, with first connecting portions and second connecting portions respectively provided at opposite ends of the first bracket;

   A plurality of sets of vibration damping members, including a first vibration damping member and a second vibration damping member;

   The second bracket can be connected to the head of the movable platform body and is connected to the first connection part through the first shock absorber; and

   The third bracket can be connected to the head of the movable platform body, and is connected to the second connection part through the second shock absorber; wherein:

   The first connection part is closer to the top of the movable platform body than the second connection part, and the second bracket can exert a force on the first connection part towards the first connection part through the first shock absorber. According to the tensile force on the top of the movable platform body, the third bracket can apply a tensile force toward the tail of the movable platform body to the second connecting portion through the second shock absorber.
2. The vibration reduction structure according to claim 1, used for a pan/tilt, characterized in that the plurality of sets of vibration damping members are closer to the tail of the movable platform than the yaw axis motor of the pan/tilt.
3. The vibration damping structure according to claim 1, used for a pan/tilt, characterized in that, in the first plane formed by the pitch axis and the roll axis of the pan/tilt, the center of the first damping member The projection is located between the projection of the center of the yaw axis motor of the gimbal and the center of the roll axis motor of the gimbal.
4. The vibration damping structure according to claim 1, used for a pan/tilt, characterized in that, in the first plane formed by the pitch axis and the roll axis of the pan/tilt, the center of the first damping member The projection is located between the projection of the center of the yaw axis motor of the gimbal and the projection of the center of the second shock absorber.
5. The vibration damping structure according to claim 3 or 4, characterized in that the intersection points of the axes of the plurality of first damping members are located above the first plane or within the first plane, and a plurality of The intersection point of the axis of the second damping member is located above the first plane or within the first plane.
6. The vibration damping structure according to claim 3 or 4, characterized in that the number of the first damping parts is multiple, the number of the second damping parts is multiple, and the number of the first damping parts is multiple. The second plane formed by the axis of the vibration member forms an included angle with the third plane formed by the axes of the plurality of second vibration damping members, and the included angle is an acute angle.
7. The vibration damping structure according to claim 3 or 4, characterized in that the number of the first damping members is two, and the axes of the two first damping members are in a figure-eight shape; the second damping members The number of vibration members is two, and the axes of the two second vibration damping members are in a figure-eight shape.
8. The vibration damping structure according to claim 3 or 4, characterized in that the vibration damping member includes:

   A damping body, the damping body is used to buffer vibration, and the damping body includes a first end and a second end that are opposite to each other;

   A first buckle portion located at the first end, the first buckle portion is used to buckle the second bracket or the third bracket; and

   A second buckle portion is located at the second end, and the second buckle portion is used to buckle the first connecting portion or the second connecting portion.
9. The vibration damping structure according to claim 8, characterized in that the vibration damping body includes:

   Vibration-absorbing balls, used to buffer vibration;

   A first boss is provided at an end of the damping ball close to the first buckle part and surrounds the damping ball for cooperating with the first buckle part to limit the second the movement of the support or said third support; and

   A second boss is provided at an end of the damping ball away from the first buckle part and surrounds the damping ball for cooperating with the second buckle part to limit the first buckle part. Movement of the connecting part or said second connecting part.
10. The vibration damping structure according to claim 9, characterized in that, in the first plane, the projection of the center of the first buckle portion of the first damping member is located at the offset of the pan/tilt. Between the projection of the center of the pan axis motor and the center of the roll axis motor of the gimbal.
11. The vibration damping structure according to claim 9, characterized in that, in the first plane, the projection of the center of the first buckle portion of the first damping member is located at the offset of the pan/tilt. Between the projection of the center of the flight axis motor and the projection of the center of the first buckle part of the second shock absorber.
12. The vibration damping structure according to claim 9, wherein the second bracket and the third bracket are clamped between the first buckle part and the first boss;

    Along the extension direction of the damper, the width of the gap between the first buckle part and the first boss is less than or equal to the thickness of the second bracket; and/or,

    Along the extension direction of the damper, the width of the gap between the first buckle part and the first boss is less than or equal to the thickness of the third bracket.
13. The vibration damping structure according to claim 9, wherein the first connection part and the second connection part are both clamped between the second buckle part and the second boss;

    Along the extension direction of the damper, the width of the gap between the second buckle part and the second boss is less than or equal to the thickness of the first connecting part; and/or,

    Along the extension direction of the damper, the width of the gap between the second buckle part and the second boss is less than or equal to the thickness of the second connecting part.
14. The vibration damping structure according to claim 9, characterized in that the number of the damping balls is one; or the number of the damping balls is multiple, and the plurality of damping balls are arranged in series.
15. The vibration reduction structure according to claim 9, characterized in that the vibration reduction ball is a hollow structure, and a damping element is installed inside the vibration reduction ball.
16. The vibration damping structure according to claim 2 or 3, characterized in that the first bracket has a semi-encircled bending structure and includes a first sub-bracket, a second sub-bracket and a third sub-bracket connected in sequence. , the first sub-bracket is connected to the yaw axis motor of the gimbal, the first sub-bracket includes the first connecting part, and the second sub-bracket surrounds the first part of the axis arm of the gimbal. The third sub-support arm includes the second connecting portion.
17. The vibration reduction structure according to claim 1, characterized in that the first sub-frame includes a first sub-frame body, and the first sub-frame body is used to connect the yaw axis motor of the gimbal, and the The first connecting portion protrudes from the outer peripheral edge of the first sub-bracket body.
18. The vibration damping structure according to claim 17, characterized in that the number of the first connecting parts is two, and the two first connecting parts move closer from the connection point with the first sub-frame body. The direction of the second sub-bracket extends.
19. A pan-tilt system, characterized in that the pan-tilt system includes:

    The vibration-damping structure described in any one of claims 1-18; and

    A pan/tilt, the pan/tilt is connected to the vibration reduction structure.
20. The pan/tilt system according to claim 19, characterized in that the pan/tilt system includes a load, the pan/tilt includes an axis arm, and the axis arm passes through the yaw axis motor of the pan/tilt and the vibration damper. The first bracket of the structure is connected, and the load is connected to the axis arm through the pitch axis motor.
21. The pan/tilt system according to claim 20, wherein the axis arm includes a first arm and a second arm, and the first arm and the first bracket pass through the yaw of the pan/tilt. The axis motor is rotatably connected, the second arm and the first arm are rotatably connected by the roll axis motor, and the load and the second arm are rotatably connected by the pitch axis motor.
22. The pan/tilt system of claim 20, wherein the load includes a housing, an infrared camera module, a zoom camera module, a ranging module and a wide-angle camera module, and the infrared camera module, the The zoom camera module, the ranging module and the wide-angle camera module are all installed in the housing.
23. The pan/tilt system of claim 22, wherein two of the infrared camera module, the zoom camera module, the ranging module and the wide-angle camera module are positioned along the shell. The housings are arranged side by side in the width direction, or two by two along the length and height direction of the housing.
24. The pan/tilt system according to claim 22, wherein the housing includes a first shell, a second shell and a third shell connected in sequence, the load further includes a mounting bracket, the mounting bracket is installed on The second shell, the zoom camera module is installed on the mounting bracket, the ranging module is installed on the mounting bracket, the infrared camera module is installed on the first shell, the wide-angle camera The module is installed on the first shell.
25. The pan/tilt head system according to claim 24, wherein the load further includes a sealing member, the sealing member is provided at the connection between the first shell and the second shell, and the second shell and A seal is provided at the connection point of the third shell.
26. The pan/tilt system of claim 24, wherein the load further includes a seal, and the second shell and the yoke of the tilt axis motor of the pan/tilt are sealed by the seal.
27. The pan/tilt head system according to claim 24, wherein the pan/tilt head includes a coaxial line and a sealing member, the coaxial line passes through the sealing member, and the sealing member is used to seal the coaxial line. The gap between the line and the second arm of the pan/tilt.
28. The pan/tilt system according to claim 22, wherein the load includes a conductive layer and a protective glass, the protective glass is arranged on the housing and can allow light to pass through, and the protective glass and the infrared camera module , corresponding to at least one of the zoom camera module, the ranging module and the wide-angle camera module, the conductive layer is provided on the protective glass, and the conductive layer can generate heat after being energized, so The heat can be conducted to the protective glass.
29. The pan/tilt head system according to claim 22, characterized in that a top corner of the housing is recessed inward to form a groove.
30. A movable platform, characterized by including:

    The movable platform body; and

    The vibration reduction structure according to any one of claims 1 to 18, said vibration reduction structure is connected to the movable platform body.
31. A movable platform, characterized by including:

    The movable platform body; and

    The pan/tilt system according to any one of claims 19 to 29, wherein the vibration reduction structure of the pan/tilt system is connected to the movable platform body.
32. The movable platform according to claim 30 or 31, wherein when the damping structure is connected to the movable platform body, the damping member is received inside the movable platform body.

Images