WO2023221064A1 - Cardan et plateforme mobile - Google Patents

Cardan et plateforme mobile Download PDF

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Publication number
WO2023221064A1
WO2023221064A1 PCT/CN2022/093976 CN2022093976W WO2023221064A1 WO 2023221064 A1 WO2023221064 A1 WO 2023221064A1 CN 2022093976 W CN2022093976 W CN 2022093976W WO 2023221064 A1 WO2023221064 A1 WO 2023221064A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
lock core
lock
tilt
move
Prior art date
Application number
PCT/CN2022/093976
Other languages
English (en)
Chinese (zh)
Inventor
董欣
杨乃旭
叶剑辉
殷汇鹏
林荣华
曾德豪
江冰
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 CN202280047363.3A priority Critical patent/CN117730222A/zh
Priority to PCT/CN2022/093976 priority patent/WO2023221064A1/fr
Publication of WO2023221064A1 publication Critical patent/WO2023221064A1/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
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • 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

Definitions

  • This application relates to the field of imaging technology, and in particular to a pan-tilt and movable platform.
  • the gimbal can eliminate the jitter caused by the shooting device through reverse motion compensation, so that shooting devices such as mobile phones can obtain stable shooting effects and obtain high-quality images.
  • the gimbal can usually change into multiple postures. When the gimbal needs to be maintained in a specific posture, it is often necessary to manually lock the gimbal, which is cumbersome to operate; automatic locking lacks flexibility and is difficult to adapt to various shooting scenarios.
  • the embodiment of the present application provides a PTZ and a movable platform.
  • the pan/tilt in the embodiment of the present application includes one or more rotating shaft mechanisms, through which the attitude of the carrier carried by the pan/tilt is adjusted.
  • the rotating shaft mechanism includes: a turntable; a rotating arm, which is rotatable relative to the turntable. ; Motor, including a stator and a stator that rotates relative to the stator, the turntable and the rotating arm are respectively connected to the stator or rotor of the motor; and a locking system, provided on the turntable or/and the rotating arm , used to lock the rotating arm to prevent the rotating arm from rotating relative to the turntable.
  • the locking system includes an operating part, a lock core and an automatic locking structure.
  • Both the operating part and the automatic locking structure can drive all The lock core moves so that the lock core can be in the unlocking position and the locking position; wherein, when the operating member drives the lock core to move, the movement of the lock core is not interfered by the automatic locking structure; When the automatic locking structure drives the lock core to move, the lock core can drive the operating member to move.
  • the movable platform in the embodiment of the present application includes: a movable platform body and a pan/tilt, and the pan/tilt is provided on the movable platform body.
  • the pan/tilt includes one or more rotating shaft mechanisms, through which the posture of the carrier carried by the pan/tilt is adjusted.
  • the rotating shaft mechanism includes: a turntable; a rotating arm that is rotatable relative to the turntable; and a motor, including The stator and the stator rotating relative to the stator, the turntable and the rotating arm are respectively connected to the stator or the rotor of the motor; and a locking system provided on the turntable or/and the rotating arm for locking The rotating arm prevents the rotating arm from rotating relative to the turntable.
  • the locking system includes an operating member, a lock core and an automatic locking structure. Both the operating member and the automatic locking structure can drive the lock core to move. , so that the lock core can be in the unlocking position and the locking position; wherein, when the operating member drives the lock core to move, the movement of the lock core is not interfered by the automatic locking structure; when the automatic locking structure When the locking structure drives the lock core to move, the lock core can drive the operating member to move.
  • the user can selectively lock the pan/tilt using the automatic locking structure of the pan/tilt, or manually operate the operating parts to lock the pan/tilt, which is suitable for various locks. Scenes.
  • An embodiment of the present application also provides a pan/tilt, which is characterized in that it includes: a rotating shaft mechanism; and a supporting mechanism, the supporting mechanism is used to support the rotating shaft mechanism, and the supporting mechanism includes: a first button that can be kept pressed to Keep the pan/tilt in the first working mode; the display screen can display first prompt information when the first button is kept pressed.
  • the first prompt information includes prompting the user to select the hold mode. When the user selects the hold mode, After maintaining the mode, the pan/tilt can remain in the first working mode even if the first button is released.
  • the embodiment of the present application also provides a movable platform, including: a movable platform body and a cloud platform, and the cloud platform is arranged on the movable platform body.
  • the cloud platform includes: a rotating shaft mechanism; a support mechanism, the supporting mechanism is used to support the rotating shaft mechanism, the supporting mechanism includes: a first button that can be kept pressed to keep the cloud platform in the first working mode;
  • the display screen can display first prompt information when the first button is kept pressed.
  • the first prompt information includes prompting the user to select the hold mode. After the user selects the hold mode, even if the first button is pressed Released, the gimbal can remain in the first working mode.
  • the user can select the hold mode to keep the PTZ in the first working mode without continuously pressing the first button.
  • Figure 1 is a schematic three-dimensional assembly diagram of a pan/tilt platform according to certain embodiments of the present application
  • Figure 2 is a schematic structural diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 3 is a three-dimensional exploded schematic diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 4 is a schematic three-dimensional assembly diagram of the locking system of the pan/tilt in some embodiments of the present application.
  • Figure 5 is a schematic structural diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 6 is a schematic three-dimensional assembly diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 7 is a three-dimensional exploded schematic diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 8 is a schematic diagram of the motion relationship between the operating member and the moving block in some embodiments of the present application.
  • Figure 9 is a schematic structural diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 10 is a schematic diagram of the first position and the second position of the matching part in some embodiments of the present application.
  • Figure 11 is a schematic structural diagram of a locking system of a pan/tilt in some embodiments of the present application.
  • Figure 12 is a schematic three-dimensional assembly diagram of a pan/tilt platform according to certain embodiments of the present application.
  • Figure 13 is a schematic diagram of the motion trajectory of the motor in some embodiments of the present application.
  • Figure 14 is a schematic diagram of a movable platform according to certain embodiments of the present application.
  • connection should be understood in a broad sense.
  • 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.
  • an embodiment of the present application provides a pan/tilt 1000, which includes one or more rotating shaft mechanisms 100.
  • the posture of the carrier carried by the pan/tilt 1000 is adjusted through the rotating shaft mechanisms 100.
  • the rotating shaft mechanism 100 includes a turntable 20, Rotating arm 10, motor 30 and locking system 40.
  • the PTZ 1000 can carry a load and keep the load stable.
  • the load can be imaging equipment such as mobile phones, cameras, camcorders, tablets, etc.
  • the PTZ 1000 can keep the mounted imaging equipment stable during shooting, reduce jitter and shaking, and improve imaging quality.
  • the number of rotating shaft mechanisms 100 is multiple.
  • the number of the rotating axis mechanisms 100 may also be two, three, four, five or more, thereby forming a single-axis pan/tilt, a two-axis pan/tilt, or a three-axis pan/tilt.
  • the turntable 20 and the rotating arm 10 are respectively connected to the stator 31 or the rotor 32 of the motor 30. Specifically, the turntable 20 is connected to the stator 31, the rotating arm 10 is connected to the rotor 32, the turntable 20 is connected to the rotor 32, and the rotating arm 10 is connected to the stator 31. Both cases are not limited here.
  • the locking system 40 is provided on the turntable 20 or the rotating arm 10 and is used to limit the relative rotation between the turntable 20 and the rotating arm 10 .
  • the turntable 20 is connected to the rotor 32 , the rotating arm 10 is connected to the stator 31 , and the locking system 40 is provided on the rotating arm 10 .
  • the locking system 40 includes an operating part 41, a lock core 42 and an automatic locking structure 43.
  • the operating part 41 and the automatic locking structure 43 can respectively drive the lock core 42 to move so that the lock core 42 can be unlocked. position and locking position, when the operating part 41 drives the lock core 42 to move, the movement of the lock core 42 is not interfered by the automatic locking structure 43; when the automatic locking structure 43 drives the lock core 42 to move, the lock core 42 can drive the operating part 41 move.
  • the relative rotation between the turntable 20 and the rotating arm 10 enables the pan/tilt 1000 to change into different postures.
  • the motor 30 is used to drive the turntable 20 or the rotating arm 10 to realize relative rotation between the turntable 20 and the rotating arm 10 .
  • the turntable 20 is connected to the rotor 32 of the motor 30
  • the rotating arm 10 is connected to the stator 31 of the motor 30
  • the rotor 32 of the motor 30 can drive the rotating arm 10 to rotate relative to the turntable 20 .
  • the turntable 20 is connected to the stator 31 of the motor 30
  • the rotating arm 10 is connected to the rotor 32 of the motor 30 .
  • the rotor 32 of the motor 30 can drive the turntable 20 to rotate relative to the rotating arm 10 .
  • the locking system 40 is used to limit the relative rotation between the turntable 20 and the rotating arm 10 so as to maintain the turntable 20 and the rotating arm 10 in a specific posture.
  • the locking system 40 can be arranged on the turntable 20 or the rotating arm 10 according to the structure of the pan/tilt 1000. For example, if the rotating arm 10 has a larger receiving space than the rotating disc 20, the locking system 40 can be arranged on the receiving space of the rotating arm 10. .
  • the lock core 42 of the locking system 40 cooperates with the turntable 20 in the locking position to limit the relative rotation between the turntable 20 and the rotating arm 10 .
  • the lock core 42 When the lock core 42 is in the unlocked position, the lock core 42 and the turntable 20 are uncoupled, and the relative rotation between the turntable 20 and the rotating arm 10 is no longer restricted.
  • the lock cylinder 42 can move along the third direction X1. After the lock cylinder 42 partially extends into the turntable 20, the lock cylinder 42 reaches the locking position.
  • the part of the lock cylinder 42 that extends into the turntable 20 cooperates with the turntable 200, so as to The relative rotation between the turntable 20 and the rotating arm 10 is restricted.
  • the lock core 42 can move along the fourth direction X2. After the part of the lock core 42 extending into the turntable 20 has completely exited the turntable 20, the lock core 42 reaches the unlocking position to release the relative position between the lock core 42 and the turntable 20 and the rotating arm 10. Rotation limit.
  • the lock core 42 cooperates with the rotating arm 10 in the locking position to limit the relative rotation between the turntable 20 and the rotating arm 10; and in the unlocking position it is released from the rotating arm 10. With cooperation, the relative rotation between the turntable 20 and the rotating arm 10 is no longer restricted.
  • the movement of the lock cylinder 42 is restricted so as to keep the lock cylinder 42 in a locked position or an unlocked position to prevent the lock cylinder 42 from being unrestricted between the locked position and the unlocked position.
  • the operating member 41 can limit the movement of the lock cylinder 42 and drive the lock cylinder 42 to move.
  • the automatic locking structure 43 can limit the movement of the lock core 42 and drive the lock core 42 to move.
  • other mechanisms of the locking system 40 can limit the movement of the lock core 42, and the operating member 41 and the automatic locking structure 43 can respectively drive the movement of the lock core 42.
  • the locking structure also includes a positioning mechanism 44 for restricting the movement of the lock cylinder 42.
  • the operating part 41 and the automatic locking structure 43 can respectively release the movement restriction of the lock cylinder 42 by the positioning mechanism 44 and drive the lock cylinder. 42 moves.
  • the operating part 41 and the automatic locking structure 43 can move and drive the lock cylinder 42 to move respectively.
  • the movement of the operating part 41 and the automatic locking structure 43 is affected by restriction to prevent the operating part 41 and the automatic locking structure 43 from arbitrarily driving the lock core 42 to move.
  • the operating member 41 can be manually operated to release the movement restriction of the operating member 41 for locking or unlocking.
  • the movement restriction of the automatic locking structure 43 can be released according to the corresponding control signal, so that the automatic locking structure 43 can drive the lock core 42 to move for locking or unlocking.
  • the operating member 41 or the automatic locking structure 43 can also rotate to drive the lock core 42 to move, which is not limited here.
  • the lock core 42 is not restricted by the automatic locking structure 43 .
  • the operating member 41 moves and drives the lock core 42 to move, it will not cause the automatic locking structure 43 to be linked.
  • the automatic locking structure 43 is in a certain preset position.
  • the automatic locking structure 43 at the preset position There is no restriction on the movement of the lock cylinder 42 . In this way, the automatic locking structure 43 will not affect the manual locking method.
  • the operating member 41 is manually operated, there is no need to additionally operate the automatic locking structure 43, making the manual operation simple and fast.
  • the automatic locking structure 43 does not affect the manual locking method, even when the gimbal is turned off and powered off, the operating member 41 can also be manually operated to lock or unlock the lock cylinder.
  • the lock core 42 is restricted by the operating member 41 .
  • the movement of the operating member 41 is restricted, and the operating member 41 is linked with the lock cylinder 42 .
  • the automatic locking structure 43 moves and drives the lock core 42 to move, it also needs to drive the operating member 41 linked with the lock core 42 to move. Since the movement of the operating member 41 is restricted, the linkage of the operating member 41 will be limited, resulting in the movement of the lock core 42 being restricted by the operating member 41 .
  • the locking system 40 further includes a positioning mechanism 44 , and the movement of the operating member 41 is limited by the resistance of the positioning mechanism 44 .
  • the automatic locking structure 43 moves and drives the lock core 42 to move, it is necessary to overcome the resistance of the positioning mechanism 44 on the operating part 41 to move the lock core 42 and the operating part 41 linked with the lock core 42 . In this way, even when the automatic locking structure 43 does not work, or the automatic locking structure 43 fails, the operating member 41 can limit the movement of the lock cylinder 42 to ensure that the lock cylinder 42 can remain in the locked position or the unlocked position.
  • the improved pan/tilt 1000 can drive the lock core 42 to move through the operating member 41 or the automatic locking structure 43 so that the lock core 42 is in the unlocking and locking positions, thereby selectively limiting the relationship between the turntable 20 and the rotating arm 10
  • the relative rotation between the turntable 20 and the rotating arm 10 is released, or the restriction on the relative rotation between the turntable 20 and the rotating arm 10 is released.
  • the operating member 41 can be manually operated to place the lock core 42 in the locked position, or the lock core 42 can be automatically moved to the locked position through the automatic locking structure 43, which provides a relative position between the turntable 20 and the rotating arm 10 of the pan/tilt 1000.
  • There are manual locking and automatic locking methods for rotation Users can choose automatic locking to avoid tedious locking operations. They can also choose manual locking in some application scenarios, such as manual locking when the gimbal 1000 is not powered on. This enables locking to be achieved in various application scenarios.
  • the automatic locking structure 43 includes a driving mechanism 431 .
  • the driving mechanism 431 can drive the lock core 42 to move between the unlocking position and the locking position. That is, the driving mechanism 431 can provide power to move the lock cylinder 42 .
  • the driving mechanism 431 includes at least one of an electric driving structure, a pressure driving mechanism, and a shape memory mechanism, which is not limited here.
  • the driving mechanism 431 includes at least one of a driving motor, a magnetic driving mechanism, a pneumatic cylinder, a hydraulic cylinder, and a memory alloy, which is not limited here.
  • the driving mechanism 431 is a driving motor, and the lock core is fixedly connected to the driving shaft of the motor.
  • the driving shaft of the motor enables the lock core to reciprocate to move between the unlocking position and the locking position.
  • the driving mechanism 431 is a magnetic drive mechanism, which includes an electromagnet and an adsorbing part adsorbed by the electromagnet.
  • the adsorbing part is fixedly connected to the lock core, and the electromagnet attracts the adsorbing part to drive the lock core to move.
  • the driving mechanism 431 is a memory alloy, including a memory alloy wire. One end of the memory alloy wire is fixedly connected to the lock core. When the memory alloy wire is energized, the length of the memory alloy wire is shortened to drive the lock core to move.
  • the driving mechanism 431 includes a driving member 4311 and a transmission member 4312.
  • the driving member 4311 drives the transmission member 4312 to move, and the transmission member 4312 drives the lock core 42 to move. That is, the driving member 4311 provides the power for the transmission member 4312 to move, and the transmission member 4312 outputs the power to the lock core 42 so that the lock core 42 can move.
  • the driving mechanism 431 also includes a screw rod 4313 .
  • the screw rod 4313 connects the driving part 4311 and the transmission part 4312.
  • the driving part 4311 drives the screw rod 4313 to move to drive the transmission part 4312 to move, forming a stable transmission mode.
  • drive 4311 includes a stepper motor.
  • the stepper motor can easily drive the distance that the transmission member 4312 moves relative to the driving member 4311, so that the transmission member 4312 drives the lock core 42 to accurately move to the locking position or the unlocking position, thereby improving control accuracy.
  • the operating member 41 extends out of the turntable 20 or the rotating arm 10 .
  • the locking system 40 is provided on the rotating arm 10 , and the operating member 41 extends out of the rotating arm 10 .
  • the external force drives the operating member 41 to move, the operating member 41 can drive the lock core 42 to move so that the lock core 42 can be in the unlocking position and the locking position.
  • the external force may be provided by manpower to operate the portion of the operating member 41 that extends outside the turntable 20 or the rotating arm 10 to drive the operating member 41 to move.
  • the external force may be provided by the automatic locking structure 43 .
  • the driving part 4311 of the driving mechanism 431 in the automatic locking structure 43 is connected to the part of the operating part 41 located in the turntable 20 or the rotating arm 10.
  • the movement of the driving part 4311 can drive the operating part 41 to move, thereby indirectly driving the lock core 42 to move.
  • the lock core 42 includes a lock head 421 .
  • the turntable 20 or the rotating arm 10 is provided with a lock opening 21 .
  • the lock core 42 is provided on the rotating arm 10 , and the turntable 20 is provided with a lock opening 21 .
  • the lock head 421 is coupled with the lock mouth 21 so that the relative rotation between the turntable 20 and the rotating arm 10 is restricted.
  • the lock opening 21 is provided on the rotating arm 10 ; when the locking system 40 is provided on the rotating arm 10 , the lock opening 21 is provided on the turntable 20 . That is, the lock head 421 and the lock opening 21 are respectively located on the turntable 20 or the rotating arm 10 . In this way, when the lock head 421 is coupled to the lock mouth 21, the relative rotation between the turntable 20 and the rotating arm 10 can be restricted.
  • At least one of the lock head 421 and the lock opening 21 is a magnetic attraction component, and the lock head 421 and the lock opening 21 are coupled through magnetic attraction.
  • Magnetic coupling can ensure that the coupling position is accurate.
  • the lock head 421 only needs to move to a certain range close to the lock mouth 21 to couple with the lock mouth 21 under the action of magnetic attraction. There is no need to accurately control the lock head 421 and the lock mouth. 21 relative position, coupling can be completed quickly.
  • the magnetic attraction force can keep the lock core 42 in the locking position and prevent the lock core 42 from moving away from the locking position at will.
  • the lock head 421 and the lock opening 21 are coupled by snapping.
  • the lock head 421 is in the shape of a square cone
  • the lock mouth 21 is an inward concave lock mouth 21
  • the diameter of the lock mouth 21 gradually decreases from the outside to the inside. In this way, as the lock head 421 extends into the lock mouth 21, the matching gap between the lock head 421 and the lock mouth 21 gradually decreases, so that the engagement between the lock head 421 and the lock mouth 21 becomes tighter and tighter.
  • the tight engagement between the lock head 421 and the lock mouth 21 can ensure that the lock core 42 remains in the locking position.
  • FIG. 5 and FIG. 7 there are multiple lock openings 21 , and the multiple lock openings 21 are spaced apart on the turntable 20 or the rotating arm 10 , so that the relative position between the turntable 20 and the rotating arm 10 is adjusted. Rotation can be limited at multiple locations.
  • the lock openings 21 at different positions are used to maintain the turntable 20 and the rotating arm 10 at different relative angles when coupled with the lock head 421, so that the pan/tilt 1000 can be maintained in different locking postures.
  • the number of lock openings 21 may be 2, 3, 4, 5 or more, which will not be listed here.
  • adjacent lock openings 21 may be evenly distributed at equal intervals, so that the relative angle between the turntable 20 and the rotating arm 10 may be changed in a fixed step.
  • the lock port 21 includes a first lock port 211 , a second lock port 212 , a third lock port 213 and a fourth lock port 214 .
  • the four lock ports 21 are evenly arranged on the turntable 20 .
  • the motor 30 can drive the rotating arm 10 to rotate 90° relative to the turntable 20 so that the lock head 421 faces another adjacent lock opening 21 .
  • the motor 30 can drive the rotating arm 10 to rotate 90° clockwise relative to the turntable 20 so that the lock head 421 is facing the second lock opening 212 .
  • the lock core 42 also includes a lock core body 422.
  • the lock head 421 is provided on the lock core body 422. During the movement of the lock core 42, the lock core body 422 can drive The lock head 421 moves to be coupled or separated from the lock opening 21 .
  • the operating member 41 is connected to the lock cylinder body 422, and external force can be manually applied to operate the operating member 41 to drive the lock cylinder body 422 to move.
  • the lock head 421 extends from the lock cylinder body 422. In yet another embodiment, the lock head 421 is fixedly installed on the lock cylinder body 422 . No restrictions are made here.
  • the lock core further includes a guide member, and the lock core body can move along the guide member.
  • the guide member includes a groove, a guide rail, or a guide rod, which is not limited here, and the lock core body 422 moves along the groove, guide rail, or guide rod. In this way, the moving direction of the lock core body 422 can be guided to ensure that the lock head 421 can accurately reach the position of coupling with the lock mouth 21 .
  • the lock core body 422 is sleeved on the guide rod and can move along the guide rod to drive the lock head 421 to move, so that the lock head 421 can accurately extend into the lock opening 21 .
  • the lock core 42 also includes a fitting part 423.
  • the fitting part 423 is provided on the lock core body 422.
  • the automatic locking structure 43 can drive the fitting part 423 to move, and the fitting part 423 drives the lock.
  • the core body 422 moves, so that the lock core body 422 can drive the lock head 421 to move to couple or separate from the lock mouth 21 .
  • the driving member 4311 of the automatic locking structure 43 drives the transmission member 4312 to move, and the movement of the transmission member 4312 can drive the fitting part 423 to move, so that the fitting part 423 drives the lock core body 422 to move, and then moves through the lock core body 422
  • the lock head 421 is driven to move to achieve coupling or separation between the lock head 421 and the lock mouth 21 .
  • the lock core 42 further includes a lock core guide rod 424 , and the lock core guide rod 424 is movably connected to the lock core body 422 .
  • the lock core body 422 moves along the lock core guide rod 424 .
  • the lock core body 422 is sleeved on the guide rod, and the matching portion 423 can drive the lock core 42 to move along the guide rod, so that the moving position of the lock core body 422 does not deviate, and the lock head 421 can accurately extend into the lock 21.
  • the locking system 40 further includes a positioning mechanism 44, which is used to maintain the lock core 42 in a fixed position.
  • the fixed position includes a locked position and/or an unlocked position.
  • the positioning mechanism 44 can keep the lock cylinder 42 in the unlocked position; or the positioning mechanism 44 can keep the lock cylinder 42 in the locked position; or when the lock cylinder 42 is in the unlocked position, the positioning mechanism 44 can keep the lock cylinder 42 in the unlocked position. position, and when the lock core 42 is in the locking position, the positioning mechanism 44 keeps the lock core 42 in the locking position. In this way, it can be avoided that the lock core 42 moves on its own without being controlled by the operating member 41 or the automatic locking structure 43, resulting in mis-locking or mis-locking.
  • the positioning mechanism includes a magnetic attraction structure, a mechanical locking structure, an elastic reset structure, etc., which are not limited here.
  • the positioning mechanism 44 includes one of an electromagnetic clutch, a floating positioning block 44, and a spring positioning bead to provide a force that limits the movement of the lock core 42, which is not limited here.
  • the positioning mechanism 44 is a floating positioning block, and the floating positioning block 44 includes a moving block 441 .
  • the moving block 441 is connected with the lock core 42 .
  • the pan/tilt 1000 includes a lock cylinder bracket 50 , and the moving block 441 is accommodated in the lock cylinder bracket 50 .
  • the operating member 41 includes a lever, a pressure lever, a telescopic lever, a knob, etc., which are not limited here.
  • the user can operate the operating member 41 through control methods such as turning, pressing, and rotating.
  • the operating member 41 includes a lever. Please refer to Figure 8.
  • the lever 41 i.e., the operating member 41, the same below
  • the lever 41 is located on the first side 4411 of the moving block 441.
  • the moving block 441 is used to block the movement of the lever 41 between the first side 4411 and the second side 4412, so as to keep the lock cylinder 42 in the locked position or the unlocked position.
  • the moving block 441 blocks the moving path of the lever 41 between the first side 4411 and the second side 4412 .
  • the lever 41 to prevent the lever 41 from moving from the first side 4411 to the second side 4412 on its own, causing the lock core 42 to be driven from the unlocking position to the locked position by the lever 41, resulting in mis-locking; and to prevent the lever 41 from moving from the second side 4412 to The first side 4411 causes the lock cylinder 42 to be driven from the locking position to the unlocking position by the lever 41, resulting in mislocking.
  • the moving block 441 can move along the first direction Y1 or the second direction Y2 to selectively move to a position that can block the movement of the lever 41 and limit the movement of the lever 41 on the first side 4411 and the second side 4412 or leave a position that can block the movement of the lever 41, so as to release the restriction on the movement of the lever 41 between the first side 4411 and the second side 4412.
  • the first direction Y1 is opposite to the second direction Y2.
  • the direction in which the lever 41 moves between the first side 4411 and the second side 4412 (the third direction X1 and the fourth direction X2) is orthogonal to the first direction Y1.
  • the direction in which the lever 41 moves between the first side 4411 and the second side 4412 is the horizontal direction
  • the first direction Y1 and the second direction Y2 are the vertical direction.
  • the moving block 441 can be rotated to a position that can block the movement of the lever 41 or away from a position that can block the movement of the lever 41 , which is not limited here.
  • the lever 41 under the action of external force, can overcome the resistance of the moving block 441 and drive the moving block 441 to move, so that the moving block 441 leaves a position that can block the movement of the lever 41, so that the lever 41 can move in the Move between the first side 4411 and the second side 4412.
  • the external force directly acts on the lever 41, for example, the lever 41 is manually moved so that the lever 41 drives the moving block 441 to move.
  • the external force is provided by the automatic locking structure 43, and the external force acts on the lock core 42.
  • the lock core 42 drives the lever 41 to move, so that the lever 41 drives the moving block 441 to move. That is, the automatic locking structure 43 drives the lock core 42.
  • the lock core 42 is restricted by the lever 41 . In this way, the movement of the automatic locking structure 43 can drive the lever 41 to move, and the lever 41 extends from the turntable 20 or the rotating arm 10, allowing the user to determine whether the lock core 42 is in the locked position or the unlocked position by observing the position of the lever 41.
  • the automatic locking structure 43 drives the lock cylinder 42 to move to the locking position, it will also drive the lever 41 to move to the locking position of the lever 41 (the position where the lever 41 stays when the lock cylinder 42 is locked), so as to unlock the lock cylinder 42 .
  • the automatic locking structure 43 can be used to drive the lock core 42 to move to the unlocking position, or the user can directly operate the lever 41 to move the lock core 42 to the unlocking position, thereby realizing automatic or manual unlocking.
  • the automatic locking structure 43 drives the lock cylinder 42 to move to the unlocking position, it will also drive the lever 41 to move to the unlocking position of the lever 41 (the position where the lever 41 stays when the lock cylinder 42 is unlocked), so as to lock the lock cylinder 42 .
  • the automatic locking structure 43 can be used to drive the lock core 42 to move to the locking position, or the lever 41 can be directly operated to move the lock core 42 to the locking position to achieve automatic or manual locking.
  • the floating positioning block 44 (i.e., the positioning mechanism 44, the same below) also includes an elastic member 442.
  • the elastic member 442 provides pressure along the first direction Y1 for the moving block 441.
  • the elastic member 442 is a spring, and the spring is in a contracted state to generate elastic force to provide pressure along the first direction Y1 for the moving block 441 .
  • the floating positioning block 44 further includes a pressure plate 443 .
  • the pressure plate 443 is provided on the turntable 20 or the rotating arm 10 .
  • the pressure plate 443 and the elastic member 442 are connected to the pressure plate 443 and the moving block 441 respectively.
  • the pressure plate 443 provides pressure along the first direction Y1 to the moving block 441 through the elastic member 442 .
  • the pressure plate 443 is fixedly provided on the rotating arm 10
  • the pan/tilt 1000 includes a lock cylinder bracket 50
  • the moving block 441 is received in the lock cylinder bracket 50
  • one end of the elastic member 442 is connected to the pressure plate 443
  • the other end is connected to the lock cylinder bracket 50
  • the moving block 441 is capable of moving in the first direction Y1 or the second direction Y2 relative to the lock cylinder bracket 50 .
  • the pressure plate 443 is located above the moving block 441 , and the pressure provided by the elastic member 442 causes the moving block 441 to move and remain at the bottom of the lock core bracket 50 .
  • FIG. 8 Please refer to FIG. 8 .
  • the operating member 41 moves between the first side 4411 and the second side 4412 of the moving block 441 , under the action of external force, the operating member 41 pushes the moving block 441 to overcome the pressure of the elastic member 442 along the first side.
  • Lift upward in the two directions Y2 until the open gap between the moving block 441 and the lock cylinder bracket 50 allows the operating member 41 to pass through to reach the first side 4411 or the second side 4412.
  • the moving block 441 presses down along the first direction Y1 under the pressure provided by the elastic member 442, and the moving block 441 and the lock core bracket 50 are closed. The gap between them prevents the operating member 41 from moving freely between the first side 4411 and the second side 4412 .
  • the moving block 441 includes a protruding portion 4413.
  • the protruding portion 4413 includes a vertex 4414 located between the first side 4411 and the second side 4412.
  • the automatic locking structure 43 can drive the lock core. 42 moves, so that the lock core 42 drives the lever 41 to push the moving block 441 to move in the second direction Y2, so that the lever 41 moves across the apex 4414 to the first side 4411 or the second side 4412.
  • the user can move the lever 41 so that the lever 41 pushes the moving block 441 to move along the second direction Y2, so that the lever 41 moves past the vertex 4414 to the first side 4411 or the second side 4412.
  • the vertical downward direction be the first direction Y1
  • the vertical upward direction be the second direction Y2
  • the horizontal left direction be the third direction X1
  • the horizontal right direction be Fourth direction X2.
  • the lever 41 moves from the first side 4411 to the second side 4412 under the action of external force.
  • the external force drives the lever 41 to move in the third direction X1, and under the pressure provided by the elastic member 442, the moving block 441 blocks the lever 41 from moving in the third direction X1.
  • the lever 41 When the lever 41 reaches the apex 4414 position from the first side 4411, the lever 41 pushes the moving block 441 to move along the second direction Y2 to open the gap between the moving block 441 and the lock cylinder bracket 50, so that the lever 41 able to pass. After the lever 41 crosses the apex 4414, under the pressure provided by the elastic member 442, the moving block 441 presses down to push the lever 41 to continue moving in the third direction X1, so that the lever 41 reaches the second side 4412. In this way, after the lever 41 passes the apex 4414, even if no external force acts on the lever 41, the lever 41 can be pushed to the second side 4412 by the moving block 441.
  • the moving block 441 also includes a first inclined surface 4415 located on the first side 4411 and a second inclined surface 4416 located on the second side 4412.
  • the raised portion 4413 connects the first inclined surface 4415 and the second inclined surface 4416.
  • Two bevels 4416 After the lever 41 crosses the apex 4414 from the first side 4411, when the moving block 441 presses down along the first direction Y1, the second slope 4416 provides a component force along the third direction X1 to the lever 41, pushing the lever 41 along the The third party moves in direction X1.
  • the first inclined surface 4415 provides a component force along the fourth direction X2 to the lever 41, pushing the lever 41 along the The fourth direction X2 moves.
  • the rotating arm 10 is provided with a long hole 22 , such as a waist-shaped hole, and the lever 41 extends from the long hole 22 .
  • the user can determine the locked state of the lock core 42 by observing the position of the lever 41 relative to the elongated hole 22 .
  • the lock cylinder 42 when the lever 41 is located on the far left side of the long hole 22 , the lock cylinder 42 is in the locked position; when the lever 41 is located on the far right side of the long hole 22 , the lock cylinder 42 Located in unlocked position.
  • the lever 41 precisely matches the long hole 22 to limit the rotational freedom of the lever 41 so that the lever 41 can Stay stable on the far left or far right.
  • the pan/tilt 1000 further includes an operation switch 60 .
  • the operation switch 60 is connected to the lock cylinder 42 .
  • the operating switch 60 is partially exposed outside the turntable 20 or the rotating arm 10.
  • the operating switch 60 can drive the lock core 42 to move, and the rotation axis mechanism of the lock core 42 drives the lever 41 on the first side 4411. and move between the second side 4412.
  • the operating switch 60 includes a connecting shaft 61 and a toggle member 62 .
  • the connecting shaft 61 is provided on the turntable 20 or the rotating arm 10 .
  • the toggle member 62 is rotatably provided on the connecting shaft 61 and connected with the lock core 42 .
  • the toggle member 62 extends out of the turntable 20 or the rotating arm 10 . Referring to FIG. 8 , when an external force drives the toggle member 62 to rotate, the toggle member 62 can drive the lock core 42 to move, and the lock core 42 drives the lever 41 to move to the first side 4411 or the second side 4412 .
  • the toggle member 62 is provided with a shaft hole 63 , and the shaft hole sleeve 63 is provided on the connecting shaft 61 , so that the toggle member 62 is rotatably disposed on the connecting shaft 61 . Under the action of external force, the toggle member 62 can rotate around the connecting shaft 61 to drive the lock core 42 to move.
  • the lock cylinder 42 includes a connecting portion 425 , and the connecting portion 425 connects the lock head 421 and the lock cylinder body 422 .
  • the first end 621 of the dialing member 62 includes a fitting groove 64, and the connecting portion 425 is fitted and connected with the fitting groove 64.
  • the first end of the toggle member 62 and the connecting portion 425 can be connected through snapping, tenon connection, screw connection, etc., which are not limited here.
  • the second end 622 of the toggle member 62 opposite to the first end 621 includes a toggle portion 623 .
  • the toggle portion 623 extends out of the turntable 20 or the rotating arm 10 so that the user can Applying external force to the dialing part 623 drives the dialing member 62 to rotate.
  • the surface of the dialing part 623 is provided with an anti-slip texture, for example, an anti-slip texture composed of a plurality of convex lines spaced apart from each other, to prevent the dialing part 623 from slipping when the user applies external force.
  • the lock core 42 includes a first mating portion 4231 and a second mating portion 4232 spaced apart
  • the transmission member 4312 includes a transmission sub-portion 43123 located between the first mating portion 4231 and the second mating portion 4232. within the space between the two mating parts 4232.
  • the transmission sub-part can drive the first matching part 423 to move along the third direction X1, so as to drive the lock head 421 to move to the locking position.
  • the transmission sub-part can drive the second matching part 423 to move along the fourth direction X2, so as to drive the lock head 421 to move to the unlocking position.
  • the lock cylinder 42 includes a matching portion 423
  • the transmission member 4312 includes a spaced first sub-portion 43121 and a second sub-portion 43122.
  • the first The sub-part 43121 is used to drive the fitting part 423 to move, so that the lock core 42 moves to the locking position
  • the second sub-part 43122 is used to drive the fitting part 423 to move, so that the lock core 42 moves to the unlocking position.
  • the fitting portion 423 extends from the lock cylinder body 422 and is located within the interval between the first sub-portion 43121 and the second sub-portion 43122 .
  • the first sub-portion 43121 can drive the fitting portion 423 to move along the third direction X1, so as to drive the lock head 421 to move to the locking position.
  • the second sub-portion 43122 can drive the fitting portion 423 to move along the fourth direction X2, so as to drive the lock head 421 to move to the unlocking position.
  • the lock core 42 when the fitting part 423 is located at the first position D1 , the lock core 42 is in a locked state, the relative rotation between the turntable 20 and the rotating arm 10 is restricted, and the transmission member 4312 is in the preset position. Location.
  • the lock core 42 is in an unlocked state, the restriction of relative rotation between the turntable 20 and the rotating arm 10 is released, and the transmission member 4312 is located at the preset position.
  • the preset position is a position where the automatic locking structure 43 does not affect the operation member 41 driving the lock core 42 to move.
  • the transmission members 4312 in the left and right pictures are both in preset positions.
  • the first position D1 and the second position D2 are both located between the first sub-section 43121 and the second sub-section 43122, so that no matter how the operating member 41 drives the lock core 42 to move,
  • neither the first sub-part 43121 nor the second sub-part 43122 will block the fitting part 423 from moving to the first position D1 or the second position D2, that is, the transmission member 4312 will not block the lock cylinder 42 when locking or unlocking. of movement.
  • the unlocking process of the automatic locking structure 43 driving the lock cylinder 42 is similar to the locking process.
  • the only difference lies in the unlocking process transmission parts 4312,
  • the moving directions of the lock core 42 and the lever 41 are opposite to the locking process, which will not be described again below. After the lever 41 moves from the first side 4411 of the moving block 441 across the apex 4414 along the third direction X1, the lever 41 reaches the second side 4412, and the moving block 441 moves along the first direction Y1 under the pressure provided by the elastic member 442.
  • the fitting part 423 In order to avoid that when external force drives the lever 41 to move along the fourth direction X2 to unlock the lock core 42, the fitting part 423 is blocked by the first sub-part 43121 and cannot move to the second position D2 and cannot be unlocked.
  • the transmission member 4312 needs to be at the preset position. Since the second position D2 is located between the first sub-part 43121 and the second sub-part 43122, the mating part 423 is moved to the second position D2. , the first sub-part 43121 will not block the movement of the fitting part 423.
  • the transmission member 4312 when the lever 41 passes the apex 4414 from the first side 4411 of the moving block 441 , the transmission member 4312 returns to the preset position. Since the first position D1 is located between the first sub-part 43121 and the second sub-part 43122 when the transmission member 4312 is at the preset position, the second sub-part 43122 will not move during the return of the transmission member 4312 to the preset position.
  • the blocking fitting portion 423 moves along the third direction X1, so that the lever 41 is pushed by the moving block 441 to move along the third direction X1, and the process of the transmission member 4312 moving back to the preset position along the fourth direction X2 can be performed simultaneously to improve locking. efficiency.
  • the automatic locking structure 43 drives the lock core 42 to lock the process as follows: the transmission member 4312 moves from the preset position along the third direction X1, causing the first sub-part 43121 to move The fitting part 423 moves along the third direction X1; after the lever 41 passes the apex 4414, the transmission member 4312 moves along the fourth direction X2 to return to the preset position, and at the same time, the lever 41 is pushed by the moving block 441 to continue along the third direction. X1 moves; and the lock core 42 moves to the locking position.
  • the fitting portion 423 is in the first position D1 and the transmission member 4312 is in the preset position.
  • the process of the automatic locking structure 43 driving the lock cylinder 42 to unlock is as follows: the transmission member 4312 moves from the preset position along the fourth direction X2, so that the second sub-part 43122 drives the matching part 423 to move along the fourth direction X2; After 41 crosses the apex 4414, the transmission member 4312 moves along the third direction X1 to return to the preset position.
  • the lever 41 is pushed by the moving block 441 and continues to move along the fourth direction X2; and the lock core 42 moves to the unlocking position, and the lock
  • the fitting portion 423 is in the second position D2
  • the transmission member 4312 is in the preset position.
  • the locking system 40 includes a position detection mechanism 47 for detecting whether the transmission member 4312 of the automatic locking structure 43 is at a preset position.
  • the locking mechanism 47 is automatically locked.
  • the driving member 4311 of the structure 43 stops driving the transmission member 4312 from moving. In this way, it can be ensured that the transmission member 4312 can accurately stay at the preset position to avoid the transmission member 4312 blocking the movement of the lock core 42 during manual locking.
  • the positioning mechanism 47 includes a sensor 471, and the transmission member 4312 also includes a positioning part 4314.
  • the sensor detects the positioning part 4314 to determine whether the transmission member 4312 is at a preset position.
  • the sensor includes a photoelectric sensor, a magnetic sensor, etc., which are not limited here.
  • the positioning part 4314 moves together with the transmission part 4312. When the sensor can detect the positioning part 4314, it is determined that the transmission part 4312 is at the preset position. When the sensor cannot detect the positioning part 4314, it is determined that the transmission part 4312 has left the preset position. Location.
  • the sensor is a signal receiver, and the positioning part 4314 is provided with a signal transmitter. The signal receiver can receive the signal transmitted by the signal transmitter to determine the position of the transmission member 4312, for example, calculate the transmitter according to the flight time of the signal. The distance from the receiver to determine the position of the moving part based on this distance.
  • the position detection mechanism 47 includes a circuit board, and the sensor 471 is electrically connected to the circuit board 472 .
  • the circuit board 472 is provided with a processor (not shown) for determining the position of the transmission member 4312 based on the data obtained by the sensor 471 .
  • the sensor 471 includes a photoelectric sensor. When the transmission member 4312 is at a preset position, the level of the photoelectric sensor 471 (i.e., the sensor 471, the same below) changes, and the processor determines the level of the transmission member 4312 based on the change in the level of the photoelectric sensor 471. Location.
  • the sensor 471 includes a photoelectric sensor.
  • the photoelectric sensor 471 i.e., the sensor 471, the same below
  • the positioning part 4314 blocks the light-emitting part 4711 so that the light-receiving part
  • the position detection mechanism 47 determines that the transmission member 4312 is at the preset position. For example, the light-emitting part 4711 continues to project light toward the light-receiving part 4712.
  • the positioning part 4314 will not block the light-receiving part 4712, and the light-receiving part 4712 can receive the light projected by the light-emitting part 4711. , so that when the light-receiving member 4712 can receive the light projected by the light-emitting member 4711, the position detection mechanism 47 determines that the transmission member 4312 leaves the preset position.
  • the positioning part 4314 can block the light-emitting part 4711 so that the light-receiving part 4712 cannot receive the light projected by the light-emitting part 4711, thereby blocking the light-emitting part 4711 at the positioning part 4314 so that the light-receiving part 4712 cannot Upon receiving the light projected by the light emitting member 4711, the position detection mechanism 47 determines that the transmission member 4312 is located at the preset position.
  • the driving member 4311 includes a stepper motor
  • the driving mechanism 431 can determine the distance of the transmission member 4312 according to the step length of the stepper motor 4311 (ie, the driving member 4311, the same below). position, and determine the position of the lock core 42 according to the position of the transmission member 4312.
  • the position of the stepper motor 4311 is set to the initial position, that is, the position where the step size is "0".
  • the transmission member 4312 moves along the third direction X1; when the step length of the stepper motor 4311 decreases, the transmission member 4312 moves along the fourth direction X2.
  • the transmission member 4312 moves a corresponding distance.
  • the positive or negative step length of the stepper motor 4311 represents the orientation of the transmission member 4312 relative to the preset position. For example, each step length of the stepper motor 4311 corresponds to the transmission member 4312 moving 0.001mm. If the step length of the stepper motor 4311 is "+400", it can be determined that the transmission member 4312 moves 0.4 in the third direction X1 relative to the preset position. mm; if the step length of the stepper motor 4311 is "-200", it can be determined that the transmission member 4312 moves 0.2 mm along the fourth direction X2 relative to the preset position.
  • the stepper motor 4311 includes a stepper motor stator (not shown) and a stepper motor rotor (not shown).
  • the stepper motor rotor rotates one revolution relative to the stepper motor stator, causing the stepper motor to 4311 changes the step size of 8 units, that is, each step size of the stepper motor 4311 corresponds to a 45° rotation of the stepper motor rotor relative to the stepper motor stator.
  • the electrical cycle of each rotation of the stepper motor 4311 is a certain value.
  • the preset electrical cycle can be used to drive the stepper motor 4311 to rotate a preset angle to drive the transmission member 4312 to move a preset distance. Precisely control the moving distance of the transmission member 4312.
  • the rotation rate of the stepper motor 4311 is a certain preset value. By controlling the stepper motor 4311 to rotate at the preset rotation rate for a preset duration, the stepper motor 4311 can be accurately driven to rotate for the preset time. angle to drive the transmission member 4312 to move a preset distance to achieve precise control of the movement distance of the transmission member 4312.
  • the stepper motor 4311 drives the transmission member 4312 to move along the third direction X1.
  • the stepper motor 4311 increases the first preset step relative to the initial position, the lever 41 The center of is aligned with the center of the protruding portion 4413, and the lever 41 has a tendency to continue to move in the third direction X1. In this case, even if the stepper motor 4311 stops outputting, the lever 41 will cross the protruding portion 4413 and reach the second side 4412 under the pressure of the moving block 441 .
  • the transmission member 4312 moves along the third direction
  • the four-direction X2 moves back to the preset position.
  • the speed at which the transmission member 4312 moves along the third direction X1 is smaller than the speed at which the transmission member 4312 moves along the fourth direction X2. That is, when the step length of the stepper motor 4311 reaches the first preset step length, there is no need to continue to drive the lock core 42 to move through the transmission member 4312. Instead, the pressure of the moving block 441 on the lever 41 can be used to drive the lock cylinder through the lever 41. 42 Continue moving to the locked position.
  • the stepper motor 4311 can be controlled to reduce the step size to drive the transmission member 4312 to move along the fourth direction X2 to return to the preset position.
  • the transmission member 4312 drives the lock core 42 to move along the third direction X1
  • it needs to overcome the resistance of the moving block 441.
  • the transmission member 4312 moves along the fourth direction X2 and returns to the preset position, it is not affected by the resistance of the moving block 441. Therefore, when the transmission member 4312 moves back to the preset position along the fourth direction X2, the movement speed can be accelerated, for example, by increasing the rotation speed of the stepper motor 4311 to shorten the movement time and reduce noise and jitter.
  • the stepper motor 4311 begins to increase the step size to drive the transmission member 4312 to move along the third direction X1
  • the speed at which the transmission member 4312 moves along the fourth direction X2 is smaller than the speed at which the transmission member 4312 moves along the third direction X1, so as to shorten the movement time and reduce noise and jitter.
  • the first preset step size and the second preset step size are positive and negative values respectively.
  • the first sub-part 43121 and the second sub-part 43122 are arranged symmetrically with respect to the center of the transmission member 4312, and the second preset step length and the first preset step length are opposite numbers to each other.
  • the first preset step size is "+1000" steps
  • the second preset step size is "-1000" steps.
  • the width of the positioning portion 4314 is a certain value.
  • the stepper motor 4311 drives the transmission member 4312 to continue moving in the current direction. Move the positioning part 4314 by half the width of the positioning part 4314 so that the center of the width of the positioning part 4314 is aligned with the center of the light-emitting part 4711. In this case, it is determined that the transmission part 4312 reaches the preset position to accurately determine that the transmission part 4312 reaches the preset position. Set location.
  • the pan/tilt 1000 further includes a lock cylinder bracket 50 , and the locking system 40 is installed on the lock cylinder bracket 50 .
  • the lock core bracket 50 and the turntable 20 or the rotating arm 10 are an integral structure.
  • the lock cylinder bracket 50 is fixedly installed on the turntable 20 or the rotating arm 10 to realize the modular assembly of the locking system 40 so that the locking system 40 can be installed on different types of turntables 20 or rotated through the lock cylinder bracket 50 Arm 10.
  • the lock cylinder bracket 50 is rotatably mounted on the turntable 20 or the rotating arm 10 .
  • the turntable 20 is connected to the stator 31 of the motor 30, the rotating arm 10 is connected to the rotor 32 of the motor 30, and the lock core bracket 50 is rotatably installed on the turntable 20, or fixedly installed on the rotating arm 10, all of which can make the locking system 40 relatively
  • the motor 30 rotates.
  • the rotating arm 10 includes a first rotating arm 91 and a second rotating arm 92 connected to the turntable 20.
  • the first rotating arm 91 is connected to the stator 31 of the motor 30, and the turntable 20 is connected to the motor 30.
  • the rotor 32 is connected, and the rotor 32 of the motor 30 rotates, so that the first rotating arm 91 rotates relative to the turntable 20, and the first rotating arm 91 rotates relative to the second rotating arm 92.
  • the locking system 40 is provided on the first rotating arm 91 to limit the relative rotation between the first rotating arm 91 and the turntable 20 , thereby limiting the rotation between the first rotating arm 91 and the second rotating arm 92 .
  • the number of the rotating shaft mechanisms 100 is three, which are the first rotating shaft mechanism 101, the second rotating shaft mechanism 102 and the third rotating shaft mechanism 103.
  • the first rotating shaft mechanism 101 includes The first motor 301 is used to drive the first rotating arm 91 to rotate.
  • the second rotating shaft mechanism 102 includes a second motor 302 to drive the second rotating arm 92 to rotate.
  • the third rotating shaft mechanism 103 includes a third motor 303 used to drive The third rotating arm 93 rotates.
  • Each rotating shaft mechanism 100 (the first rotating shaft mechanism 101 , the second rotating shaft mechanism 102 , and the third rotating shaft mechanism 103 ) includes a corresponding locking system 40 .
  • the first rotating arm 91 , the second rotating arm 92 , and the third rotating arm 93 can rotate around the roll axis, the yaw axis, and the pitch axis respectively, and the load is carried on the third rotating arm 93 , thus having a higher degree of freedom.
  • the pan/tilt 1000 includes a folded posture and an unfolded posture.
  • the first rotating arm 91 and the second rotating arm 92 at least partially overlap, and the second rotating arm 92 and the third rotating arm 93 at least partially overlap.
  • the first rotating arm 91 and the second rotating arm 92 do not overlap, and the second rotating arm 92 and the third rotating arm 93 do not overlap.
  • the pan/tilt 1000 includes a partially folded posture. In the partially folded posture, the first rotating arm 91 and the second rotating arm 92 at least partially overlap, or the second rotating arm 92 and the third rotating arm 93 at least partially overlap.
  • the lock core 42 of the first rotation axis mechanism 101, the lock core 42 of the second rotation axis mechanism 102 and the third rotation axis is all in the locking position, and the transmission parts 4312 of the first rotating shaft mechanism 101, the second rotating shaft mechanism 102 and the third rotating shaft mechanism 103 are all in preset positions.
  • the toggle member 62 or the operating member 41 in the locking system 40 of any rotating shaft mechanism 100 can be manually moved to make the corresponding rotating arm (the first rotating arm 91, the second rotating arm 92 and/or the third rotating arm 93) Unlock or lock.
  • At least one of the locking systems 40 of the first rotating axis mechanism 101 , the second rotating axis mechanism 102 and the third rotating axis mechanism 103 can be automatically unlocked, so that the corresponding motor can drive the corresponding
  • the lock core of the rotating shaft mechanism moves to the unlocking position, so that automatic unlocking can be achieved by flexibly controlling different rotating shaft mechanisms, and the unfolded posture of the gimbal can be flexibly controlled.
  • the lock cylinder 42 of the third rotating axis mechanism 103 is still in the unlocked position.
  • the first motor 301 and the second motor 302 can drive the first rotating arm 91 and the second rotating arm 92 to rotate respectively, while the third rotating arm 93 remains stationary, so that the pan/tilt 1000 can be converted from the folded posture to the folded posture. Specific unfolding posture.
  • the locking system 40 of the first rotating axis mechanism 101, the second rotating axis mechanism 102 and the third rotating axis mechanism 103 is automatically unlocked and drives the lock cylinder 42 of the first rotating axis mechanism 101, the second rotating axis mechanism 103 and the second rotating axis mechanism 103.
  • the lock core 42 of the rotating shaft mechanism 102 and the lock core 42 of the third rotating shaft mechanism 103 move to the unlocking position.
  • the first motor 301 and the second motor 302 and the third motor 303 respectively drive the first rotating arm 91 , the second rotating arm 92 and the third rotating arm 93 to rotate, so that the pan/tilt 1000 is converted from the folded posture to the unfolded posture.
  • the time for the lock core 42 of the first rotating shaft mechanism 101, the lock core 42 of the second rotating shaft mechanism 102, and the lock core 42 of the third rotating shaft mechanism 103 to go from the locked state to the unlocked state is a determined value.
  • the three motors 30 rotate to Change the posture of gimbal 1000.
  • the first motor 301, the second motor 302, and the third motor 303 Both start to rotate, causing the pan/tilt 1000 to change from the folded posture to the unfolded posture.
  • the first motor 301, the second motor 302, and the third motor 303 start from a standstill and sequentially undergo an acceleration rotation phase, a uniform rotation phase, and a deceleration rotation phase. , and finally decelerates to a standstill.
  • any one of the first motor 301, the second motor 302, and the third motor 303 may not undergo a uniform rotation phase, which is not limited here.
  • the first motor 301 , the second motor 302 and the third motor 303 can rotate freely, thereby driving the first rotating arm 91 and the second rotating arm 92 And the third rotating arm 93 is free to rotate.
  • the lock core 42 of the first rotating shaft mechanism 101, the lock core 42 of the second rotating shaft mechanism 102, and the lock core 42 of the third rotating shaft mechanism 103 are in the unlocking position.
  • the transmission member 4312 of the rotating shaft mechanism 102 and the transmission member 4312 of the third rotating shaft mechanism 103 are both located at the preset position.
  • the toggle member 62 in the locking system 40 of any rotating shaft mechanism 100 can be manually moved to lock the corresponding rotating arm (the first rotating arm 91 , the second rotating arm 92 and/or the third rotating arm 93 ); or Control the driving member 4311 in any locking system 40 to drive the transmission member 4312 to move, so as to drive the corresponding lock core 42 to move to the locking position, so that the corresponding rotating arm (the first rotating arm 91, the second rotating arm 92 and/or the third rotating arm) The three rotating arms 93) are locked.
  • each lock cylinder By controlling each lock cylinder to the locked position, the unfolded posture of the gimbal can be flexibly controlled.
  • the first motor 301, the second motor 302, and the third motor 303 drive the first rotating arm 91, the second rotating arm 92, and the third rotating arm 93 to rotate respectively, so that The gimbal 1000 is converted from the unfolded posture to the folded posture.
  • the driving member 4311 of the first rotating shaft mechanism 101, the driving member 4311 of the second rotating shaft mechanism 102, and the driving member 4311 of the third rotating shaft mechanism 103 drive the transmission members 4312 and 4312 of the first rotating shaft mechanism 101 respectively.
  • the transmission member 4312 of the second rotation shaft mechanism 102 and the transmission member 4312 of the third rotation shaft mechanism 103 move, so that the lock core 42 of the first rotation shaft mechanism 101 , the lock core 42 of the second rotation shaft mechanism 102 and the lock core of the third rotation shaft mechanism 103
  • the cores 42 all move to the locking position, so that the first rotating arm 91 , the second rotating arm 92 and the third rotating arm 93 are locked. Turn off the power to the motor 30 after completion of locking.
  • the pan/tilt 1000 when the pan/tilt 1000 is shut down, at least one of the locking systems 40 of the first rotating axis mechanism 101, the second rotating axis mechanism 102, and the third rotating axis mechanism 103 can be automatically locked, so that the corresponding one that is not locked
  • the rotating arm of the posture is in a locked posture to flexibly control the shutdown posture of the gimbal.
  • the driving member 4311 of the first rotating shaft mechanism 101 drives the transmission member 4312 of the first rotating shaft mechanism 101 to move, so that the lock core 42 of the first rotating shaft mechanism 101 moves to the locked position. , so that the first rotating arm 91 that is not in the locking posture is in the locking posture.
  • the second rotating shaft mechanism 102 does not automatically lock, and the second rotating arm 92 can still rotate to a specific posture. Then the user can manually turn the toggle member 62 in the locking system 40 of the second rotating shaft mechanism 102 to make the second rotating shaft mechanism 102 lock. The two rotating arms 92 are locked.
  • the motor 30 when the motor 30 detects a stalled state, it is considered that the corresponding rotating arm of the motor 30 is locked. For example, by detecting the torque or rotation speed of the first motor 301 and determining that the first motor 301 is blocked, it is determined that the first rotating arm 91 is locked.
  • the user can choose the posture that the gimbal 1000 will maintain when it is turned off. For example, if the user chooses to keep the pan/tilt 1000 in the deployed posture when the pan/tilt 1000 is turned off, the motor 30 rotates to adjust the posture of the pan/tilt 1000 to the deployed posture, and the driver 4311 locks the rotating arm when the pan/tilt 1000 is in the deployed posture.
  • the lock core 42 includes a lock head 421 , each lock core 42 corresponds to a plurality of lock openings 21 , and the lock core 42 reaches the locking position when the lock head 421 is fully extended into the lock opening 21 .
  • the lock core 42 extends into different lock openings 21 to maintain the corresponding rotating arms in different postures.
  • the turntable 20 or the rotating arm 10 where the lock core 42 is located is provided on the rotating arm. When the motor 30 corresponding to the rotating arm drives the rotating arm to move, the lock core 42 passes through the corresponding lock openings 21 in sequence.
  • the relative position of the lock head 421 and the lock mouth 21 when the motor 30 is at a certain angle can be determined based on the relationship between the positions of the plurality of lock mouths 21 and the angle of the motor 30 relative to the starting position.
  • the lock port 21 includes a first lock port 211 , a second lock port 212 , a third lock port 213 and a fourth lock port 214 .
  • the lock head 421 faces the first lock opening 211.
  • the lock head 421 faces the second lock opening 212.
  • the lock head 421 directly faces the third lock opening 213.
  • the lock head 421 faces the fourth lock opening 211 directly.
  • the rotation angle of the motor 30 can be determined according to the rotation speed and rotation time of the motor 30 .
  • the pan/tilt 1000 further includes an angle sensor for acquiring the rotation angle of the motor 30 .
  • the pan/tilt 1000 determines the target posture and the target lock 21 corresponding to the target posture according to the user's input.
  • the target posture is the posture held by the rotating arm
  • the target lock opening 21 is the locking opening 21 into which the lock head 421 is inserted when the rotating arm is held in the target posture.
  • the motor 30 rotates until the lock head 421 is close to the target lock opening 21, the motor 30 begins to decelerate and rotate.
  • the motor 30 rotates until the lock head 421 is directly opposite to the target lock opening 21, the motor 30 stops rotating, and the driver
  • the component 4311 drives the transmission component 4312 to drive the lock cylinder 42 to move, so that the lock head 421 fully extends into the target lock opening 21.
  • the locking system 40 includes a floating positioning block 44 , which includes an elastic member 442 and a moving block 441 .
  • the driving member 4311 drives the transmission member 4312 to drive the lock core 42 to move; before the lock head 421 is directly facing the target lock mouth 21 , the lever 41 passes over the raised portion 4413 of the moving block 441, and the elastic force of the elastic member 442 causes the moving block 441 to push the lever 41 to drive the lock core 42 to continue moving toward the locking position, but because the lock head 421 is not yet facing the lock mouth 21, The lock head 421 cannot fully extend into the lock mouth 21, and the lock core 42 cannot reach the locking position.
  • the lock head 421 has a movement tendency to move in the direction of extending into the lock mouth 21; when the motor 30 continues to rotate until the lock head 421 is in contact with the target At the moment when the lock mouth 21 is facing, under the elastic force of the elastic member 442, the moving block 441 pushes the lever 41 to drive the lock cylinder 42 to move to the locking position.
  • the lock head 421 fully extends into the lock mouth 21 and blocks the motor 30, causing the motor 30 to Instantly decelerates to stop.
  • the target movement trajectory is the process in which the motor 30 drives the rotating arm to move to the target posture.
  • the second time T2 is also the time when the lock head 421 is directly facing the target lock mouth 21 .
  • the driving member 4311 is started at the first time T1, and the driving transmission member 4312 drives the lock core 42 to move, so that the lock core 42 drives the lever 41 to cross the convex portion 4413 of the moving block 441 before the second time T2, ensuring that the lock core 42 drives the lever 41 to cross the convex portion 4413 of the moving block 441 before the second time T2.
  • the T2 moving block 441 can push the lever 41 to drive the lock core 42 to move to the locking position.
  • the driving member 4311 is a stepper motor, and the distance that the transmission member 4312 moves from the preset position to the position corresponding to the driving lever 41 across the raised portion 4413 is determined, corresponding to the step change of the stepper motor.
  • the number is determined, so that the rotation speed and step frequency of the stepper motor can be determined to make the stepper motor change a predetermined number of steps before the second time T2, so that the lever 41 crosses the raised portion 4413 to ensure that the Before T2, the lever 41 is in a state where the floating positioning block 44 drives the lock core 42 to move toward the locking position, so as to ensure that the lock head 421 can "pop into” the lock opening 21 at the moment it faces the lock opening 21.
  • the pan/tilt 1000 further includes a support mechanism 80 , and the support mechanism 80 is used to support the rotating shaft mechanism 100 .
  • the pan/tilt 1000 includes multiple motors 30 , and the support mechanism 80 is connected to the stator 31 of one of the motors 30 .
  • the turntable 20 is connected to the stator 31 of the motor 30 , and the support mechanism 80 is connected to the turntable 20 .
  • the motor 1000 includes a rotating arm 90 , the rotating disc 20 is connected to the stator 31 of the motor 30 , the rotating arm 90 is connected to the rotating disc 20 , and the supporting mechanism 80 is connected to the rotating arm 90 . No restrictions are made here.
  • the support mechanism 80 includes a first button 81 and a display screen 82 .
  • the first button 81 can be kept pressed to keep the pan/tilt 1000 in the first working mode.
  • the display screen 82 can display the first prompt information.
  • the first prompt information includes prompting the user to select the hold mode. After the user selects the hold mode, even if the first button 81 is released, the pan/tilt 1000 can Maintain the first working mode.
  • the first working mode is the sports mode.
  • the pan/tilt 1000 enters the first working mode, when the user holds the pan/tilt 1000 and moves, the pan/tilt 1000 can automatically control the movement or rotation of the rotating axis mechanism 100, so that the pan/tilt 1000 can move or rotate. 1000 equipped devices remain stable.
  • the pan/tilt 1000 is mostly used to carry equipment at a fixed position for shooting, and is rarely used in sports scenes. There is no need to continuously enter the sports mode. Therefore, the pan/tilt 1000 is kept in the sports mode while the first button 81 is kept pressed, thereby When the first button 81 is released, the sports mode can be exited in time to save power consumption.
  • the first working mode can also be a working mode corresponding to other application scenarios.
  • the first working mode is a locking mode.
  • the rotating axis mechanism 100 maintains a fixed posture, etc., in This is not a restriction.
  • the pan/tilt 1000 needs to be continuously in the first working mode. If the user always keeps pressing the first button 81, the user's fatigue will be increased, and the user must keep pressing the first button 81 and cannot free his hands for other work. . After the user selects the hold mode, the pan/tilt 1000 can maintain the first working mode even if the first button 81 is released. Therefore, the pan/tilt 1000 can maintain the first working mode without continuously pressing the first button 81, which improves convenience.
  • the display screen 82 can also display second prompt information when the PTZ 1000 is in the first working mode.
  • the second prompt information includes prompting the user to choose to exit the mode. After the user chooses to exit the mode, the PTZ 1000 Ability to exit the first working mode. After the pan/tilt 1000 exits the first working mode, the pan/tilt 1000 can enter the first working mode by pressing the first button 81 again.
  • the display screen 82 includes a touch screen, and the user can select the hold mode or the exit mode on the touch screen, so that the user can view and select the working mode conveniently and intuitively.
  • the first button 81 can be operated to enable the pan/tilt 1000 to exit the holding mode or the first working mode. In one embodiment, when the pressed first button 81 is released, the pan/tilt 1000 exits the first working mode. In yet another embodiment, when the pan/tilt 1000 is in the holding mode, the pan/tilt 1000 exits the holding mode or the first working mode by quickly double-clicking the first button 81 .
  • the display screen 82 is located on the front side of the supporting mechanism 80
  • the first button 81 is located on the back side of the supporting mechanism 80 .
  • the holding posture is usually such that the thumb is located on the front of the support mechanism 80 and the other four fingers are located on the back of the support mechanism 80 .
  • the first button 81 is located on the back of the support mechanism 80, which can facilitate the user to operate the display screen 82 with the thumb and the first button 81 with the other four fingers, for example, with the index finger.
  • One button 81 allows the user to control the display screen 82 and the first button 81 with one hand.
  • the support mechanism 80 also includes a second button 83. After the display screen 82 displays the first prompt information, the user can operate the second button 83 to select the hold mode, or, on the display screen 82 After 82 displays the second prompt information, the user can operate the second button 83 to select the exit mode.
  • the second button 83 can be located on the back or front of the support mechanism 80 .
  • the second button 83 is located on the front of the support mechanism 80 .
  • the user can operate the second button 83 with the thumb to select the hold mode.
  • the user can operate the second button 83 with the thumb to exit the hold mode.
  • the second button 83 is located on the back of the support mechanism 80 .
  • the user can operate the display screen 82 with the thumb to select the hold mode.
  • the user can operate the second button 83 with the other four fingers to exit the hold mode. If the first button 81 is pressed when the second button 83 is operated to exit the hold mode, then after exiting the hold mode, the pan/tilt 1000 is still in the first working mode until the first button 81 is released. If the first button 81 has been released when the second button 83 is operated to exit the hold mode, the pan/tilt 1000 will exit the first working mode at the same time as it exits the hold mode.
  • this application also provides a movable platform 2000, including a movable platform body 2100 and the pan/tilt 1000 in any of the above embodiments.
  • the movable platform 2000 includes drones, unmanned vehicles, unmanned ships, automobiles, new energy vehicles, etc., which are not limited here.
  • the PTZ 1000 is detachably installed on the movable platform body 2100. The user can unload the PTZ 1000 from the movable platform body 2100 for handheld use, or load the PTZ 1000 on the movable platform body 2100. use.
  • the pan/tilt 1000 is fixedly installed on the movable platform body 2100.
  • the pan/tilt 1000 is a vehicle-mounted pan/tilt 1000 fixedly installed on a vehicle, which is not limited here.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Accessories Of Cameras (AREA)

Abstract

Cardan (1000) et plateforme mobile (2000). Le cardan (1000) comprend un ou plusieurs mécanismes d'arbre rotatif (100), et la position d'une charge portée par le cardan (1000) est réglée au moyen du mécanisme d'arbre rotatif (100). Le mécanisme d'arbre rotatif (100) comprend un disque rotatif (20), un bras rotatif (10), un moteur électrique (30) et un système de verrouillage (40). Le disque rotatif (20) et le bras rotatif (10) sont respectivement reliés à un stator (31) ou à un rotor (32) du moteur électrique (30). Le système de verrouillage (40) est agencé sur le disque rotatif (20) et/ou le bras rotatif (10) et est utilisé pour verrouiller le bras rotatif de manière à arrêter la rotation du bras rotatif (10) par rapport au disque rotatif (20).
PCT/CN2022/093976 2022-05-19 2022-05-19 Cardan et plateforme mobile WO2023221064A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280047363.3A CN117730222A (zh) 2022-05-19 2022-05-19 云台及可移动平台
PCT/CN2022/093976 WO2023221064A1 (fr) 2022-05-19 2022-05-19 Cardan et plateforme mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/093976 WO2023221064A1 (fr) 2022-05-19 2022-05-19 Cardan et plateforme mobile

Publications (1)

Publication Number Publication Date
WO2023221064A1 true WO2023221064A1 (fr) 2023-11-23

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PCT/CN2022/093976 WO2023221064A1 (fr) 2022-05-19 2022-05-19 Cardan et plateforme mobile

Country Status (2)

Country Link
CN (1) CN117730222A (fr)
WO (1) WO2023221064A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070050139A1 (en) * 2005-04-27 2007-03-01 Sidman Adam D Handheld platform stabilization system employing distributed rotation sensors
CN107094368A (zh) * 2017-01-12 2017-08-25 深圳市大疆灵眸科技有限公司 手持云台及其控制方法
CN109617288A (zh) * 2019-01-23 2019-04-12 智卓（深圳）电子科技有限公司 电机锁定结构及手持稳定器
CN210128227U (zh) * 2019-06-27 2020-03-06 深圳市大疆创新科技有限公司 手持云台
CN111684194A (zh) * 2019-07-16 2020-09-18 深圳市大疆创新科技有限公司 手持云台
CN111970443A (zh) * 2020-08-13 2020-11-20 深圳市阳日电子有限公司 一种云台控制方法及设备、计算机可读存储介质
CN112346629A (zh) * 2020-10-13 2021-02-09 北京小米移动软件有限公司 对象选择方法、对象选择装置及存储介质
CN114089792A (zh) * 2018-01-05 2022-02-25 深圳市大疆创新科技有限公司 手持云台的控制方法和手持云台

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070050139A1 (en) * 2005-04-27 2007-03-01 Sidman Adam D Handheld platform stabilization system employing distributed rotation sensors
CN107094368A (zh) * 2017-01-12 2017-08-25 深圳市大疆灵眸科技有限公司 手持云台及其控制方法
CN114089792A (zh) * 2018-01-05 2022-02-25 深圳市大疆创新科技有限公司 手持云台的控制方法和手持云台
CN109617288A (zh) * 2019-01-23 2019-04-12 智卓（深圳）电子科技有限公司 电机锁定结构及手持稳定器
CN210128227U (zh) * 2019-06-27 2020-03-06 深圳市大疆创新科技有限公司 手持云台
CN111684194A (zh) * 2019-07-16 2020-09-18 深圳市大疆创新科技有限公司 手持云台
CN111970443A (zh) * 2020-08-13 2020-11-20 深圳市阳日电子有限公司 一种云台控制方法及设备、计算机可读存储介质
CN112346629A (zh) * 2020-10-13 2021-02-09 北京小米移动软件有限公司 对象选择方法、对象选择装置及存储介质

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