WO2022061929A1 - Movable platform - Google Patents

Abstract

A movable platform, comprises a main body (1), a pan-tilt (2) and a clamping mechanism (3). The pan-tilt (2) is coupled to the main body (1), and is used to carry a shooting device (5). The posture of the shooting device (5) can be adjusted by means of the pan-tilt (2). The clamping mechanism (3) is movably connected to the main body (1). The clamping mechanism (3) comprises a limiting device (31). The limiting device (31) can be configured to switch between a first state and a second state, and the limiting device (31) remains coupled to the main body (1) so as to be attached to the main body (1). In the first state, the limiting device (31) abuts against the shooting device (5) to limit the rotation of the pan-tilt (2). In the second state, the limiting device (31) is disengaged from the abutment with the shooting device (5) to release the limitation on the rotation of the pan-tilt (2). The limiting device (31) can limit the rotation of the pan-tilt (2) to protect the pan-tilt (2).

Description

removable platform technical field

The invention relates to the technical field of PTZs, in particular to a movable platform.

Background technique

The aircraft uses a gimbal to carry and fix the camera and control the rotation of the camera. Since the gimbal is a precision mechanical system with multiple degrees of freedom, each joint of the gimbal can still rotate without motor drive, which leads to the fact that it is easily damaged under the impact of external force during the transportation of the aircraft.

SUMMARY OF THE INVENTION

The present application provides a movable platform capable of protecting a PTZ.

The present application provides a movable platform, including a main body, a pan-tilt and a clamping mechanism, the pan-tilt is coupled and connected to the main body, and is used for carrying a photographing device, and the posture of the photographing device can be adjusted through the pan-tilt, The clamping mechanism is movably connected to the main body, the clamping mechanism includes a limit device, the limit device can be configured to change between a first state and a second state, and the limit device It is attached to the main body while maintaining the coupling state with the main body, wherein in the first state, the limiting device is in contact with the photographing device to limit the rotation of the pan/tilt head, and in the first state In the second state, the limiting device is disengaged from the contact with the photographing device, so as to release the rotation restriction on the pan/tilt.

The movable platform of the embodiment of the present application includes a clamping mechanism, and the clamping mechanism includes a limit device, and the limit device can be configured to change between a first state and a second state, and in the first state, The limiting device is in contact with the photographing device to limit the rotation of the gimbal, which can prevent the gimbal from shaking and protect the gimbal. The clamping mechanism of the present application achieves synchronous locking of the remaining degrees of freedom of the gimbal by constraining the end joints (such as the shooting device of the gimbal) by utilizing the series relationship between the rotating axes of the gimbal and the rotating shafts and the photographing device. , avoiding the complicated operation of constraining each degree of freedom. In addition, since the limiting device of the present application can be configured to change between the first state and the second state, the clamping mechanism of the present application can be adapted to different types of photographing devices (eg, having different sizes and/or shapes), That is to say, the clamping mechanism of the present application can capture/restrain targets of different sizes within a certain range.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

1 is a schematic diagram of a movable platform according to an embodiment of the present application, wherein the limiting device is in a first state;

Fig. 2 is an enlarged view of the circled portion of the movable platform shown in Fig. 1;

Fig. 3 is similar to Fig. 1, wherein, the limiting device is in the second state;

Fig. 4 is an enlarged view of the circled portion of the movable platform shown in Fig. 3;

Figure 5 is an exploded view of the clamping mechanism of the movable platform shown in Figure 1;

Fig. 6 is the schematic diagram of the base of the clamping mechanism shown in Fig. 5;

Fig. 7 is the schematic diagram of the connecting rod of the clamping mechanism shown in Fig. 5;

Fig. 8 is the schematic diagram of the base of the clamping mechanism shown in Fig. 5;

Fig. 9 is the schematic diagram of the clamping mechanism of the movable platform shown in Fig. 1;

FIG. 10 is a schematic side view of the clamping mechanism shown in FIG. 9 .

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments are not intended to represent all implementations consistent with this application. Rather, they are merely examples of means consistent with some aspects of the present application as recited in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items. Unless otherwise indicated, terms such as "front," "rear," "lower," and/or "upper" are for convenience of description and are not limited to one location or one spatial orientation. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

Embodiments of the present application provide a movable platform, including a main body 1 , a pan-tilt 2 and a clamping mechanism 3 . The pan-tilt 2 is coupled and connected to the main body 1 and used to carry a photographing device 5 . The posture of the photographing device 5 can be adjusted, the clamping mechanism 3 is movably connected to the main body 1, and the clamping mechanism 3 includes a limiting device 31, and the limiting device 31 can be configured to The state changes between the state and the second state, and the limiting device 31 remains coupled to the main body and is attached to the main body 1 , wherein, in the first state, the limiting device 31 is connected to the main body 1 . The photographing device 5 abuts to limit the rotation of the pan/tilt 2 . In the second state, the limiting device 31 disengages from the contact with the photographing device 5 to release the motion of the pan/tilt 2 . Rotation limit. It can be understood that the photographing device 5 may have different sizes and/or shapes, which are not limited in this application. Since the limiting device 31 of the present application can be configured to change between the first state and the second state, the clamping mechanism 3 of the embodiment of the present application can be adapted to different types (eg, having different sizes and/or shapes) of shooting The device 5, that is to say, the clamping mechanism 3 of the embodiment of the present application can capture/restrain objects of different sizes within a certain range.

The clamping mechanism of the embodiment of the present application can be applied to various types of movable platforms. Movable platforms of embodiments of the present application may move in any suitable environment, eg, in air (eg, fixed-wing aircraft, rotary-wing aircraft, or aircraft with neither fixed-wing nor rotor-wings), water (eg, ship or diving) boat), on land (eg, a car or train), in space (eg, a space plane, satellite, or probe), and any combination of the above. The movable platform may be an aircraft, for example, an Unmanned Aerial Vehicle ("UVA" for short). In some embodiments, the movable platform can carry a living being, eg, a human or an animal.

Referring to FIG. 1 to FIG. 4 , the movable platform includes a main body 1 , a head 2 coupled with the main body 1 , a clamping mechanism 3 movably connected to the main body 1 , and connected to the main body 1 . wing 4. The main body 1 includes a positioning portion 10 . The wing 4 is mounted on the positioning portion 10 . The clamping mechanism 3 is located inside the positioning portion 10 . The pan-tilt 2 is used to carry the photographing device 5 , and the posture of the photographing device 5 can be adjusted through the pan-tilt 2 to adjust the photographing angle of the photographing device 5 . In one embodiment, the photographing device 5 is detachably assembled to the gimbal 2 .

Referring to FIG. 2 and FIG. 4 , the clamping mechanism 3 includes a base 32 and a limiting device 31 assembled on the base 32 . The base 32 is disposed on the main body 1 . The base 32 can be assembled to the main body 1 or integrally formed with the main body 1 . The limiting device 31 may be configured to change between a first state and a second state, and the limiting device 31 remains coupled to the main body 1 to be attached to the main body 1 .

Referring to FIG. 1 to FIG. 2 , in the first state, the limiting device 31 is in contact with the photographing device 5 to limit the rotation of the pan/tilt 2, which can prevent the pan/tilt 2 from turning off after a power failure. Shaking of each joint to protect the gimbal 2. Therefore, the clamping mechanism 3 of the present application achieves the gimbal by constraining the end joints (such as the photographing device 5 of the gimbal 2 ) by utilizing the series relationship between the respective rotation axes of the gimbal 2 and between the rotating shafts and the photographing device 5 . 2 The function of synchronous locking of the remaining degrees of freedom avoids the complicated operation of constraining each degree of freedom. Referring to FIG. 3 to FIG. 4 , in the second state, the limiting device 31 is disengaged from the abutment with the photographing device 5 to release the restriction on the rotation of the pan/tilt 2, and the pan/tilt 2 can be rotated normally to adjust the posture of the photographing device 5 .

The movable platform may include a pair of the limiting devices 31, and the pan/tilt 2 is located between the pair of limiting devices 31, so as to hold the pan/tilt 2 more stably and increase the pan/tilt. 2 stability.

Referring to FIG. 2 and FIG. 4 , the limiting device 31 is rotatably assembled to the base 32 . The limiting device 31 can be configured to rotate between a first position and a second position. In the first position, the limiting device 31 is in contact with the photographing device 5 , and in the second position, the limiting device 31 is in contact with the photographing device 5 . The positioning device 31 is released from the contact with the photographing device 5 .

In one embodiment, the limiting device 31 includes a connecting rod 311 and a limiting member 312 assembled to the connecting rod 311 . The connecting rod 311 can be configured to rotate between a first state and a second state. In the first state, the limiting member 312 is in abutment with the photographing device 5 , and in the second state When the limiter 312 is out of contact with the photographing device 5 . The connecting rod 311 is assembled to the base 32 and can rotate relative to the base 32 . The connecting rod 311 can also be integrally formed with the limiting member 312 .

When the connecting rod 311 is in the first state, the extending direction of the connecting rod 311 is consistent with the length direction of the main body 1 . When the connecting rod 311 is in the second state, the extending direction of the connecting rod 311 is consistent with the width direction of the main body 1 . When the connecting rod 311 is in the second state, the connecting rod 311 is located below the main body 1 and behind the photographing device 5 .

The limiting member 312 is swingably assembled to the connecting rod 311 to adjust the position of the limiting member 312 so that the limiting member 312 is in surface contact with the photographing device 5 to increase the limiting member 312 . The resisting force between the position member 312 and the photographing device 5 can effectively prevent the photographing device 5 from shaking.

Referring to FIG. 5 to FIG. 6 , the limiting device 31 further includes a rotating shaft 313 assembled on the connecting rod 311 and the base 32 and an elastic member 314 located between the connecting rod 311 and the base 32 . The base 32 includes a base portion 320 , a blocking portion 321 extending from the base portion 320 to one side, a pair of limiting portions 322 , and a mounting portion 323 extending downward from the base portion 320 . The base portion 320 , the blocking portion 321 and a pair of the limiting portions 322 enclose a storage space 3201 . The blocking portion 321 is provided with a groove portion 3210 . A pair of the limiting portions 322 are respectively provided with limiting holes 3220 . The mounting portion 323 is provided with a second through hole 3230 .

Referring to FIG. 2 and FIG. 4 , the main body 1 includes an installation groove 11 and a first through hole (not shown) on one side of the installation groove 11 . The installation groove 11 is located inside the positioning portion 10 . When the base 32 is assembled to the main body 1 , the mounting portion 323 of the base 32 is assembled to the mounting groove 11 . The movable platform includes a holder (not shown) assembled to the first through hole and the second through hole 3230, so as to detachably assemble the base 32 to the main body 1 for easy maintenance or replacement The limiting device 31 saves costs. In another embodiment, the base 32 can also be integrally formed or fixedly connected with the main body 1 and cannot be disassembled.

Referring to FIG. 7 , the connecting rod 311 includes a main body portion 3110 , a shaft portion 3112 extending from the main body portion 3110 , a resisting portion 3113 and a pair of assembling portions 3114 . The shaft portion 3112 is provided with a through hole 31120 . Referring to FIGS. 9 and 10 , when the connecting rod 311 is assembled to the base 32 , the bottom end of the main body 3110 is accommodated in the accommodation space 3201 of the base 32 , and the rotating shaft 313 is assembled to the base 32 . The through hole 31120 of the shaft portion 3112 and the limiting hole 3220 are used to rotatably assemble the connecting rod 311 to the base 32 .

The elastic member 314 can be a torsion spring or a tension spring. The elastic member 314 is sleeved on the shaft portion 3112 . One end of the elastic member 314 abuts against the resisting portion 321 , and the other end resists the resisting portion 3113 . The elastic force of the elastic member 314 can automatically reset the limiting device 31 from the first state to the second state. One end of the elastic member 314 is received in the groove portion 3210 to limit the elastic member 314 and increase the stability of the elastic member 314 . When the connecting rod 311 rotates to a certain angle, it abuts against the resisting portion 321 to prevent further rotation of the connecting rod 311 .

The shaft portion 3112 abuts against the limiting portion 322 of the base 32 to prevent the connecting rod 311 from moving. In another embodiment, the shaft portion 3112 may also be disposed on the base 32 , or the shaft portion 3112 may also be eliminated, and the elastic member 314 may be used to abut against the connecting rod 311 .

Referring to FIG. 8 and FIG. 9 , the limiting member 312 includes a main body 3120 and a pair of ear portions 3122 extending from the main body 3120 . A pair of the ear portions 3122 are respectively provided with assembling holes 31220 . The main body 3120 forms a recess 3123 . When the limiting member 312 abuts against the photographing device 5 , the photographing device 5 is at least partially accommodated in the recess 3123 . The main body 3120 is also provided with an escape hole 31203 . The main body 3120 includes a first abutting surface 31201 .

Referring to FIG. 2 , the photographing device 5 includes a second abutting surface 50 . The first abutting surface 31201 is in contact with the second abutting surface 50 to increase the stability of the photographing device 5 . The limiting member 312 further includes a plurality of grooves 31202 disposed on the first resisting surface 31201 to increase the resisting force between the limiting member 312 and the photographing device 5 to increase the The stability of the camera 5.

Referring to FIG. 9 to FIG. 10 , when the limiting member 312 is assembled to the connecting rod 311 , the end of the connecting rod 311 is assembled between a pair of ear portions 3122 of the limiting member 312 , so A pair of assembling portions 3114 of the connecting rod 311 are respectively assembled in the assembling holes 31220 of a pair of ear portions 3122 , so that the limiting member 312 is assembled to the connecting rod 311 and can swing relative to the connecting rod 311 . The avoidance hole 31203 of the limiting member 312 is used to accommodate the end of the connecting rod 311 to prevent the end of the connecting rod 311 from interfering with the limiting member 312 .

In another embodiment, the assembly hole 31220 may also be disposed in the connecting rod 311 , and correspondingly, the assembly portion 3114 may be disposed in the ear portion 3122 of the limiting member 312 . In another embodiment, the limiting member 312 may be provided with a second assembly hole (not shown), and the limiting device 31 includes a limiting shaft assembled in the assembly hole 31220 and the second assembly hole (not shown).

When the connecting rod 311 is in the second state, the position of the photographing device 5 is lower than the position of the limiting member 312 . When it is necessary to hold the gimbal 2, first open the connecting rod 311, and then lift the photographing device 5 upwards, so that the photographing device 5 rotates relative to the main body 1 and moves from bottom to top to the limit On the inner side of the positioning member 312 , the limiting member 312 abuts against the pan/tilt 2 to limit the pan/tilt 2 . When it is necessary to release the resistance to the pan/tilt 2, move the pan/tilt 2 downward to make it detach from the limiting member 312, and the limiting member 312 is resisted by the elastic force of the elastic member 314, The connecting rod 311 is reset to the second state.

In one embodiment, the limiting device 31 may be configured to move between a first position and a second position. In the first position, the limiting device 31 is in contact with the imaging device 5 , and in the second position, the limiting device 31 is out of contact with the imaging device 2 .

In one embodiment, the link 311 may be configured to move between a first position and a second position. In the first position, the limiting member 312 is in contact with the photographing device 5 , and in the second position, the limiting member 312 is disengaged from the abutment with the photographing device 5 . For example, the first position may be a position away from the installation groove 11 along the length direction of the movable platform main body 1 , and the second position may be a position close to the installation groove 11 . For example, the link 311 may be from the first position to the second position along the length of the movable platform body 1 .

In one embodiment, the limiting member 312 may be configured to move between the third position and the fourth position. In the third position, the limiting member 312 is in abutment with the photographing device 5 , and in the fourth position, the limiting member 312 is disengaged from the abutment with the photographing device 5 . For example, the third position may be a position close to the photographing device 5 , and the fourth position may be a position away from the photographing device 5 along the width direction of the movable platform main body 1 . For example, the link 312 may be from the third position to the fourth position along the width direction of the movable platform body 1 .

In one embodiment, the limiting member 312 includes an elastic portion (not shown), and when the third position is in the third position, the elastic portion is squeezed and deformed, so that the limiting member 312 is connected to the camera. The device 5 abuts. The elastic portion includes a spring; or the elastic portion includes a deformable material.

The devices provided by the embodiments of the present application have been described in detail above, and specific examples are used to illustrate the principles and implementations of the present application. The descriptions of the above embodiments are only used to help understand the core idea of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.

The disclosure of this patent document contains material that is subject to copyright protection. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and archives of the Patent and Trademark Office.

Claims (26)

A movable platform, characterized in that, comprising: main body(1); A pan-tilt (2) is coupled and connected to the main body (1), and is used for carrying a photographing device (5), and the posture of the photographing device (5) can be adjusted through the pan-tilt (2); A clamping mechanism (3), movably connected to the main body (1), the clamping mechanism (3) includes a limiting device (31), and the limiting device (31) can be configured to be in a first state and the second state, and the limiting device (31) remains coupled with the main body and is attached to the main body (1); Wherein, in the first state, the limiting device (31) is in contact with the photographing device (5) to limit the rotation of the pan/tilt (2), and in the second state, the The limiting device (31) is disengaged from the abutment with the photographing device (5), so as to release the rotation restriction on the head (2). The movable platform according to claim 1, wherein the limiting device (31) can be configured to move between a first position and a second position, and in the first position, the limiting device (31) The positioning device (31) is in contact with the photographing device (5), and in the second position, the limiting device (31) is out of contact with the photographing device (5). The movable platform according to claim 2, wherein the limiting device (31) comprises a connecting rod (311) and a limiting member (312) assembled to the connecting rod (311), the connecting rod (311) 311) can be configured to move between a first position and a second position, in which the limiting member (312) is in contact with the photographing device (5) in the first position, and in the second position, the limiting member (312) is in contact with the photographing device (5). The positioning member (312) is disengaged from the abutment with the photographing device (5). The movable platform according to claim 3, wherein the limiting member (312) can be configured to move between a third position and a fourth position, and in the third position, the limiting member (312) is configured to move between a third position and a fourth position. The positioning member (312) is in contact with the photographing device (5), and in the fourth position, the limiting member (312) is disengaged from the abutment with the photographing device (5). The movable platform according to claim 4, wherein the limiting member (312) comprises an elastic portion, and the elastic portion is squeezed and deformed in the third position, so that the limiting member (312) is deformed. The piece (312) is in contact with the photographing device (5). The movable platform according to claim 5, wherein the elastic part comprises a spring; or the elastic part comprises a deformable material. The movable platform according to claim 1, wherein the limiting device (31) can be configured to rotate between a first position and a second position, and in the first position, the limiting device (31) 31) Abutting with the photographing device (5), and in the second position, the limiting device (31) disengages from the contact with the photographing device (5). The movable platform according to claim 7, wherein the limiting device (31) comprises a connecting rod (311) and a limiting member (312) assembled to the connecting rod (311), the connecting rod (311) 311) can be configured to rotate between a first state and a second state, in which the limiting member (312) is in abutment with the photographing device (5), and in the second state In the state, the limiting member (312) is disengaged from the contact with the photographing device (5). The movable platform according to claim 8, characterized in that, the limiting member (312) is swingably assembled to the connecting rod (311). The movable platform according to claim 9, wherein the limiting member (312) comprises a first abutting surface (31201), and the photographing device (5) comprises a second abutting surface (50), The first abutting surface (31201) is in contact with the second abutting surface (50). The movable platform according to claim 9, wherein the limiting member (312) is provided with a recess (3123), and the photographing device (5) is at least partially accommodated in the recess (3123). The movable platform according to claim 11, wherein one of the limiting member (312) and the connecting rod (311) is provided with an assembly hole (31220), and the other includes an assembly portion (3114) , the assembly part (3114) is assembled in the assembly hole (31220). The movable platform according to claim 8, wherein the clamping mechanism (3) comprises a base (32) connected to the main body (1), and the connecting rod (311) is rotatably assembled on the base (32). The movable platform according to claim 13, wherein the clamping mechanism (3) comprises a rotating shaft (313) assembled on the base (32) and the connecting rod (311). The movable platform according to claim 14, wherein one of the connecting rod (311) and the base (32) comprises a shaft portion (3112), and the shaft portion (3112) comprises a through hole ( 31120), the rotating shaft (313) is assembled to the through hole (31120). The movable platform according to claim 15, wherein the clamping mechanism (3) comprises an elastic member (314) sleeved on the shaft portion (3112), one end of the elastic member (314) is held with the connecting rod (311), and the other end is held with the base (32), and the elastic force of the elastic member (314) can make the limiting device (31) automatically reset from the first state to the second two states. The movable platform according to claim 16, wherein the elastic member (314) comprises a torsion spring or a tension spring. The movable platform according to claim 13, wherein the base (32) is detachably assembled to the main body (1). The movable platform according to claim 18, wherein the main body (1) comprises a mounting groove (11), and the base (32) comprises a mounting portion (323) assembled in the mounting groove (11). ). The movable platform according to claim 19, wherein the main body (1) comprises a first through hole on one side of the installation groove (11), and the installation part (323) comprises a second through hole (3230), the movable platform includes a holder assembled to the first through hole and the second through hole (3230). The movable platform according to claim 8, wherein when the connecting rod (311) is in the first state, the extending direction of the connecting rod (311) is consistent with the length direction of the main body (1), When the connecting rod (311) is in the second state, the extending direction of the connecting rod (311) is consistent with the width direction of the main body (1). The movable platform according to claim 21, characterized in that, when the connecting rod (311) is in the second state, the connecting rod (311) is located below the main body (1) and located on the photographing device (5) rear. The connecting rod The movable platform according to claim 22, wherein when the connecting rod (311) is in the second state, the position of the photographing device (5) is lower than the position of the limiting member (312). position, the photographing device (5) is configured to be rotatable relative to the main body (1) by force and move to the inner side of the limiting member (312) in a downward-to-upper direction. The movable platform according to claim 8, characterized in that, the movable platform comprises a pair of the clamping structures (3), and when the connecting rod (311) is in the first state, a pair of the limiting structures Positioning devices (31) are respectively located on both sides of the photographing device (5). The movable platform according to any one of claims 1 to 24, characterized in that, the photographing device (5) is detachably assembled to the head (2). The movable platform according to any one of claims 1 to 24, characterized in that the main body (1) comprises a positioning part (10), the movable platform comprises wings (4), the wings (4) It is assembled to the positioning part (10), and the clamping mechanism (3) is located inside the positioning part (10).

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