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WO2022094744A1 - Système de cardan et plateforme mobile - Google Patents

Système de cardan et plateforme mobile Download PDF

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Publication number
WO2022094744A1
WO2022094744A1 PCT/CN2020/126077 CN2020126077W WO2022094744A1 WO 2022094744 A1 WO2022094744 A1 WO 2022094744A1 CN 2020126077 W CN2020126077 W CN 2020126077W WO 2022094744 A1 WO2022094744 A1 WO 2022094744A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
tilt
yaw
pitch
rotation mechanism
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2020/126077
Other languages
English (en)
Chinese (zh)
Inventor
赵阳
岳哲
陈水添
李雄飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2020/126077 priority Critical patent/WO2022094744A1/fr
Priority to CN202080074212.8A priority patent/CN114710961A/zh
Publication of WO2022094744A1 publication Critical patent/WO2022094744A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the invention relates to the technical field of vibration control, in particular to a pan-tilt system and a movable platform.
  • aerial photography is performed using a camera mounted on a drone.
  • the camera In the movement of the UAV, in order to avoid the picture shaking caused by the motor operation and wind load, the camera is usually connected to the fuselage of the UAV through the pan-tilt mechanism and the vibration reduction mechanism, so as to isolate and weaken the vibration.
  • the gimbal mechanism is usually mounted on the side of the fuselage facing the ground through a vibration reduction mechanism to reduce the adverse effect of fuselage shake on the camera.
  • brackets leading to an increase in the overall weight and volume of the gimbal, which is not conducive to the endurance of the drone.
  • the tension and compression loads of the vibration damping mechanism are not completely consistent. , resulting in the deterioration of the vibration reduction performance of the vibration reduction mechanism, which is not conducive to obtaining stable imaging quality.
  • the present invention provides a pan/tilt system and a movable platform.
  • an embodiment of the present invention provides a pan-tilt system for a movable platform, the movable platform includes a main body, and the pan-tilt system includes a pan-tilt mechanism and a vibration reduction mechanism;
  • the pan-tilt system is connected to the side of the main body for carrying a load
  • the vibration damping mechanism is arranged between the pan/tilt mechanism and the main body to absorb vibration energy
  • the pan-tilt mechanism is mechanically coupled and connected to the load, and the attitude angle of the load can be adjusted through the pan-tilt mechanism;
  • the pan/tilt mechanism includes a roll rotation mechanism
  • the attitude angle of the load includes a roll angle
  • the roll rotation mechanism is mechanically coupled and connected to the main body through the vibration reduction mechanism
  • the roll rotation mechanism is mechanically coupled and connected through the roll rotation mechanism. the mechanism adjusts the roll angle of the load
  • the pan-tilt mechanism includes a pitch rotation mechanism, the attitude angle of the load includes a pitch angle, and the pitch angle of the load is adjusted by the pitch rotation mechanism;
  • the pan-tilt mechanism includes a yaw rotation mechanism, the attitude angle of the load includes a yaw angle, and the yaw angle of the load is adjusted by the yaw rotation mechanism.
  • an embodiment of the present invention provides a movable platform, including the pan-tilt system described in the first aspect of the embodiment of the present invention
  • the PTZ system is connected with the main body;
  • At least one of the roll rotation mechanism, the pitch rotation mechanism and the yaw rotation mechanism can be controlled according to the posture or/and the movement direction of the subject, so as to realize the horizontal composition shooting mode and the vertical composition shooting mode and tilt mode.
  • pan-tilt system and the movable platform at least include the following advantages;
  • a pan-tilt system is provided, the pan-tilt system is used in a movable platform, the movable platform includes a main body, and the pan-tilt system includes a pan-tilt mechanism and a vibration reduction mechanism.
  • the gimbal system is connected to the side of the main body, and the vibration reduction mechanism is arranged between the gimbal mechanism and the main body to absorb vibration energy. Since the gimbal system is connected to the side of the main body, the movement of the gimbal mechanism no longer interferes with the main body, and the gimbal mechanism can move to areas other than the main body for connecting the gimbal system.
  • the gimbal system can have better vibration reduction and vibration isolation effects, which is helpful for improving imaging. quality.
  • the simple structure of the gimbal system will not lead to an increase in the overall volume and size of the gimbal system, which is conducive to realizing lightweight products and improving battery life.
  • FIG. 1 schematically shows a connection diagram between a pan-tilt system and a main body according to an embodiment of the present invention
  • FIG. 2 schematically shows a three-dimensional schematic diagram of a pan-tilt system according to an embodiment of the present invention
  • FIG. 3 schematically shows a side view of the plane where the roll axis and the yaw axis of a pan-tilt system according to an embodiment of the present invention are located;
  • FIG. 4 schematically shows a side view of a plane where the pitch axis and the yaw axis of a pan-tilt system according to an embodiment of the present invention are located;
  • FIG. 5 schematically shows a schematic diagram of vertical composition shooting achieved by a pan/tilt system according to an embodiment of the present invention
  • FIG. 6 schematically shows a schematic diagram of a pan/tilt system according to an embodiment of the present invention for realizing upside-down shooting.
  • an embodiment of the present invention provides a pan-tilt system for a movable platform, the movable platform includes a main body 10, and is characterized in that, the pan-tilt system includes a pan-tilt mechanism 20 and a reduction Vibration mechanism 21;
  • the pan/tilt system is connected to the side of the main body 10 for carrying a load 30;
  • the vibration damping mechanism 21 is arranged between the pan/tilt mechanism 20 and the main body 10 to absorb vibration energy;
  • the gimbal mechanism 20 is mechanically coupled and connected to the load 30, and the attitude angle of the load 30 can be adjusted through the gimbal mechanism 20;
  • the pan-tilt mechanism 20 includes a roll rotation mechanism 201 , the attitude angle of the load 30 includes a roll angle, and the roll rotation mechanism 201 is mechanically coupled and connected to the main body 10 through the vibration reduction mechanism 21 , Adjust the roll angle of the load 30 through the roll rotation mechanism 201;
  • the pan-tilt mechanism 20 includes a pitch rotation mechanism 202, the attitude angle of the load 30 includes a pitch angle, and the pitch angle of the load 30 is adjusted by the pitch rotation mechanism 202;
  • the pan-tilt mechanism 20 includes a yaw rotation mechanism 203 , the attitude angle of the load 30 includes a yaw angle, and the yaw angle of the load 30 is adjusted by the yaw rotation mechanism 203 .
  • the pan-tilt system provided by the embodiment of the present invention can be used on a movable platform with autonomous action capability.
  • Typical mobile platforms such as unmanned aerial vehicles, unmanned vehicles and other remote-controlled unmanned equipment.
  • the movable platform includes a main body 10.
  • the main body 10 can be the fuselage of an unmanned aerial vehicle or the body of an unmanned vehicle.
  • the main body 10 is used to install a power unit, a control system, a gimbal system, and a load 30 mechanically coupled to the gimbal system.
  • the payload 30 may be a sports camera, a professional camera such as a single-lens reflex camera, or an interchangeable lens.
  • the pan-tilt system in the embodiment of the present invention includes a pan-tilt mechanism 20 and a vibration damping mechanism 21 .
  • the pan/tilt system is attached to the side of the main body 10 and carries the load 30 .
  • the side surface of the main body 10 refers to the surface surrounding the periphery of the main body 10 . Taking the drone as an example, the side surface of the main body 10 may be the front and rear sides of the drone or the surface on which the side wings are located.
  • the pan-tilt system When the pan-tilt system is installed and fixed on the side of the main body 10 in the above manner, it is not necessary to extend a rigid fixing structure on the main body 10 to suspend the pan-tilt system.
  • the movement of the gimbal system is not restricted by the rigid fixed structure, and the movement range of the gimbal system is larger.
  • the payload 30 realizes shooting in a number of different viewing angles, such as horizontal composition shooting, vertical composition shooting, and vertical shooting.
  • the removal of the rigid fixing structure from the main body 10 and the need to use no additional brackets can also help reduce the volume and size of the gimbal system, which is beneficial to realize the lightweight of the product and improve the battery life.
  • the pan-tilt mechanism 20 is interposed between the main body 10 and the load 30 to mechanically couple and connect the pan-tilt mechanism 20 and the load 30 .
  • the pan-tilt mechanism 20 and the load 30 may be snapped together by means of mechanical snap-fit or fastened with fasteners such as screws.
  • the gimbal mechanism 20 can adjust the attitude angle of the payload 30 , and under the cooperation of different attitude angles, the payload 30 can move to a desired orientation for shooting.
  • the above-mentioned vibration damping mechanism 21 is disposed between the pan-tilt mechanism 20 and the main body 10 .
  • the vibration damping mechanism 21 can absorb the energy from the main body 10 to avoid causing the pan-tilt mechanism 20 and the load. 30 vibration, so that the stability of the load 30 can be improved, and the imaging quality of the load 30 can be improved.
  • the pan/tilt mechanism 20 includes a roll rotation mechanism 201
  • the attitude angle of the load 30 includes a roll angle
  • the roll rotation mechanism 201 is mechanically coupled and connected to the main body 10 through the vibration reduction mechanism 21, and is rotated through the roll.
  • Mechanism 201 adjusts the roll angle of load 30 .
  • the roll angle when it is defined that the roll angle when the roll rotation mechanism 201 is in the initial default position is 0°, once the roll rotation mechanism 201 drives the load 30 to rotate, the roll angle changes.
  • the roll angle refers to the roll angle of the load 30 itself, which may be different from the roll angle of the main body 10 .
  • FIG. 4 also shows a pitch rotation mechanism 202 included in the pan-tilt mechanism 20 , the attitude angle of the load 30 includes a pitch angle, and the pitch angle of the load 30 is adjusted by the pitch rotation mechanism 202 .
  • the pitch angle refers to the pitch angle of the load 30 itself, which may be different from the pitch angle of the main body 10 .
  • the pitch rotation mechanism 202 when the UAV main body 10 is raised by 15°, if the pitch rotation mechanism 202 is locked and does not move, although the load 30 is raised and rotated together with the main body 10, At this time, the pitch angle of the load 30 is still 0°; if the pitch rotation mechanism 201 rotates by -15° in order to keep the load 30 in the original horizontal direction, the roll angle of the load 30 is -15°.
  • the yaw rotation mechanism 203 included in the pan-tilt mechanism 20 , the attitude angle of the load 30 includes the yaw angle, and the yaw angle of the load 30 is adjusted by the yaw rotation mechanism 203 .
  • the yaw angle refers to the yaw angle of the load 30 itself, which may be different from the yaw angle of the main body 10 .
  • the roll angle, pitch angle and yaw angle of the load 30 all refer to its own attitude angle, and the roll angle is about the roll axis Roll shown in the figure.
  • the rotation angle of the axis, the pitch angle is the rotation angle around the pitch axis Pitch axis shown in the figure, and the yaw angle is the rotation angle around the yaw axis Yaw axis shown in the figure.
  • each of the aforementioned attitude angles is 0°.
  • the corresponding attitude angle is generated only when the corresponding roll rotation mechanism 201 , pitch rotation mechanism 202 , and yaw rotation mechanism 203 move to drive the load 30 and the main body 10 to move relative to each other. Therefore, by using the action combination of each rotating mechanism, the load 30 can be flexibly driven to the required orientation for shooting, and different shooting modes can be realized.
  • FPV First Person View, first-person perspective
  • a pan-tilt system is provided, the pan-tilt system is used in a movable platform, the movable platform includes a main body, and the pan-tilt system includes a pan-tilt mechanism and a vibration reduction mechanism.
  • the gimbal system is connected to the side of the main body, and the vibration reduction mechanism is arranged between the gimbal mechanism and the main body to absorb vibration energy. Since the gimbal system is connected to the side of the main body, the movement of the gimbal mechanism no longer interferes with the main body, and the gimbal mechanism can move to areas other than the main body for connecting the gimbal system.
  • the gimbal system can have better vibration reduction and vibration isolation effects, which is helpful for improving imaging. quality.
  • the simple structure of the gimbal system will not lead to an increase in the overall volume and size of the gimbal system, which is conducive to realizing lightweight products and improving battery life.
  • the vibration damping mechanism 21 includes a connecting component 210 and an elastic member 211;
  • the connecting assembly 210 is used to connect the pan-tilt mechanism 20 and the main body 10 , and the elastic member 211 is disposed between the pan-tilt mechanism 20 and the main body 10 .
  • the above-mentioned vibration damping mechanism 21 includes a connecting component 210 and an elastic member 211 .
  • the connection assembly 210 is used to realize the connection between the pan-tilt mechanism 20 and the main body 10 , that is, to install the pan-tilt mechanism 20 on the side of the main body 10 .
  • the elastic member 211 is located between the pan-tilt mechanism 20 and the main body 10 to prevent the pan-tilt mechanism 20 from forming rigid contact with the main body 10. Therefore, once the main body 10 vibrates, the energy generated by the vibration can be absorbed and consumed by the elastic member 211 and will not be transmitted. To the pan-tilt mechanism 20, the vibration of the pan-tilt mechanism 20 and the load 30 can be avoided.
  • the connecting assembly 210 includes a first connecting piece 2101 , one side of the first connecting piece 2101 is connected with the pan-tilt mechanism 20 , and the other side of the first connecting piece 2101
  • the elastic member 211 is disposed between the main body 10 .
  • the connecting component 210 may include a first connecting member 2101 , the first connecting member 2101 may be a connecting plate, and the connecting plate has two surfaces parallel to each other, one of which is One surface is used for installing and fixing the pan-tilt mechanism 20 , the other surface is used for connecting with the main body 10 , and the elastic member 211 is arranged between the other surface of the first connecting member 2101 and the main body 10 .
  • the elastic member 211 may be fixed on the other surface of the first connecting member 2101 or on the side surface of the main body 10 . Therefore, the first connecting member 2101 can extend the connecting structure for the pan-tilt mechanism 20 to realize the connection with the main body 10 , and at the same time, the elastic member 211 can absorb vibration energy and play a role of vibration isolation.
  • the connecting assembly 210 further includes a second connecting piece 2102, and the second connecting piece 2102 is used for connecting with the main body 10;
  • the first connecting member 2101 is movably connected with the second connecting member 2102 through the elastic member 211 .
  • the connecting assembly 210 may include two connecting pieces, a first connecting piece 2101 and a second connecting piece 2102 .
  • the first connector 2102 is fixed with the pan-tilt mechanism 20 , that is, the first connector 2102 and the pan-tilt mechanism 20 can be regarded as an integral structure.
  • the second connector 2102 is used for connecting with the main body 10 . It should be noted that, the first connector 2101 and the second connector 2102 are movably connected, and the two can move relative to each other, that is, there is an active space between the first connector 2101 and the second connector 2102, and the two can be connected to each other. produce relative displacement.
  • the elastic member 211 is interposed between the first connecting member 2101 and the second connecting member 2102, and when the two move relative to each other, the elastic member 211 can be forced to deform.
  • the elastic member 211 absorbs the energy generated by the vibration of the second connecting member 2102 , the first connector 2101 is in a stable state, which can ensure the stability of the pan-tilt mechanism 20 .
  • the second connecting member 2102 is disposed inclined relative to the direction of the yaw axis of the load 30;
  • the second connecting member 2102 includes a first surface and a second surface opposite to each other, the first surface faces the pan-tilt mechanism 20, and the second surface faces away from the pan-tilt mechanism 20;
  • elastic members 211 which are respectively disposed between the first surface and the first connecting member 2101 and between the second surface and the first connecting member 2101 .
  • the second connecting member 2102 is inclined relative to the direction of the yaw axis of the load 30 .
  • the yaw axis of the load 30 is used to control the direction of the load 30 to the left and right. Axis of rotation for side deflection.
  • the second connecting member 2102 includes a first surface and a second surface opposite to each other, the first surface faces the pan-tilt mechanism 20, and the second surface faces away from the pan-tilt mechanism 20.
  • the second connecting member 2102 when the second connecting member 2102 is inclined relative to the yaw axis of the load 30 , that is, the second connecting member 2102 is inclined relative to the yaw axis of the main body 10 .
  • the above-mentioned elastic members 211 are plural, a part of the elastic members 211 is arranged between the first surface of the second connecting member 2102 and the first connecting member 2101 , and another part of the elastic members 211 is arranged between the second surface of the second connecting member 2102 and the first connecting member 2101 . between the first connectors 2101 .
  • the elastic members 211 everywhere are in tension or compression state, and the deformation directions of the elastic members 211 can be ensured to be consistent, and the vibration damping performance of the vibration damping fulcrums where the elastic members 211 are located can be ensured to be as consistent as possible.
  • the lower end of the second connecting member 2102 is disposed closer to the yaw rotation mechanism 203 than the upper end.
  • the lower end of the second connecting member 2102 may be disposed closer to the yaw rotation mechanism 203 than the upper end. 3 , it can be seen that, as the second connecting member 2102 gradually extends downward, the distance between the lower end of the second connecting member 2102 and the yaw rotating mechanism 203 becomes smaller and smaller. In this way, under the action of gravity, the pan-tilt mechanism 20 has a tendency of overturning and rotating to the right, so that the elastic members 211 at the upper and lower ends of the second connecting member 2102 are stretched and deformed. Through experimental tests, when the elastic member 211 is in tensile deformation, it has a more excellent vibration damping effect.
  • the elastic member 211 is an axisymmetric structure, and the symmetry axis of the elastic member 211 is substantially parallel to the roll axis of the pan-tilt mechanism 20 .
  • the elastic member 211 is an axisymmetric structure, for example, the elastic member 211 may be a cylindrical rubber member or a barrel-shaped rubber member.
  • the symmetry axis of the symmetry axis of the elastic member 211 can be a cylindrical or barrel-shaped rotation axis.
  • the symmetry axis of the elastic member 211 can be parallel to the roll axis of the pan-tilt mechanism 20. In this solution , the elastic member 211 is stretched along the direction of the symmetry axis, so that its vibration damping performance can be fully utilized.
  • the elastic member 211 includes at least one of a compression elastic member and a tensile elastic member.
  • the above-mentioned elastic member 211 can preferably use a tensile elastic member that is in a stretched state, and of course, a compression elastic member that is in a compressed state can also be used.
  • a compression elastic member that is in a compressed state
  • Compression elastic members of the same type are also suitable for use as elastic members 211.
  • the elastic expansion and contraction generated by the compression spring still help to reduce vibration when subjected to external force.
  • the first connecting member 2101 and the second connecting member 2102 are arranged to intersect at a preset angle.
  • the first connector 2101 and the second connector 2102 cross each other, as shown in FIG. 3 , from the side It is observed that the first connecting member 2101 and the second connecting member 2102 are in an X-shaped cross shape, and the included angle between the two satisfies a preset angle. In this way, on the one hand, the first connecting member 2101 and the second connecting member 2102 can form a structure similar to a lever.
  • the elastic member 211 at the upper end is stretched, while the first connecting member 2101 is rotated to the right.
  • the lower end of the connecting member 2101 is rotated to the left, and the elastic member 211 at the lower end is stretched, so that all the elastic members 211 are stretched.
  • the two connecting pieces are arranged in an intersecting manner, which can also limit each other, preventing the first connecting piece 2101 from accidentally falling off from the second connecting piece 2102, and improving the safety and reliability of the connecting structure.
  • the first connector 2101 and the pan-tilt mechanism 20 can also be fixed on the second connector 2102 or the main body 100 by a flexible metal or nylon wire to prevent the first connector 2101 and the pan-tilt mechanism 20 shedding.
  • a through hole is formed in the middle of the second connecting member 2102 , and the first connecting member 2101 includes a first connecting portion 21011 at the upper end and a second connecting portion 21012 at the lower end ;
  • the first connecting member 2101 passes through the through hole, the first connecting portion 21011 is located on the same side of the first surface, and the second connecting portion 21012 is located on the same side of the second surface.
  • the second connecting member 2102 is a plate member with a through hole in the middle, and the upper and lower ends of the second connecting member 2102 are respectively used for connecting with the second connecting member 2102 .
  • the first connecting part 21011 and the second connecting part 21012 of the connecting piece 2102 are connected.
  • the first surfaces of the first connector 21011 and the second connector 2102 are located on the same side, as shown in FIG. 3 on the right side of the second connector 2102,
  • the second connecting portion 21012 and the second surface of the second connecting member 2102 are located on the same side, such as the left side of the second connecting member 2102 as shown in FIG. 3 .
  • the second connecting part 21012 is The connecting piece 2102 acts as a limiting block to the first connecting piece 2101, which can prevent the two connecting pieces from being separated and falling off.
  • each of the first connecting portion 21011 and the second connecting portion 21012 is connected with at least one elastic member 211 .
  • the first connecting portion 21011 and the second connecting portion 21012 may be rectangular connecting portions, each of which is used to connect an elongated elastic member 211 .
  • the first connecting portion 21011 and the second connecting portion 21012 may also be circular connecting portions each provided with two connecting positions. On the first connecting portion 21011, the two circular connecting portions are separated by a preset distance. On the part 21012, the two circular connecting parts are separated by a preset distance. Therefore, the first connection part 21011 and the second connection part 21012 can form a two-point vibration reduction layout, a three-point vibration reduction layout or a four-point vibration reduction layout that is symmetrical up and down.
  • the first connecting portion 21011 is connected with two elastic members 211
  • the second connecting portion 21012 is connected with two elastic members 211 .
  • two fixing points may be set on the first connecting portion 21011, respectively for fixing an elastic member 211.
  • two fixing points may be set on the second connecting portion 21012, They are respectively used to fix one elastic piece 211 .
  • four elastic members 211 can be fixed between the first connecting member 2101 and the second connecting member 2102, and the four elastic members 211 are evenly distributed, which can form a relatively stable and balanced four-point vibration reduction layout structure.
  • the first connecting member 2101 is an X-shaped connecting frame
  • connection frame Two adjacent ends of the connection frame are the first connection parts 21011 , and the other two adjacent ends of the connection frame are the second connection parts 21012 .
  • the above-mentioned first connecting member 2101 may have two arms, and the two arms are cross-connected to form an X-shaped connecting frame.
  • the connecting frame can be an integrally injection-molded part or can be connected together by means of screw fastening.
  • Two adjacent ends of the X-shaped connecting frame are first connecting parts 21011 , and the other two adjacent ends are second connecting parts 21012 .
  • bosses or grooves for mounting and positioning the elastic member 211 may be provided on the first connecting portion 21011 and the second connecting portion 21012 .
  • first connecting member 2101 and the second connecting member 2102 form the preset angle in the plane where the yaw axis and the roll axis of the main body 10 are located;
  • the first connecting member 2101 and the second connecting member 2102 form the predetermined angle in the plane where the yaw axis and the pitch axis of the main body 10 are located.
  • the vibration damping mechanism 21 and the pan-tilt mechanism 20 described above can be connected to appropriate positions on the side surface of the main body 10 when the space position allows.
  • the first connecting member 2101 and the second connecting member 2102 can form a preset in the plane where the yaw axis and the roll axis of the main body 10 are located. angle.
  • the first connecting member 2101 and the second connecting member 2102 can form a preset angle in the plane where the yaw axis and the pitch axis of the main body 10 are located.
  • the pan-tilt system can be selected to connect to the pan-tilt system at appropriate positions on the front, back, left, and right of the main body 10 .
  • the first connecting member 2101 includes a first surface and a second surface opposite to each other, the first surface faces the pan-tilt mechanism 20, and the second surface faces away from the pan-tilt mechanism 20, so the second surface is used to connect with the main body 10;
  • the second surface includes a first connection part and a second connection part distributed up and down along the yaw axis of the pan-tilt mechanism 20 , and the first connection part and the second connection part are respectively provided with the elastic member ;
  • the elastic member 211 is an axis-symmetric structure, and at the first connection portion, the symmetry axis of the elastic member 211 is perpendicular to the second surface; at the second connection portion, the elastic member 211 has an axis of symmetry.
  • the axis of symmetry is parallel to the second surface.
  • the connecting assembly of the embodiment of the present invention may include a first connecting member 2101 having a first surface and a second surface facing away from each other.
  • a first connecting member 2101 having a first surface and a second surface facing away from each other.
  • the first surface of the first connecting member 2101 faces the pan-tilt mechanism 20 and is fixedly connected with the pan-tilt mechanism 20 .
  • the second surface faces away from the pan-tilt mechanism 20 and is used for connection with the main body 10 .
  • the gimbal mechanism 20 has a yaw axis for controlling the left and right turning of the gimbal, the second surface includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are distributed up and down along the yaw axis of the gimbal mechanism 20,
  • the elastic member 211 is disposed at the position of the first connecting portion and the second connecting portion.
  • the elastic member 211 has an axis-symmetric structure, and at the first connection portion, the symmetry axis of the elastic member 211 is perpendicular to the second surface. In the second connection portion, the axis of symmetry of the elastic member 211 is parallel to the second surface. It can be understood that, since the first connecting portion is located above the second connecting portion, after the second surface is connected to the main body 10, the pan-tilt mechanism 20 will press the elastic member 211 located at the second connecting portion under its own gravity. , however, the axis of symmetry of the elastic member 211 at this position is parallel to the second surface, that is, along the direction of the axis of symmetry of the elastic member 211 , which is in a stretched state.
  • the elastic member 211 of the first connecting portion its symmetry axis is perpendicular to the second surface, and along the direction of the symmetry axis of the elastic member 211 , it is in a stretched state. Therefore, when a connector is used to connect the main body 10 and the pan-tilt mechanism 20, the elastic members 211 can be installed and fixed in this solution, and the elastic members 211 can be stretched everywhere to ensure the elasticity of the various parts. Part 211 has the same vibration damping performance.
  • the elastic member 211 includes any one of rubber damping balls, damping oil balls and springs.
  • the above-mentioned elastic member 211 may be any one of a rubber damping ball, a damping oil ball and a spring.
  • a spring may be preferably used.
  • rubber vibration damping balls can be preferred. Specifically, it can be selected and used according to the usage scenario of the PTZ system, which is not limited in this embodiment of the present invention.
  • pan/tilt system 20 is detachably connected to the main body 10 .
  • the above-mentioned pan/tilt system 20 and the main body 10 can be detachably connected through a mechanical snap or elastic snap structure, and of course, a screw can also be used to achieve detachable connection. Therefore, the storage of the pan/tilt system 20 is facilitated.
  • the rotation angle of the pan-tilt mechanism 201 along the roll axis is greater than or equal to 0° and less than or equal to 180°, and the rotation angle along the pitch axis is greater than or equal to -90° and less than or equal to 90°.
  • the rotation angle of the above-mentioned pan-tilt mechanism 201 along the Roll axis is greater than or equal to 0° and less than or equal to 180°, and the rotation angle along the pitch axis of the pitch axis is greater than or equal to -90° and less than or equal to 90° °.
  • the rotation angle of the roll axis and the rotation angle of the pitch axis both refer to the angle of rotation around the roll axis or around the pitch axis, and have nothing to do with whether the main body 10 rotates.
  • the rotation angle of the pan-tilt mechanism 201 along the roll axis is equal to 90°, it means that the pan-tilt mechanism 201 and the load 30 are both rotated by 90°.
  • the yaw axis of the pan-tilt mechanism 201 From the horizontal direction to the vertical direction, as shown in FIG. 5 , the load 30 can realize vertical composition shooting.
  • the rotation angle of the pan-tilt mechanism 201 along the roll axis is equal to 180°, it means that the pan-tilt mechanism 201 has flipped to the direction facing the sky.
  • the rotation angle of the tilt axis is -90°, the schematic diagram in FIG. The scene above can be shot upwards.
  • the pitch rotation mechanism 202 is mechanically coupled and connected to the load 30 , and the roll rotation mechanism 201 , the yaw rotation mechanism 203 , and the pitch rotation mechanism 202 are mechanically coupled and connected in sequence.
  • the load 30 is mounted on the pitch rotation mechanism 202 , that is, the pitch rotation mechanism 202 acts as an actuator at the end to control the pitch angle of the load 30 .
  • the pitch rotation mechanism 202 may be mechanically coupled to the yaw rotation mechanism 203
  • the yaw rotation mechanism 203 is mechanically coupled to the roll rotation mechanism 201 . That is, the roll rotation mechanism 201 drives the yaw rotation mechanism 203 and the pitch rotation mechanism 202 to roll, and the yaw rotation mechanism 203 drives the yaw of the pitch rotation mechanism 202, so that the action logic of Row-Yaw-Pitch can be realized.
  • the pitch rotation mechanism 202 is mechanically coupled and connected to the load 30
  • the roll rotation mechanism 201 , the pitch rotation mechanism 202 , and the yaw rotation mechanism 203 are mechanically coupled and connected in sequence.
  • the load 30 is mounted on the yaw rotation mechanism 203 , that is, the yaw rotation mechanism 203 acts as an actuator at the end to control the yaw angle of the load 30 .
  • the yaw rotation mechanism 203 may be mechanically coupled to the pitch rotation mechanism 202
  • the pitch rotation mechanism 202 is mechanically coupled to the roll rotation mechanism 201 . That is, the roll rotation mechanism 201 drives the pitch rotation mechanism 202 and the yaw rotation mechanism 203 to roll, and the pitch rotation mechanism 202 drives the pitch of the yaw rotation mechanism 203, so that the action logic of Row-Pitch-Yaw can be realized.
  • the roll rotation mechanism 201 includes a roll support 2011 and a roll motor 2012 for driving the roll support 2011 to rotate around a roll axis;
  • the roll bracket 2011 is used for mechanical coupling and connection with the pitch motor 2022 of the pitch rotation mechanism 201 or the yaw motor 2032 of the yaw rotation mechanism 203 .
  • the roll rotation mechanism 201 includes a roll support 2011 and a roll motor 2012 .
  • the roll support 2011 is connected with the rotating shaft of the roll motor 2012, so that the operation of the roll motor 2012 can drive the roll support 2011 to rotate around the roll axis of the roll axis.
  • the roll bracket 2011 is also used for mechanical coupling and connection with the pitch motor 2022 or the yaw motor 2032 , and the pitch motor 2022 or the yaw motor 2032 can rotate with the roll bracket 2011 .
  • the pitch rotation mechanism 202 includes a pitch bracket 2021 and a pitch motor 2022 for driving the pitch bracket 2021 to rotate around a pitch axis;
  • the pitch bracket 2021 is used for mechanical coupling and connection with the load 30 or the yaw motor 2032 of the yaw rotation mechanism 203 .
  • the pitch rotation mechanism 202 includes a pitch bracket 2021 and a pitch motor 2022 .
  • the pitch bracket 2021 is connected with the rotating shaft of the pitch motor 2022, so that the operation of the pitch motor 2022 can drive the pitch bracket 2021 to rotate around the pitch axis Pitch axis.
  • the pitch bracket 2021 is also used for mechanical coupling with the load 30 or the yaw motor 2032 , and the load 30 or the yaw motor 2032 can rotate along with the pitch bracket 2021 .
  • the yaw rotation mechanism 203 includes a yaw bracket 2031 and a yaw motor 2032 for driving the yaw bracket 2031 to rotate around the yaw axis Yaw axis;
  • the yaw bracket 2031 is used for mechanical coupling and connection with the load 30 or the pitch motor 2022 of the pitch rotation mechanism 202 .
  • the yaw rotation mechanism 203 includes a yaw bracket 2031 and a yaw motor 2032 .
  • the yaw bracket 2031 is connected with the rotating shaft of the yaw motor 2032, so that the operation of the yaw motor 2032 can drive the yaw bracket 2031 to rotate around the yaw axis Yaw.
  • the yaw bracket 2031 is also used for mechanical coupling with the load 30 or the pitch motor 2022 , and the load 30 or the pitch motor 2022 can rotate along with the yaw bracket 2031 .
  • Embodiments of the present invention further provide a movable platform, including any of the aforementioned pan-tilt systems 20;
  • the pan/tilt system 20 is connected to the main body 10;
  • At least one of the roll rotation mechanism 201 , the pitch rotation mechanism 202 and the yaw rotation mechanism 203 can be controlled according to the posture or/and the movement direction of the main body 10 , so as to realize the horizontal composition shooting mode, vertical Towards the frame shot mode and the tilt shot mode.
  • the above-mentioned pan-tilt system 20 can be connected to the main body 10 of the movable platform, and the main body 10 is provided with a control device. At least one of the pitch motor 2022 and the yaw motor 2032 sends out a control signal, and accordingly controls at least one of the roll rotation mechanism 201, the pitch rotation mechanism 202 and the yaw rotation mechanism 203 to act, so that the load 30 can move to different Position, realize horizontal composition shooting mode, vertical composition shooting mode and vertical shooting mode.
  • excellent image quality can be obtained no matter in the horizontal composition shooting mode, the vertical composition shooting mode or the vertical shooting mode.
  • the horizontal composition shooting mode, the vertical composition shooting mode, and the upward shooting mode please refer to the schematic diagrams in FIG. 1 , FIG. 6 , and FIG. 5 , respectively.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • references herein to "one embodiment,” “an embodiment,” or “one or more embodiments” means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention. Also, please note that instances of the phrase “in one embodiment” herein are not necessarily all referring to the same embodiment.
  • any reference signs placed between parentheses shall not be construed as limiting the claim.
  • the word “comprising” does not exclude the presence of elements or steps not listed in a claim.
  • the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
  • the invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware.
  • the use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un système de cardan et une plateforme mobile. La plateforme mobile comprend un corps principal (10), le système de cardan comprend un mécanisme de cardan (20) et un mécanisme d'amortissement de vibrations (21) ; le système de cardan est relié à une face latérale du corps principal (10) et est utilisé pour supporter une charge (30) ; le mécanisme d'amortissement de vibrations (21) est agencé entre le mécanisme de cardan (20) et le corps principal (10), pour absorber l'énergie de vibration ; et le mécanisme de cardan (20) est couplé mécaniquement à la charge (30), et l'angle d'attitude de la charge (30) peut être ajusté au moyen du mécanisme de cardan (20). Le système de cardan peut avoir un bon effet d'amortissement de vibrations et d'isolation de vibrations, quel que soit le moment où le système de cardan est utilisé pour une photographie de composition horizontale classique, ou pour une photographie de composition verticale ou pour une photographie en vue de dessous, facilitant l'amélioration de la qualité d'imagerie. En outre, le système de cardan a une structure simple, qui ne conduit pas à une augmentation de la taille globale du système de cardan, permettant ainsi de faciliter le poids léger du produit et d'améliorer la capacité d'endurance.
PCT/CN2020/126077 2020-11-03 2020-11-03 Système de cardan et plateforme mobile Ceased WO2022094744A1 (fr)

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PCT/CN2020/126077 WO2022094744A1 (fr) 2020-11-03 2020-11-03 Système de cardan et plateforme mobile
CN202080074212.8A CN114710961A (zh) 2020-11-03 2020-11-03 云台系统和可移动平台

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