WO2022021063A1 - Ptz head, camera device, and mobile platform - Google Patents

Abstract

A PTZ head, a camera device, and a mobile platform. The PTZ head is used to support a load, and comprises: an orientation adjustment mechanism comprising at least one rotating shaft mechanism (4) and first magnets (15), wherein the rotating shaft mechanism (4) is used to adjust the orientation of the load and comprises a motor and a support frame, the motor can drive the support frame to rotate, and the first magnets (15) can be mounted on the support frame; and a counterweight mechanism mounted on the support frame and comprising a counterweight (5), wherein the counterweight (5) can perform reciprocating motion between a first position (X1) and a second position (X2) and comprises second magnets (9) for interacting with the first magnets (15). When the weight of the load changes, a first force between the first magnets (15) and the second magnets (9) drives the counterweight (5) to move from the first position (X1) to the second position (X2), so as to reduce the distance between the center of gravity of a motor load of the motor and a rotating shaft of the motor.

Description

PTZ, CAMERA AND MOBILE PLATFORM technical field

The present disclosure relates to a pan/tilt, a camera device and a movable platform having the pan/tilt.

Background technique

The photographing device generally includes a gimbal and a photographing device mounted on the gimbal. The pan/tilt is used to fix the camera and adjust the attitude of the camera, such as changing the height and/or direction of the camera, and stably keep the camera in a certain attitude, so as to realize the stability of the camera, Smooth and multi-angle shooting. In the process of film and television shooting, the shooting environment and shooting requirements are changeable, so it is necessary to frequently replace the camera at the shooting site or disassemble and install the camera, which requires frequent adjustment of the center of gravity of the gimbal, which brings inconvenience to users.

SUMMARY OF THE INVENTION

The present disclosure provides a pan/tilt head, which is used to carry a load, including: an attitude adjustment mechanism, including at least one rotating shaft mechanism, and a first magnet, and the rotating shaft mechanism is used to adjust the attitude of the load, so The rotating shaft mechanism includes a motor and a bracket, the motor can drive the bracket to rotate, and the first magnet is installed on the bracket; a counterweight mechanism is used to be arranged on the bracket, and the counterweight mechanism includes a counterweight mechanism. a weight, the weight can reciprocate between a first position and a second position; the weight includes a second magnet for interacting with the first magnet, wherein when the load is When the weight changes, there is a first acting force in a first direction between the first magnet and the second magnet, so as to drive the counterweight to move from the first position to the second position, so that all The distance between the center of gravity of the motor load of the motor and the rotating shaft of the motor is smaller than the first distance threshold.

In some embodiments of the present disclosure, the rotating shaft mechanism is a pitch shaft structure, and the bracket is used to carry the load.

In some embodiments of the present disclosure, the load is a lens module, and the bracket includes a housing mechanism for accommodating the lens module.

In some embodiments of the present disclosure, the lens module and the housing mechanism together form a complete camera structure.

In some embodiments of the present disclosure, the load is a camera, and the bracket is a frame structure for fixing the camera.

In some embodiments of the present disclosure, the rotation axis mechanism is a translation axis structure or a roll axis mechanism, and the bracket is used to carry motors of other rotation axis mechanisms of the attitude adjustment mechanism.

In some embodiments of the present disclosure, the load includes: a first load, which is rotatable about a rotating shaft of the motor, and a second load, which rotates with the rotation of the first load.

In some embodiments of the present disclosure, the first magnet is disposed on the second load; when the second load is installed on the bracket, the first magnet and the second magnet There is a mutually repulsive repulsion force between the second load and the counterweight.

In some embodiments of the present disclosure, when the counterweight is located in the first position, the first distance between the common center of gravity of the first load and the counterweight mechanism and the rotating shaft of the motor is smaller than the specified distance. When the counterweight is located at the second position, the first load and the counterweight mechanism have a common center of gravity and a second distance between the rotating shaft of the motor.

In some embodiments of the present disclosure, a second force in a second direction exists between the counterweight and the first load, the second direction being opposite to the first direction.

In some embodiments of the present disclosure, the weight mechanism further includes:

A first elastic component is connected with one end of the weight member to provide an elastic force for driving the weight member to move along the second direction.

In some embodiments of the present disclosure, when the second load is removed, the first elastic member can drive the counterweight to move from the second position to the first position.

In some embodiments of the present disclosure, when the counterweight is located at the first position, the magnitude of the second force is greater than the magnitude of the gravity of the counterweight; and/or, when the counterweight is in the first position When the weight is located at the second position, the magnitude of the first acting force is greater than the sum of the magnitude of the second acting force and the gravity of the counterweight.

In some embodiments of the present disclosure, the counterweight mechanism further includes: a guide rod disposed on the pan/tilt head; the counterweight member includes a through hole; wherein the guide rod is matched with the through hole , to guide the counterweight so that the counterweight can reciprocate along the guide rod between a first position and a second position.

In some embodiments of the present disclosure, the through holes include at least one of the following: circular holes and waist-shaped holes.

In some embodiments of the present disclosure, the counterweight mechanism further includes: a limiting member configured to limit the counterweight when the counterweight reaches the second position.

In some embodiments of the present disclosure, the counterweight is provided with a locking slot; and the limiting member includes a locking slider, and the locking slider cooperates with the locking slot to lock the The counterweight is fixed in the second position.

In some embodiments of the present disclosure, the retaining slot is provided on a side of the counterweight.

In some embodiments of the present disclosure, the card slot includes a first sub-card slot and a second sub-card slot; wherein a straight line where an extension direction of the first sub-card slot is located and the first direction The included angle between the straight lines is less than or equal to the first included angle threshold, and the included angle between the straight line where the extension direction of the second sub-card slot is located and the straight line where the vertical direction of the first direction is located is less than or equal to the second Angle threshold.

In some embodiments of the present disclosure, the retaining slot is "L" shaped.

In some embodiments of the present disclosure, the counterweight is provided with a waist-shaped hole; and the length of the second sub-detent slot is adapted to the length of the waist-shaped hole.

In some embodiments of the present disclosure, the limiting member further includes a key, wherein the locking slider includes a first wedge-shaped portion, the key includes a second wedge-shaped portion, the first wedge-shaped portion and the The second wedge-shaped portion is matched to realize the relative displacement between the latching slider and the key, which is perpendicular to a third direction, and the third direction is the direction in which the key is pressed or bounced.

In some embodiments of the present disclosure, the limiting member further includes a second elastic member for providing a first restoring force to the key.

In some embodiments of the present disclosure, the limiting member further includes a third elastic member, configured to provide a second restoring force to the locking slider, wherein the direction of the first restoring force is the same as the direction of the first restoring force. The directions of the two restoring forces are perpendicular to each other.

In some embodiments of the present disclosure, the limiting member further includes a limiting member bracket, and the limiting member bracket is used to fix at least one of the following: the button, the second elastic member and the third elastic member .

In some embodiments of the present disclosure, the relative displacement perpendicular to the third direction is adapted to the length of the second sub-card slot.

In some embodiments of the present disclosure, when the button is pressed, the card position slider can move to a position in the second sub card position slot connected to the first sub card position slot, so as to The counterweight can move along the extending direction of the first sub-locking slot under the second acting force.

In some embodiments of the present disclosure, the first load includes a first lens module.

In some embodiments of the present disclosure, the second load includes a second lens module, and the second lens module cooperates with the first lens module.

In some embodiments of the present disclosure, the second load and the first load are connected in a snap-fit manner.

In some embodiments of the present disclosure, the counterweight mechanism includes a plurality of sets of counterweight subassemblies, and the plurality of sets of counterweight subassemblies are symmetrically arranged.

In some embodiments of the present disclosure, the sets of counterweight subassemblies include a first counterweight subassembly and a second counterweight subassembly; wherein the counterweights of the first counterweight subassembly and the second counterweight subassembly They are respectively arranged around the first lens module.

In some embodiments of the present disclosure, the bracket includes: a front bracket; and a rear bracket, which cooperates with the front bracket to form an accommodation space for accommodating the first load.

In some embodiments of the present disclosure, the second load is detachably mounted on the front bracket.

In some embodiments of the present disclosure, the bracket includes a front bracket and a rear bracket, and the guide rod is disposed between the front bracket and the rear bracket.

The present disclosure also provides a camera device, the camera device includes: a pan/tilt, and the pan/tilt is the above-mentioned pan/tilt.

The present disclosure also provides a movable platform, including: a carrier body; and the above-mentioned pan/tilt head mounted on the carrier body.

In some embodiments of the present disclosure, the movable platform is any one of an unmanned aerial vehicle, a ground-based remote control robot, or a hand-held gimbal.

In some embodiments of the present disclosure, the carrier is any one of a frame of an unmanned aerial vehicle, a body of a ground-based remote control robot, or a handle of a hand-held gimbal.

It can be seen from the above technical solutions that the embodiments of the present disclosure at least have the following beneficial effects:

The magnet-based passive counterweight pan-tilt structure can automatically move the counterweight between the first position and the second position after the center of gravity of the load changes, change the position of the center of gravity of the pan-tilt, and maintain the stability of the pan-tilt. Therefore, the user experience can be improved to a certain extent.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present disclosure. In the attached image:

FIG. 1 schematically shows a schematic diagram of a pan/tilt according to an embodiment of the present disclosure;

FIG. 2 schematically shows a schematic diagram of an attitude adjustment mechanism according to an embodiment of the present disclosure;

FIG. 3 schematically shows a schematic diagram of a counterweight mechanism and a rotating shaft mechanism according to an embodiment of the present disclosure;

FIG. 4 schematically shows a perspective view of the gimbal according to an embodiment of the present disclosure when it is in a first state;

FIG. 5 schematically shows a cross-sectional view of the gimbal according to an embodiment of the present disclosure when it is in a first state;

FIG. 6 schematically shows a schematic diagram of the internal structure of a pan/tilt according to an embodiment of the present disclosure;

FIG. 7 schematically shows an internal front view of the gimbal according to the embodiment of the present disclosure when it is in a first state;

FIG. 8 schematically shows a schematic diagram of a second load according to an embodiment of the present disclosure;

FIG. 9 schematically shows a schematic diagram of a snap groove according to an embodiment of the present disclosure;

FIG. 10 schematically shows a schematic diagram of a limiting member according to an embodiment of the present disclosure;

FIG. 11 schematically shows a schematic diagram of a groove of a counterweight according to an embodiment of the present disclosure;

FIG. 12 schematically shows a schematic diagram of a sliding hole of a counterweight according to an embodiment of the present disclosure;

FIG. 13 schematically shows a cross-sectional view of the gimbal according to the embodiment of the present disclosure when it is in a second state;

FIG. 14 schematically shows a schematic diagram of the internal structure of the gimbal according to the embodiment of the present disclosure when it is in the second state;

FIG. 15 schematically shows a side view of the gimbal according to the embodiment of the present disclosure when it is in a second state;

FIG. 16 schematically shows a schematic diagram of a camera device according to an embodiment of the present disclosure;

FIG. 17 schematically shows a schematic diagram of a movable platform according to an embodiment of the present disclosure;

FIG. 18 schematically shows a schematic diagram of a movable platform according to another embodiment of the present disclosure; and

FIG. 19 schematically shows a schematic diagram of a movable platform according to another embodiment of the present disclosure.

【Description of drawings】

1-rear bracket; 2-front bracket; 3-accessories; 4-rotating shaft mechanism; 5-counterweight; 6-buckle; 7-lens module; 8-card slot; 81-first sub-card slot ;82-Second sub-card slot; 9-Second magnet; 10-Protective glass; 11-Through hole; 12-Guide rod fixing hole; 13-Guide rod; 14-First elastic member; 15-First magnet ; 16- buckle groove; 17- button; 18- second elastic part; 19- clamping slider; 20- slider limit groove; 22- third elastic part; 23- limit part bracket; 24 - waist hole; 25- drone; 251- power system; 26- robot; 27- hand-held head; X1- first position; X2- second position; O1- center of gravity; O2- center of gravity.

detailed description

In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the specific embodiments and the accompanying drawings.

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

The present disclosure provides a pan/tilt, a camera device and a movable platform, which are used in a passive counterweight pan/tilt solution, such as a handheld pan/tilt or a pan/tilt set on a movable platform. The pan/tilt can be used to set the load on the body (eg rack, handheld, etc.). For example, the payload may be a camera that allows the camera to be displaced relative to the body, or rotated along one or more axes, such as a camera that allows the camera to move along one of a pitch, pan, and roll axis A combined translational movement of an axis or axes. As another example, the pan/tilt head may allow the camera to rotate about one or more of a pitch axis, a pan axis, and a roll axis. In this way, the posture adjustment of functional components (such as lenses, probes, etc.) can be realized, so that the user can obtain the required information.

With the great progress made in the optical industry, especially in the consumer field, more and more optical products are presented to users due to the drive of the mobile phone camera industry. These products are getting smaller and cheaper. At the same time, users' consumption behavior and requirements for consumer goods are also getting higher and higher. For example, for miniaturized handheld cameras, a variety of accessories emerge in an endless stream, such as various filters, wide-angle lenses, etc. These accessories, as a supplement to the main product (such as a camera), also play an important role in shooting to meet the needs of The user's multi-scene camera needs. However, there are still some problems in application. For example, for a small camera with a gimbal structure, maintaining the stability of the gimbal becomes a difficult problem to be solved. In addition, for the airborne gimbal, maintaining the stability of the gimbal and reducing the energy consumption of the gimbal have become difficult problems to be solved.

Take a miniature handheld gimbal camera as an example. It has excellent anti-shake effect. The gimbal motor can be a brushless motor, which has a relatively small holding force. The station has no limiting effect. The center of gravity of the main product can be designed to meet certain requirements to maintain the stability of the main product during operation, such as the center of gravity of the main product as far as possible over the center of at least one of the pan motor, roll motor or pitch motor. Similarly, the camera and other components carried by the large-scale gimbal are heavy, and it is also necessary to make the center of gravity of the main product pass through the center of at least one of the pan motor, roll motor or pitch motor as much as possible. However, when the center of the gimbal changes (for example, the center of gravity of the gimbal changes after assembling accessories or focusing the lens), it will bring a large load to the motor, which is not conducive to the use and maintenance of the product.

The pan/tilt, camera device and movable platform provided by the embodiments of the present disclosure, the pan/tilt is based on a passive counterweight method of magnets, which can realize that when the center of gravity of the pan/tilt changes, for example, after fittings are installed, the counterweight is automatically moved to Adjust the center of gravity of the gimbal to keep the gimbal stable. In this way, the center of gravity of each axis of the gimbal can be adjusted to achieve compatibility with many different types of loads.

The following is an exemplary description of the pan/tilt according to the embodiment of the present disclosure with reference to FIG. 1 to FIG. 15 .

In some of these embodiments, the head is used to carry a load. Specifically, the head includes an attitude adjustment mechanism and a counterweight mechanism.

The attitude adjustment mechanism may include at least one rotating shaft mechanism 4 and a first magnet 15. The rotating shaft mechanism 4 is used to adjust the attitude of the load. The rotating shaft mechanism 4 includes a motor and a bracket, and the motor can drive the The bracket rotates; the first magnet 15 can be mounted on the bracket.

The counterweight mechanism can be used to be arranged on the bracket, and the counterweight mechanism includes a counterweight member 5, and the counterweight member 5 can reciprocate between the first position X1 and the second position X2. The counterweight 5 includes a second magnet 9 for interacting with the first magnet 15 to drive the counterweight 5 to move, thereby adjusting the center of gravity of the head, so that the center of gravity of the head can pass the shaft of the motor. Heart.

For example, when the weight of the load changes, there is a first force in a first direction (the direction of X1 to X2 in FIG. 1 ) between the first magnet 15 and the second magnet 9 to drive the load. The counterweight 5 moves from the first position to the second position, so that the distance between the center of gravity of the motor load of the motor and the rotating shaft of the motor is smaller than a first distance threshold. The first distance threshold is a threshold that makes the load of the motor to maintain the working state of the camera and other components to meet a specific condition. For example, the specific condition may be that the voltage, current or power to be provided to the motor is less than a preset threshold, the The preset threshold value can be a calibration value or a simulation value. Optionally, the first distance threshold may be zero, but it is allowed to provide a certain redundancy to deal with scenarios such as tooling deviation.

FIG. 1 schematically shows a principle diagram of a pan/tilt according to an embodiment of the present disclosure.

As shown in FIG. 1 , the dotted box represents a bracket for carrying loads, and the bracket may include a front bracket and a rear bracket, and may also include connecting arms and the like. The material of the stent includes, but is not limited to, various lightweight structural materials (eg, plastics, alloys, fiber materials, composite materials, etc.) to provide mechanical support for the load. The first magnet 15 can be installed on the bracket, for example, can be installed on a part of the structure of the bracket, and the part of the structure can be detachably fixed on the bracket. The second magnet 9 may be disposed on the counterweight 5, and under the force between the first magnet 15 and the second magnet 9, the counterweight 5 is driven to move between the first position X1 and the second position X2. For example, when the counterweight 5 is located at the first position X1, the center of gravity of the gimbal is located at the center of gravity O1, and when the counterweight 5 is located at the second position X2, the center of gravity of the gimbal is located at the center of gravity O2. The gimbal provided by the embodiment of the present disclosure changes the position of the counterweight 5 based on the magnetic drive, thereby adjusting the center of gravity of the gimbal so that the center of gravity of the gimbal is as close as possible to the center of at least one of the pan motor, roll motor, or pitch motor.

FIG. 2 schematically shows a schematic diagram of an attitude adjustment mechanism according to an embodiment of the present disclosure.

As shown in FIG. 2 , the posture adjustment mechanism may include three rotating shaft mechanisms 4 , so that the load can rotate around the three axes X, Y, and Z, respectively. Correspondingly, power is provided by three motors, and the axes of the three motors can overlap with axes X, Y, and Z, respectively. As shown in Figure 2, the motor corresponding to the axis Z, is disassembled, including the stator part on the left half and the rotor part on the right half. The motor may include a coil for generating a magnetic field, and when the coil is energized, the generated magnetic field may drive the rotor to rotate around the Z-axis. The working principle of the motor corresponding to the axes X and Y is similar, and will not be repeated here. It should be noted that the posture adjustment mechanism may further include one rotating shaft mechanism 4 , two rotating shaft mechanisms 4 or four rotating shaft mechanisms 4 and the like. In some embodiments, the attitude adjustment mechanism may further include a translational drive mechanism, such as a linear motor, a lead screw, etc., to generate linear displacement, wherein when the linear displacement occurs, the center of gravity of the pan/tilt will change.

Referring to FIG. 4 , the support of the posture adjustment mechanism may be composed of at least one of a strip-like structure, a plate-like structure, and a ring-like structure. In some of the embodiments, the bracket includes: a front bracket 2 and a rear bracket 1 . Wherein, the rear bracket 1 cooperates with the front bracket 2 to form an accommodating space to accommodate the load. Wherein, the load may be composed of multiple loads that can be used in a set or individually, for example, the load may include a first load and a second load used in a set. The front bracket 2 and the rear bracket 1 can be fixed together by means such as screwing, clipping, welding and the like. The shape of the above-mentioned attitude adjustment mechanism is only used as an example to facilitate understanding of the present disclosure, which is not limited in the present disclosure.

In some of the embodiments, the rotating shaft mechanism 4 is a translation shaft structure or a rolling shaft mechanism, and the bracket is used to carry the motors of other rotating shaft mechanisms 4 of the posture adjustment mechanism. It should be noted that, for the attitude adjustment mechanism including the three rotating shaft mechanisms 4, the counterweight 5 can be used to adjust the center of gravity of the head so that the center of gravity passes through the center of at least one of the three rotating shaft mechanisms 4, that is, it can be used to optimize one , the load condition of the two or three rotating shaft mechanisms 4 in maintaining the working state of the camera and other components.

FIG. 3 schematically shows a schematic diagram of a counterweight mechanism and a rotating shaft mechanism according to an embodiment of the present disclosure.

As shown in FIG. 3 , the pan/tilt head includes three rotating shaft mechanisms 4 , which are used to drive the support of the pan/tilt head and the camera and other components therein to rotate around three axes respectively. In order to adjust the center of gravity of the gimbal so that the distance between the center of gravity of the gimbal and the three axes is as small as possible, the bracket may include counterweights 5 that can move along the X direction, the Y direction and/or the Z direction respectively. The counterweight 5 is provided with a second magnet 9 , which can generate a first force between the second magnet 9 and the matched first magnet 15 to drive the counterweight 5 to displace and adjust the center of gravity of the head. For example, the first magnet 15 located on the left side of FIG. 3 and the second magnet 9 located on the vertically arranged counterweight 5 cooperate with each other to drive the vertically arranged counterweight 5 to move to the right, so that the pan/tilt The center of gravity moves to the right, so that the center of gravity of the pan/tilt head approaches the center of the rotating shaft mechanism 4 whose axes are in the Z and Y directions. For another example, the counterweight 5 is a plate-like structure, and the surface of the plate-like structure is perpendicular to the Z direction, and the counterweight 5 is driven to displace in the Z direction, so that the center of gravity of the pan/tilt moves in the Z direction to approach the Z direction. The axis is the center of the rotating shaft mechanism 4 in the X-direction and the Y-direction.

In some of the embodiments, the rotating shaft mechanism 4 is a pitch shaft structure, and the bracket is used to carry the load. In addition, the rotating shaft mechanism 4 may also be a yaw shaft structure or a roll shaft structure.

For example, the load is a lens module 7 (refer to FIG. 5 ), and the bracket includes a housing mechanism for accommodating the lens module 7 . The lens module 7 may include multiple lenses, such as 3, 5, 8, 13 or more, and the materials of different lenses may be different, such as plastic materials, glass materials, etc. The lenses may include spherical mirrors and For aspherical mirrors, etc., the focal length of the lens module 7 is adjusted by adjusting the distances between multiple lenses. It should be noted that, in the process of focusing, the center of gravity of the lens module 7 will change, thereby affecting the center of gravity of the gimbal. Counterweights can be used to improve the effect of changes in the center of the gimbal on the motor.

In some of the embodiments, the lens module 7 and the housing mechanism together form a complete camera structure. This can effectively reduce the weight of the camera, save the casing of the camera itself, help reduce the overall weight of the gimbal, improve the endurance performance of drones, robots, etc., or reduce the weight of handheld gimbal to improve user experience.

In some of the embodiments, the load is a camera, and the bracket is a frame structure for fixing the camera. In this way, it is convenient for the user to replace the camera according to the needs of the scene. For example, the camera with a telephoto function can be replaced when a long shot needs to be shot, or a camera with a wide-angle lens can be replaced when a panoramic view needs to be shot. It helps to meet the different needs of users for multiple scenarios.

The following provides solutions for scenarios where the center of gravity of the gimbal is shifted due to the addition of accessories to the load.

In this embodiment, the loads include: a first load and a second load. Wherein, the first load can rotate around the rotating shaft of the motor. The second load rotates with the rotation of the first load, eg, the second load is directly mounted on the first load, so that the second load rotates with the rotation of the first load. For another example, the second load is mounted on the front bracket 2 or the rear case, so that the second load rotates with the rotation of the first load. The first load may be the main device, and the second load may be the accessory 3. The accessory 3 cooperates with the main device to realize the functions required by the user. Taking photography as an example, such as remote shooting, wide-angle shooting, macro shooting, etc. Optionally, the second load is detachably mounted on the front bracket 2 .

FIG. 4 schematically shows a perspective view of the gimbal according to the embodiment of the present disclosure when it is in a first state.

The first state may refer to a state in which the counterweight 5 is located at the first position. For example, a camera or lens module 7 is arranged in the bracket. The user adds an accessory 3 with a telephoto lens to the bracket to meet the user's requirement for obtaining a long-range image. As shown in FIG. 4 , after the fitting 3 is installed on the front bracket 2 , the center of gravity of the gimbal is shifted toward the outward extending direction of the accessory 3 , resulting in a larger distance between the center of gravity of the gimbal and the axis of the pitch axis motor. . As an example to solve this problem, a first magnet 15 can be arranged on the accessory 3 so that a repulsive force is generated between the first magnet 15 and the second magnet 9 arranged on the counterweight 5 to drive the counterweight 5 away from The direction of the accessory 3 moves, so that the center of gravity of the gimbal is close to the axis of the pitch axis motor. The axis of the pitch axis motor in FIG. 4 is parallel to the surface of the counterweight 5 . The shaft mechanism 4 plays a supporting and driving role. A cooling device, such as fins, can be arranged on the rear bracket 1 to improve the cooling effect.

For example, the second load is the accessory 3, and a magnet is fixed on the accessory 3. Similarly, the first magnet 15 is fixed at the relative position of the counterweight 5. The polarities of the first magnet 15 and the second magnet 9 are the same, and can be mutually Repulsion, through the magnetic force of the designed and simulated magnet, the counterweight 5 slides away from the second load, and is limited when the counterweight 5 reaches the second position (eg, the position of the clamping structure). When the counterweight 5 is in the second position, it is necessary to ensure that the designed magnetic force should be greater than the gravity of the counterweight 5, and a certain safety factor should be considered in combination with manufacturing errors and acceleration.

FIG. 5 schematically shows a cross-sectional view of the gimbal according to the embodiment of the present disclosure when it is in a first state.

As shown in FIG. 5, the counterweight 5 can be arranged around the inner space of the front bracket 2. If the first load is the lens module 7, the counterweight 5 can be arranged around the outer periphery of the lens module 7 to reduce the counterweight Effective space occupied by piece 5. The second load can be fixed on the front bracket 2 by means of snap connection, screw connection, magnetic attraction and the like. In FIG. 5 , the first load includes a first lens module. Correspondingly, the second load (eg, accessory 3 ) may include a second lens module, and the second lens module is used in cooperation with the first lens module. For example, the second lens module is used to increase the focal length of the first lens module, realize at least one of micro-focal length or wide-angle.

In some of these embodiments, the first magnet 15 is positioned on the second load. In the first state, the second load is installed on the bracket, the distance between the first magnet 15 and the second magnet 9 is relatively close, and the first magnet 15 and the second magnet 9 make the There is a large mutually repulsive repulsion force between the second load and the counterweight 5 . In other embodiments, the first magnet 15 and the second magnet 9 allow the second load and the counterweight 5 to have a mutually attractive attraction force. Wherein, when there is an attractive force between the first magnet 15 and the second magnet 9 and when there is a repulsive force between the first magnet 15 and the second magnet 9, the structure and arrangement of the limiting components are different, such as the clamping slot. The opening direction of 8 and the direction of the elastic force provided by the first elastic member 14 are different.

In some embodiments, when the counterweight member 5 is located at the first position, the first distance between the common center of gravity of the first load and the counterweight mechanism and the rotating shaft of the motor is smaller than the When the counterweight 5 is located at the second position, there is a second distance between the common center of gravity of the first load and the counterweight mechanism and the rotating shaft of the motor. For example, as shown in FIG. 5 , when the second load is installed on the front bracket 2 , the center of gravity of the gimbal is shifted to the left. At the same time, the repulsive force between the first magnet 15 and the second magnet 9 causes the counterweight 5 to move to the right, so that the center of gravity of the gimbal shifts to the right along with the movement of the counterweight 5, which effectively improves the efficiency of the installation. Accessory 3 makes the center of gravity of the gimbal deviate greatly, resulting in the problem that the gimbal motor is overloaded when maintaining the pose of the camera.

FIG. 6 schematically shows a schematic diagram of an internal structure of a pan/tilt according to an embodiment of the present disclosure. FIG. 7 schematically shows an internal front view of the gimbal according to the embodiment of the present disclosure when it is in a first state.

As shown in FIG. 6 and FIG. 7 , the counterweight mechanism may further include a guide rod 13 , and the guide rod 13 is arranged on the pan/tilt head. Correspondingly, the counterweight 5 includes a through hole 11 . In this way, the guide rod 13 cooperates with the through hole 11 to guide the counterweight 5 so that the counterweight 5 can be in the first position and the second position along the guide rod 13 Can move back and forth. Specifically, the guide rod 13 can be fixed on the bracket. For example, the bracket includes: a front bracket 2 and a rear bracket 1 , and the guide rod 13 is arranged between the front bracket 2 and the rear bracket 1 . Both ends of the guide rod 13 can be fixed on the front bracket 2 or the rear bracket 1 respectively, or one end of the guide rod 13 can be fixed in the guide rod fixing hole 12 on the front bracket 2 or the rear bracket 1 . In order to provide protection for the lens module 7 , a protective glass 10 may be provided before the lens module 7 .

In some of these embodiments, the counterweight mechanism may further include a limiting member for limiting the counterweight 5 when the counterweight 5 reaches the second position. For example, the following information can be determined through calibration and other methods: after the second load is installed on the front bracket 2, the center of gravity of the gimbal can be adjusted to the same distance as the second load by moving the counterweight 5 away from the second load by a specified distance. Before installing the second load, the center of gravity coincides or the distance between the centers of gravity is less than the set distance threshold. The specified distance is the position where the limit needs to be performed, so as to prevent the center of gravity of the gimbal away from the motor after the counterweight 5 moves beyond the specified distance. axis. For example, the specified distance may be determined through experiments such as calibration, or may be calculated based on the weight and shape of the second load. For the second load based on standard production, such as a wide-angle lens of a certain model, the above specified distance can be determined by query: there is a correspondence between the model and the specified distance, and the correspondence can be based on the above calibration and other methods. definite.

For example, the counterweight 5 is provided with a retaining slot 8 . The limiting component includes a locking slider 19, and the locking slider 19 cooperates with the locking slot 8 to fix the counterweight 5 at the second position. The depth of the card slot 8 can be adapted according to the height of the card slider 19 . In order to facilitate the setting of the locking slider 19, the locking slot 8 can be arranged on the side of the counterweight 5.

In some of the embodiments, in order to improve the reliability of the positioning of the counterweight 5 based on the locking slot 8 and the locking slider 19 , the locking slot 8 includes a first sub-locking slot 81 and a second locking slot 81 . Sub-card slot 82.

For example, the included angle between the line where the extension direction of the first sub-card slot 81 is located and the line where the first direction is positioned is less than or equal to the first included angle threshold, and the extension direction of the second sub-card slot 82 The included angle between the straight line and the straight line perpendicular to the first direction is less than or equal to the second included angle threshold. The first included angle threshold and the second included angle threshold may be the same or different. When the included angle between the straight line where the extending direction of the first sub-card slot 81 is located and the straight line where the first direction is located is a small angle that is not zero, when the positioning slider 19 moves to the first sub-card slot 81 When the end of the locking slider 19 is moved along the above-mentioned small angle (caused by elastic deformation), the stress (caused by elastic deformation) will be released, so that the locking slider 19 will automatically enter the second sub-locking slot 82 to realize automatic alignment. The positioning slider 19 is limited.

For example, the card slot 8 is "L" shaped. Among them, there is a small angle between the long side of the "L" shape and the vertical direction. In order to limit the movement direction of the counterweight 5 , the through hole 11 includes at least one of the following: a circular hole and a waist-shaped hole 24 . The use of the waist-shaped hole 24 can prevent over-limiting and improve the smoothness of the movement of the counterweight 5 .

In some of the embodiments, the counterweight 5 is machined with a clamping slot 8, and the clamping slot 8 is fixed under the action of the clamping slider 19 and the third elastic member 22. During the sliding process of the counterweight 5, the clamping slot 8 is fixed. The slot 8 first drives the latching slider 19 to slide, and at the same time compresses the third elastic member 22. When the predetermined latching position is reached, the latching slider 19 moves in the opposite direction to the previous moving direction under the action of the third elastic member 22. Slide, jam the counterweight 5 to achieve the limit.

Specifically, the head can include a front bracket 2, a rear bracket 1 and a rotating shaft mechanism 4 for supporting and driving. The front surface of the front bracket 2 is equipped with an accessory 3, and the accessory 3 is fixed on the front bracket 2 by a buckle 6, A lens module 7 for imaging is fixed inside the gimbal, and a counterweight 5 is distributed around the lens module 7. The counterweight 5 can slide forward and backward through the guide rod 13, and the guide rod 13 is fixed on the front bracket 2 and the rear bracket 1 In between, the four corners of the counterweight 5 are fixed with second magnets 9, the middle of the second magnet 9 is perforated and fixed on the counterweight 5, and the same number of magnets are also fixed on the fitting 3, and the fitting 3 and the counterweight 5 are Under the action of the magnets, they repel each other. Since the fitting 3 is fixed on the front bracket 2, the counterweight 5 slides away from the fitting 3 under the repulsive action of the magnet. The counterweight 5 is machined with a card slot 8. 2 is processed with a slider limit groove 20, through the button 17 and the clamping slider 19 under the action of the spring force and the clamping groove 8 of the counterweight 5, the counterweight 5 can be clamped to a fixed position, fixed The position depends on the size and weight of the actual accessory 3. Make sure that the center of gravity of the gimbal before assembly of accessory 3 is over the center of the pitch motor. Similarly, ensure that the center of gravity of the gimbal after assembly of accessory 3 is also over the center of the pitch motor.

In some of these embodiments, in order to allow the counterweight 5 to easily return to the first position after the second load is removed, there is a second direction between the counterweight 5 and the first load. A second acting force, the second direction is opposite to the first direction. In this way, after the first force disappears, the second force can drive the counterweight 5 to return to the first position.

Specifically, the counterweight mechanism further includes a first elastic member 14 . The first elastic member 14 is connected to one end of the counterweight 5 to provide an elastic force for driving the counterweight 5 to move in the second direction. This enables the first elastic member 14 to drive the counterweight 5 to move from the second position to the first position when the second load is removed. Wherein, the first elastic member 14 includes, but is not limited to, a spring, a rubber piece, and the like.

For example, when the accessory 3 is removed, the repulsive force received by the second magnet 9 disappears. In order to move the counterweight 5 to the first position so that the center of gravity of the gimbal passes over the axis of the motor, it is necessary to manually perform key operations, such as pressing the key. 17. Overcoming the force of the second elastic member 18, the inclined surface of the key 17 contacts the inclined surface of the latching slider 19, pushes the latching slider 19 to move away from the key 17, and overcomes the elastic force of the third elastic member 22 to make the latching The slider 19 is disengaged from the second sub-retaining slot 82 of the counterweight 5 , and the counterweight 5 is reset under the action of the first elastic member 14 and stops moving under the limit of the structure. At the same time, the locking slider 19 is reset under the action of the third elastic member 22 , and the button 17 is reset under the action of the second elastic member 18 .

In order to cope with some special scenarios, for example, the optical axis of the lens module 7 is perpendicular to the horizontal plane (or the direct angle between the optical axis and the vertical line is greater than the set angle threshold), in order to make the first elastic member in this special scenario The elastic force provided by 14 can bounce the counterweight 5, and the following conditions need to be met: when the counterweight 5 is in the first position, the magnitude of the second force is greater than the gravity of the counterweight 5 the size of. For another example, in this extreme scenario, when the second load is installed, the repulsive force between the first magnet 15 and the second magnet 9 can enable the counterweight 5 to reach the second position, the following conditions need to be met: when When the counterweight 5 is located at the second position, the magnitude of the first acting force is greater than the sum of the magnitude of the second acting force and the gravity of the counterweight 5 .

FIG. 10 schematically shows a schematic diagram of a limiting member according to an embodiment of the present disclosure.

As shown in FIG. 10 , in order to improve the reliability of the positioning of the counterweight 5 based on the clamping slot 8 and the clamping slider 19, and at the same time, after the second load is removed, the counterweight 5 can be easily return to the first position. The limiting member further includes a button 17, wherein the locking slider 19 includes a first wedge-shaped portion, the button 17 includes a second wedge-shaped portion, and the first wedge-shaped portion is matched with the second wedge-shaped portion. , so as to realize the relative displacement between the card position slider 19 and the button 17 perpendicular to the third direction, and the third direction is the direction in which the button 17 is pressed or bounced. In order to improve the convenience for the user to operate the button 17 , such as automatically restoring the pop-up state, the limiting member further includes a second elastic member 18 for providing the button 17 with a first restoring force. In addition, the limiting member may further include a third elastic member 22 for providing a second restoring force to the locking slider 19, wherein the direction of the first restoring force and the difference between the direction of the second restoring force direction is perpendicular. The second elastic member 18 and the third elastic member 22 may be various components that can provide restoring force, including but not limited to: springs, rubber parts, and the like. For example, the relative displacement perpendicular to the third direction is adapted to the length of the second sub-card slot 82 . In this way, when the button 17 is pressed, the card position slider 19 can move to a position in the second sub card position slot 82 connected to the first sub card position slot 81 .

Specifically, when the button 17 is pressed, the card position slider 19 can move to the position connected with the first sub card position slot 81 in the second sub card position slot 82, so that all the The counterweight 5 can move along the extending direction of the first sub-locking slot 81 under the second acting force.

In some of these embodiments, in order to facilitate fixing one or more of the buttons 17 , the locking slider 19 , the second elastic member 18 and the third elastic member 22 on the bracket, the limiting member may further include a limiting member. The positioning member bracket 23 is used for fixing at least one of the following: the button 17 , the second elastic member 18 and the third elastic member 22 .

In some of the embodiments, the fitting 3 can be fastened to the fitting 3 through the buckle 6 on it and the buckle groove 16 on the front bracket 2 , so that the buckle 6 is buckled into the buckle groove 16 to achieve the effect of fixing the fitting 3 . .

FIG. 8 schematically shows a schematic diagram of a second load of an embodiment of the present disclosure. FIG. 9 schematically shows a schematic diagram of a snap groove according to an embodiment of the present disclosure.

As shown in Figures 8 and 9, the second load and the first load are connected in a snap-fit manner. For example, the second load is provided with a buckle 6, and the front bracket 2 is provided with a buckle groove 16 adapted to the buckle 6, so that the user can conveniently install the second load on the first load, so as to meet the needs of the user in the requirements in different scenarios. The structure of the buckle 6 is not limited to the structure shown in the figure, and similarly, the number of the buckle 6 is not limited to the number shown in the figure.

FIG. 11 schematically shows a schematic diagram of a groove of a counterweight according to an embodiment of the present disclosure. FIG. 12 schematically shows a schematic diagram of a sliding hole of a counterweight according to an embodiment of the present disclosure.

As shown in FIGS. 11 and 12 , in the scenario where the counterweight 5 is limited by the cooperation of the first sub-dock slot 81 , the second sub-dock slot 82 and the detent slider 19 , because the first sub-dock There is a small angle between the retaining slot 81 and the vertical direction, so that when the counterweight moves along the guide rod 13 , the displacement in the direction perpendicular to the extending direction of the guide rod 13 occurs. In order to avoid the over-positioning of the guide rod 13 to the limiting block, causing the counterweight 5 to move unsmoothly, a through hole 11 on the counterweight 5 may be set as a waist-shaped hole 24 .

Specifically, the counterweight 5 is provided with a waist-shaped hole 24 . Correspondingly, the length of the second sub-detent slot 82 is adapted to the length of the waist-shaped hole 24 . For example, the length of the second sub-card slot 82 is the same as the length of the waist-shaped hole 24 , or the length of the second sub-card slot 82 is slightly larger or slightly smaller than the length of the waist-shaped hole 24 .

FIG. 13 schematically shows a cross-sectional view of the gimbal according to the embodiment of the present disclosure when it is in a second state. FIG. 14 schematically shows a schematic diagram of the internal structure of the gimbal according to the embodiment of the present disclosure when it is in the second state. FIG. 15 schematically shows a side view of the gimbal according to the embodiment of the present disclosure when it is in a second state.

As shown in FIG. 13 to FIG. 15 , the counterweight 5 is located at the second position, and has been restrained at the second position by the locking slider 19 . At this time, the first elastic member 14 is in a compressed state. It should be noted that after the user removes the second load, the card position slider 19 can still be restricted to the second position by the second sub card position slot 82. At this time, the user needs to press the button 17 to make the card position slider 19 It moves from the second sub-dock slot 82 to the first sub-dock slot 81 , and moves along the first sub-dock slot 81 to the first position under the force of the first elastic member 14 . It should be noted that the first position is determined by the elastic force provided by the first elastic member 14 and the structural limit. The spring force required to be designed at the first position should be greater than the gravity of the counterweight 5, and combined with manufacturing errors and acceleration, etc. Consider a certain safety factor.

Wherein, when the counterweight 5 is in the first position, the center of gravity of the gimbal exceeds the center of the pitch motor, so as to reduce the load of the motor. Similarly, after assembling the accessory 3, the counterweight 5 is in the second position, that is, the position where the counterweight 5 is in the clamping position, and the center of gravity of the gimbal also needs to pass the center of the pitch motor to reduce the load on the motor.

In some of these embodiments, the counterweight mechanism may include a plurality of sets of counterweight subassemblies, and the plurality of sets of counterweight subassemblies are symmetrically arranged. Referring to Figures 11, 12 and 14, in order to make full use of the space around the load (such as a camera module) in the bracket, the breeding mechanism can be configured as multiple sets of sub-components to effectively improve space utilization. The structure of the counterweight 5 is not limited to the structure shown in the figure. It can be designed and distributed according to the structure of the gimbal and the lens module 7. The material of the counterweight 5 can be selected arbitrarily to meet the requirements of productivity and reliability. Requirements, meeting the selected material can ensure that the center of gravity before and after assembly is basically unchanged. When necessary, non-single materials can be used, such as alloys, mixed plastics, insert forms, etc.

For example, the sets of counterweight subassemblies include a first counterweight subassembly and a second counterweight subassembly. Correspondingly, the first counterweight subcomponent and the counterweight member 5 of the second counterweight subcomponent are respectively arranged around the first lens module. It should be noted that the above counterweight mechanism is only an exemplary illustration. For example, the multiple sets of counterweight subassemblies may be composed of two counterweight subassemblies, three counterweight subassemblies, four counterweight subassemblies, or more counterweight subassemblies The configuration is not limited here.

Hereinafter, the pan/tilt head will be exemplarily described with a specific embodiment.

The pan-tilt structure includes a rear bracket 1, a front bracket 2 and a rotating shaft mechanism 4 that supports and drives. The front surface of the front bracket 2 is equipped with accessories 3. The accessories 3 are fixed on the front bracket 2 through the buckles 6, and the pan-tilt is fixed inside. There is a lens module 7 for imaging, and a counterweight 5 is distributed around the lens module 7. The counterweight 5 can slide back and forth through a guide rod 13, and the guide rod 13 is tightly fitted between the front bracket 2 and the rear bracket 1, The four corners of the counterweight 5 are respectively fixed with second magnets 9. The middle of the second magnet 9 is perforated and fixed on the counterweight 5. The fitting 3 is also fixed with the same number of magnets. They repel each other under the action. Since the fitting 3 is fixed on the front bracket 2, the counterweight 5 slides backward under the repulsive action of the magnet. The limit groove 20 enables the counterweight 5 to be clamped to a fixed position (second position) under the action of the spring force and the clamping groove 8 of the counterweight 5 through the button 17 and the clamping slider 19. The fixed position is based on the It depends on the size and weight of the actual accessory 3. Make sure that the center of gravity of the gimbal before assembling accessory 3 is over the center of the pitch motor. Similarly, ensure that the center of gravity of the gimbal after assembling accessory 3 is also over the center of the pitch motor.

A magnet is fixed on the accessory 3, and a magnet is also fixed at the relative position of the counterweight 5. The magnet on the accessory 3 and the magnet on the counterweight 5 have the same polarity and can repel each other. By designing the simulated magnetic force of the magnet, When the counterweight 5 slides away from the first magnet 15, the first elastic member 14 shrinks. When the second sub-locking slot of the counterweight 5 reaches the position of the clamping slider, it is fixed, and the first elastic member 14 is fixed. When the contraction stops, it is necessary to ensure that the designed magnetic force should be greater than the sum of the spring force and the gravity of the counterweight 5, and a certain safety factor should be considered in combination with manufacturing errors and acceleration.

The fitting 3 is through the buckle 6 above it and the buckle groove 16 on the front bracket 2, so that the buckle 6 is buckled into the buckle groove 16 to achieve the effect of fixing the fitting 3. The structure of the buckle 6 is not limited to For the structural form shown in the figure, similarly, the number of the buckles 6 is not limited to the number shown in the figure.

The initial position of the counterweight 5 is determined by the spring force and structural limit. The spring force required for the design of the first elastic member 14 at the initial position should be greater than the gravity of the counterweight 5, and combined with manufacturing errors and acceleration Consider a certain safety factor under other circumstances.

When the counterweight 5 is in the first position, it should be ensured that the center of gravity of the internal structure exceeds the center of the pitch motor, so as to reduce the load of the motor. Similarly, after assembling the accessories 3, the counterweight 5 is in the second position, that is, the position where the counterweight 5 is in the clamping position, and it should also be ensured that the structural center of gravity of the gimbal and the accessories 3 exceeds the center of the pitch motor.

The structure of the counterweight 5 is not limited to the structure shown in the figure. It can be designed and distributed according to the structure of the gimbal and the lens module 7. The material of the counterweight 5 can be selected arbitrarily to meet the requirements of productivity and reliability. Requirements, meeting the selected material can ensure that the center of gravity before and after assembly is basically unchanged. The counterweight 5 can be made of non-single materials, such as alloys, mixed plastics, inserts, and the like.

The counterweight 5 has two through holes, one of which is a circular hole to improve the guiding accuracy, and the other is a waist-shaped hole 24. These two through holes 11 pass through the guide rod 13, so that the counterweight 5 can be placed on the guide rod. 13 swipe up.

The counterweight 5 is machined with a clamping slot 8, and the clamping slot 8 is fixed under the action of the clamping slider 19 and the third elastic member 22. During the sliding process of the counterweight 5, the clamping slot 8 first drives the clamping The slider 19 slides to the right and compresses the third elastic member 22 at the same time. When it reaches the predetermined clamping position, the clamping slider 19 slides to the left under the action of the third elastic member 22 to clamp the counterweight 5 to achieve fixing .

When the accessory 3 is removed, the repulsive force disappears. In order to make the counterweight 5 return to the first position, it is necessary to manually operate the key, that is, to press the key 17 to overcome the force of the second elastic member 18, and the inclined surface of the key 17 contacts the card The inclined surface of the sliding block 19 pushes the blocking sliding block 19 to move to the right, and overcomes the third elastic member 22, so that the blocking sliding block 19 is separated from the blocking groove 8 of the counterweight 5, and the counterweight 5 is in the first elastic The component 14 resets under the action of the structure and stops under the limit of the structure; at the same time, the locking slider 19 resets under the action of the third elastic component 22 , and the button 17 resets under the action of the second elastic component 18 .

FIG. 16 schematically shows a schematic diagram of a camera device according to an embodiment of the present disclosure.

As shown in FIG. 16 , the camera device may include a pan/tilt head, and a component arranged in a bracket of the pan/tilt head, wherein the component includes a lens group, and is provided in the space formed by the front bracket 2 and the rear bracket 1, so as to facilitate The user captures the desired image. The structure of the PTZ can refer to the content shown above, and will not be repeated here.

Another aspect of the present disclosure provides a movable platform, which may include a carrier and the above-mentioned pan/tilt head, where the pan/tilt head is mounted on the carrier, and the carrier may be a frame, a shock absorbing device, or the like. For example, the movable platform is any one of an unmanned aerial vehicle, a ground-based remote control robot, or a hand-held PTZ. For another example, the carrier is any one of the frame of the unmanned aerial vehicle, the body of the ground remote control robot, or the handle of the hand-held pan/tilt.

FIG. 17 schematically shows a schematic diagram of a movable platform of an embodiment of the present disclosure.

As shown in FIG. 17 , the movable platform may be an unmanned aerial vehicle 25 , and the unmanned aerial vehicle 25 may include a plurality of power systems 251 and a tripod. The gimbal can be set on the drone 25.

Wherein, the pan/tilt may be the pan/tilt described in any one of FIG. 1 to FIG. 15 . Although the movable platform is described as an unmanned aerial vehicle, such description is not limiting, and various types of movable platforms are applicable. The movable platform may include a power system 251, a sensing system. In addition, the movable platform may also include a communication system.

Power system 251 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles. For example, the rotating body of the power system 251 may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The movable platform may have one or two, two or more, three or more, or four or more power systems 251 . All powertrains 251 may be of the same type. Alternatively, one or more of the power systems 251 may be of a different type. The power system 251 may be mounted on the movable platform by suitable means, such as by support elements (such as drive shafts). The power system 251 may be installed in any suitable location on the movable platform, such as top, bottom, front, rear, side, or any combination thereof.

In some embodiments, the power system 251 enables the movable platform to take off vertically from a surface, or to land vertically on a surface, without any horizontal movement of the movable platform (eg, without taxiing on a runway). Optionally, the power system 251 may allow the movable platform to preset positions in the air and/or to rotate the steering wheel. One or more of the power systems 251 may be controlled independently of the other power systems 251 . Alternatively, one or more power systems 251 may be controlled simultaneously. For example, the movable platform may have a plurality of horizontal rotating bodies to control the lifting and/or pushing of the movable platform. The horizontally oriented rotator can be actuated to provide the movable platform with vertical take-off, vertical landing, and hovering capabilities. In some embodiments, one or more of the horizontal rotating bodies may rotate clockwise, while the other one or more of the horizontal rotating bodies may rotate counterclockwise. For example, there are the same number of rotating bodies that rotate clockwise as there are counter-clockwise rotating bodies. The rate of rotation of each horizontal rotating body can be varied independently to enable the lifting and/or pushing operations caused by each rotating body to adjust the spatial orientation, velocity and/or acceleration of the movable platform (eg relative to up to three rotation and translation with one degree of freedom).

In one embodiment, the plurality of power systems 251 of the UAV 25 are in one-to-one correspondence with the plurality of arms. Each power system 251 may include a motor assembly and a blade coupled to the motor assembly. Each power system 251 can be disposed on its corresponding arm, and the power system 251 is supported by the corresponding arm.

Additionally, the drone 25 may also include a tripod. The tripod can be located under the gimbal and connected with the gimbal. Can be used for UAV 25 landing when UAV 25 lands.

FIG. 18 schematically shows a schematic diagram of a movable platform according to another embodiment of the present disclosure.

As shown in FIG. 18 , the movable platform is a robot 26 , such as a robot that drives on land, and a PTZ can be set on the land robot. Although the mobile platform is described as a land robot, such description is not limiting, and any type of mobile platform described above is applicable (eg, aerial robots, water robots). In some embodiments, the drive means may be located on the bottom of the movable platform. The sensing module may include one or more sensors to detect relevant information of the land robot, such as obstacle information, environmental information, image information of the target object, and the like. In addition, the land robot may also include a communication system for information interaction with one or more terminals. The driving device may be the power system 251 as described above, such as a motor, etc., and the sensing module may include a radar, a laser sensor, a positioning sensor, and the like. Terminals include but are not limited to: remote controllers, desktop computers, notebook computers, etc. The communication between the land robot and the terminal can be the same as the prior art, which will not be described in detail here.

FIG. 19 schematically shows a schematic diagram of a movable platform according to another embodiment of the present disclosure.

As shown in FIG. 19 , the movable platform is a hand-held pan-tilt 27, and the hand-held pan-tilt 27 may include the structure of the pan-tilt as described above. The handheld pan/tilt 27 may include: a pan/tilt and a handle supporting the pan/tilt. The handle is a part that the user holds, and may include control buttons to facilitate the operation of the pan/tilt. The hand-held pan/tilt 27 is connected in communication with a functional component (eg, a camera) in the stand, so as to obtain image information captured by the camera.

The above are the best embodiments of the present disclosure. It should be noted that the best embodiments are only used to understand the present disclosure, and are not used to limit the protection scope of the present disclosure. In addition, the features in the preferred embodiment, unless otherwise specified, are applicable to both the method embodiment and the device embodiment, and the technical features appearing in the same or different embodiments can be used without conflicting with each other. used in combination.

It should be noted that the above-mentioned definitions of each element are not limited to the various specific structures or shapes mentioned in the embodiments, and those of ordinary skill in the art can simply and familiarly replace them. The above-mentioned specific embodiments , the purpose, technical solutions and beneficial effects of the present disclosure are further described in detail. It should be understood that the above are only specific embodiments of the present disclosure, and are not intended to limit the present disclosure. Within the principle, any modification, equivalent replacement, improvement, etc. made shall be included within the protection scope of the present disclosure.

Claims (39)

A pan-tilt for carrying a load, wherein the pan-tilt comprises: The attitude adjustment mechanism includes at least one rotating shaft mechanism and a first magnet, the rotating shaft mechanism is used to adjust the attitude of the load, the rotating shaft mechanism includes a motor and a bracket, and the motor can drive the bracket to rotate; the a first magnet can be mounted on the bracket; A counterweight mechanism for being arranged on the bracket, the counterweight mechanism comprising a counterweight member capable of reciprocating movement between a first position and a second position; the counterweight member comprising a second position a magnet for interacting with the first magnet, Wherein, when the weight of the load changes, there is a first acting force in a first direction between the first magnet and the second magnet, so as to drive the counterweight to move from the first position to the desired position. the second position, so that the distance between the center of gravity of the motor load of the motor and the rotating shaft of the motor is smaller than the first distance threshold. The pan/tilt head according to claim 1, wherein the rotating shaft mechanism is a pitch shaft structure, and the bracket is used to carry the load. The gimbal according to claim 2, wherein the load is a lens module, and the bracket includes a housing mechanism for accommodating the lens module. The pan/tilt according to claim 3, wherein the lens module and the housing mechanism together form a complete camera structure. The pan/tilt according to claim 2, wherein the load is a camera, and the bracket is a frame structure for fixing the camera. The pan/tilt head according to claim 1, wherein the rotating shaft mechanism is a translation shaft structure or a rolling shaft mechanism, and the bracket is used to carry a motor of the rotating shaft mechanism of the attitude adjustment mechanism. The pan-tilt head according to claim 1, wherein the load comprises: a first load, which can rotate around the rotating shaft of the motor, and The second load rotates with the rotation of the first load. The pan/tilt according to claim 7, wherein the first magnet is disposed on the second load; when the second load is installed on the bracket, the first magnet and the The second magnet enables mutually repulsive repulsion between the second load and the counterweight. The pan/tilt according to claim 7, wherein when the counterweight is located in the first position, the first load and the common center of gravity of the counterweight mechanism and the rotating shaft of the motor are formed The first distance is smaller than the second distance between the common center of gravity of the first load and the counterweight mechanism and the rotating shaft of the motor when the counterweight is located at the second position. The pan/tilt head according to claim 7, wherein a second acting force in a second direction exists between the counterweight and the first load, and the second direction is opposite to the first direction. The pan/tilt according to claim 10, wherein the counterweight mechanism further comprises: A first elastic component is connected with one end of the weight member to provide an elastic force for driving the weight member to move along the second direction. The head according to claim 11, wherein when the second load is removed, the first elastic member can drive the counterweight to move from the second position to the first position Location. The pan-tilt according to claim 10, wherein: When the counterweight is in the first position, the magnitude of the second force is greater than the magnitude of the gravity of the counterweight; and/or When the counterweight is located at the second position, the magnitude of the first acting force is greater than the sum of the magnitude of the second acting force and the gravity of the counterweight. The pan/tilt according to claim 1, wherein the counterweight mechanism further comprises: a guide rod, arranged on the head; the counterweight includes a through hole; Wherein, the guide rod cooperates with the through hole to guide the counterweight, so that the counterweight can reciprocate along the guide rod between the first position and the second position . The pan/tilt according to claim 14, wherein the through hole comprises at least one of the following: a circular hole and a waist-shaped hole. The pan/tilt according to claim 1, wherein the counterweight mechanism further comprises: a limiting member, the limiting member is used to limit the counterweight to the counterweight when the counterweight reaches the second position. Limit. The pan-tilt according to claim 16, wherein: The counterweight is provided with a card slot; and The position-limiting component includes a locking slider, and the locking slider cooperates with the locking groove to fix the counterweight at the second position. The pan/tilt according to claim 17, wherein the clamping slot is arranged on a side of the counterweight. The pan/tilt according to claim 17, wherein the card slot comprises a first sub-card slot and a second sub-card slot; Wherein, the included angle between the line where the extension direction of the first sub-card slot is located and the line where the first direction is positioned is less than or equal to the first included angle threshold, and the line where the extension direction of the second sub-card slot is positioned The included angle with the line perpendicular to the first direction is less than or equal to the second included angle threshold. The pan/tilt according to claim 19, wherein the card slot is "L" shaped. The pan-tilt according to claim 19, wherein: the counterweight is provided with a waist-shaped hole; and The length of the second sub-card slot is adapted to the length of the waist-shaped hole. The pan/tilt according to claim 19, wherein the limiting member further comprises a key, wherein the locking slider comprises a first wedge-shaped part, the key comprises a second wedge-shaped part, the first wedge-shaped part The wedge-shaped part cooperates with the second wedge-shaped part to realize the relative displacement between the locking slider and the key which is perpendicular to a third direction, and the third direction is that the key is pressed or popped up direction. The pan/tilt head according to claim 22, wherein the limiting member further comprises a second elastic member for providing the key with a first restoring force. The pan/tilt according to claim 23, wherein the limiting member further comprises a third elastic member for providing a second restoring force to the locking slider, wherein the first restoring force is The direction is perpendicular to the direction of the second restoring force. The pan/tilt according to claim 24, wherein the limiting member further comprises a limiting member bracket, and the limiting member bracket is used to fix at least one of the following: the button, the second elastic member and a third elastic member. The pan/tilt according to claim 22, wherein the relative displacement perpendicular to the third direction is adapted to the length of the second sub-card slot. The pan/tilt according to claim 22, wherein when the button is pressed, the card position slider can move to the second sub card position slot and the first sub card position slot. the connected position, so that the counterweight can move along the extending direction of the first sub-detent slot under the second force. The gimbal according to claim 7, wherein the first load comprises a first lens module. The gimbal according to claim 28, wherein the second load comprises a second lens module, and the second lens module is used in cooperation with the first lens module. The pan/tilt according to claim 7, wherein the second load and the first load are connected in a snap connection manner. The pan/tilt according to claim 28, wherein the counterweight mechanism comprises a plurality of groups of counterweight sub-assemblies, and the plurality of sets of counterweight sub-assemblies are symmetrically arranged. The pan/tilt according to claim 31, wherein the plurality of sets of counterweight subassemblies comprise a first counterweight subassembly and a second counterweight subassembly; Wherein, the weights of the first counterweight sub-component and the counterweight of the second counterweight sub-component are respectively arranged around the first lens module. The pan/tilt according to claim 7, wherein the bracket comprises: front bracket; and The rear bracket cooperates with the front bracket to form an accommodating space for accommodating the first load. The head of claim 33, wherein the second load is detachably mounted on the front bracket. The pan/tilt head according to claim 14, wherein the bracket comprises: a front bracket and a rear bracket, and the guide rod is arranged between the front bracket and the rear bracket. A camera device, characterized in that the camera device comprises: The PTZ is the PTZ according to any one of claims 1 to 35. A movable platform, characterized in that, comprising: carrier; and The pan/tilt head according to any one of claims 1 to 35, which is attached to the carrier. The movable platform according to claim 37, wherein the movable platform is any one of an unmanned aerial vehicle, a ground-based remote control robot, or a hand-held PTZ. The movable platform according to claim 37, wherein the carrier is any one of a frame of an unmanned aerial vehicle, a body of a ground remote control robot, or a handle of a hand-held pan/tilt.

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