CN213018589U - Cloud platform, camera device and movable platform - Google Patents

Abstract

A cloud platform, camera device and movable platform, this cloud platform is used for bearing a load, includes: the posture adjusting mechanism comprises at least one rotating shaft mechanism (4) and a first magnet (15), the rotating shaft mechanism (4) is used for adjusting the posture of the load, the rotating shaft mechanism (4) comprises a motor and a support, and the motor can drive the support to rotate; the first magnet (15) may be mounted on the support; the counterweight mechanism is arranged on the support and comprises a counterweight part (5), and the counterweight part (5) can reciprocate between a first position (X1) and a second position (X2); the weight (5) comprises a second magnet (15) for interacting with the first magnet (15). When the weight of the load changes, a first force between the first magnet (15) and the second magnet (9) drives the weight member (5) to move from the first position (X1) to the second position (X2), so that the distance between the center of gravity of the motor load of the motor and the rotating shaft of the motor is reduced.

Description

Cloud platform, camera device and movable platform

Technical Field

The present disclosure relates to a pan/tilt head, and an image pickup apparatus and a movable platform having the same.

Background

The shooting device generally comprises a holder and shooting equipment carried on the holder. The holder is used for fixing the camera and adjusting the posture of the camera, such as changing the height and/or direction of the camera and stably keeping the camera in a determined posture, so that stable, smooth and multi-angle shooting of the camera is realized. In the movie & TV shooting process, it is changeable to shoot the environment and shoot the demand, consequently needs often to change the shooting ware or dismantle and install the shooting ware at the shooting scene, so need frequent adjustment of carrying out cloud platform focus, brought the inconvenience for the user.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a cloud platform, this cloud platform is used for bearing a load, includes: the attitude adjusting mechanism comprises at least one rotating shaft mechanism and a first magnet, the rotating shaft mechanism is used for adjusting the attitude of the load, the rotating shaft mechanism comprises a motor and a bracket, the motor can drive the bracket to rotate, and the first magnet is arranged on the bracket; a counterweight mechanism for placement on the support, the counterweight mechanism including a counterweight that is reciprocally movable between a first position and a second position; the counterweight includes a second magnet for interacting with the first magnet, wherein, when the weight of the load changes, a first force exists between the first magnet and the second magnet in a first direction to drive the counterweight to move from the first position to the second position such that a distance of a center of gravity of a motor load of the motor from a rotational axis of the motor is less than a first distance threshold.

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

In some embodiments of the present disclosure, the load is a lens module, and the holder includes a housing mechanism for receiving 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 stand is a frame structure for fixing the camera.

In some embodiments of the present disclosure, the rotating shaft mechanism is a translation shaft mechanism or a rolling shaft mechanism, and the bracket is used for bearing a motor of the other rotating shaft mechanisms of the posture adjusting mechanism.

In some embodiments of the present disclosure, the load comprises: the first load is rotatable around a rotation shaft of the motor, and the second load is rotatable with 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 mounted on the bracket, the first magnet and the second magnet cause a repulsive force to be generated between the second load and the weight member.

In some embodiments of the present disclosure, the counterweight is in the first position such that a first distance between a common center of gravity of the first load and the counterweight mechanism and the rotational axis of the motor is less than a second distance between a common center of gravity of the first load and the counterweight mechanism and the rotational axis of the motor when the counterweight is in the second position.

In some embodiments of the present disclosure, there is a second force between the weight and the first load in a second direction, the second direction being opposite the first direction.

In some embodiments of the present disclosure, the counterweight mechanism further comprises:

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

In some embodiments of the disclosure, the first resilient member is capable of driving the weight member to move from the second position to the first position when the second load is removed.

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

In some embodiments of the present disclosure, the counterweight mechanism further comprises: the guide rod is arranged on the holder; the weight member includes a through hole; wherein the guide rod and the through-hole cooperate to guide the weight member such that the weight member is reciprocally movable between a first position and a second position along the guide rod.

In some embodiments of the present disclosure, the via comprises at least one of: circular holes and kidney-shaped holes.

In some embodiments of the present disclosure, the counterweight mechanism further comprises: a limiting component for limiting the weight when the weight reaches a second position.

In some embodiments of the present disclosure, the weight member is provided with a detent slot; and the limiting part comprises a clamping slide block, and the clamping slide block and the clamping groove are matched with each other to fix the counterweight part on the second position.

In some embodiments of the present disclosure, the detent slot is disposed on a side of the weight member.

In some embodiments of the present disclosure, the detent slot comprises a first and second sub-card detent slot; the included angle between the straight line of the extending direction of the first sub-potential groove and the straight line of the first direction is smaller than or equal to a first included angle threshold value, and the included angle between the straight line of the extending direction of the second sub-potential groove and the straight line of the vertical direction of the first direction is smaller than or equal to a second included angle threshold value.

In some embodiments of the present disclosure, the detent groove is "L" shaped.

In some embodiments of the present disclosure, the weight member is provided with a kidney-shaped hole; and the length of the second sub-card potential slot is matched with the length of the waist-shaped hole.

In some embodiments of the disclosure, the position limiting component further includes a key, wherein the position limiting slider includes a first wedge portion, the key includes a second wedge portion, and the first wedge portion and the second wedge portion cooperate to realize a relative displacement between the position limiting slider and the key perpendicular to a third direction, where the third direction is a direction in which the key is pressed or bounced.

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

In some embodiments of the present disclosure, the position limiting component further includes a third elastic component, configured to provide a second restoring force to the position-locking slider, where a direction of the first restoring force is perpendicular to a direction of the second restoring force.

In some embodiments of the present disclosure, the check member further comprises a check member bracket for securing at least one of: the key, the second elastic component and the third elastic component.

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

In some embodiments of the disclosure, when the key is pressed, the detent slider can move to a position in the second sub-detent groove connected to the first sub-detent groove, so that the weight member can move along the extending direction of the first sub-detent groove under a 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 is used in cooperation with the first lens module.

In some embodiments of the present disclosure, the second load is connected to the first load in a clamping manner.

In some embodiments of the present disclosure, the weight mechanism includes multiple sets of weight components, the multiple sets of weight components being symmetrically arranged.

In some embodiments of the present disclosure, the sets of weight subcomponents include a first weight subcomponent and a second weight subcomponent; the first counterweight component and the second counterweight component are respectively arranged around the first lens module in a surrounding manner.

In some embodiments of the present disclosure, the stent comprises: a front bracket; and the rear bracket is matched with the front bracket to form an accommodating space so as to accommodate 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 stent comprises: the guide rod is arranged between the front support and the rear support.

The present disclosure also provides an image pickup apparatus including: the holder is the holder as described above.

The present disclosure also provides a movable platform, including: a carrier; and the cloud platform is installed on the bearing body.

In some embodiments of the present disclosure, the movable platform is any one of an unmanned aerial vehicle, a ground remote-controlled robot, or a handheld pan/tilt head.

In some embodiments of the present disclosure, the supporting body is any one of a frame of an unmanned aerial vehicle, a body of a ground remote-controlled robot, or a handle of a handheld tripod head.

According to the technical scheme, the embodiment of the disclosure has at least the following beneficial effects:

the passive counterweight type holder structure based on the magnet can realize the automatic movement of the counterweight between the first position and the second position after the gravity center of the load is changed, change the gravity center position of the holder and keep the stability of the holder. Therefore, the user experience can be improved to some extent.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings:

fig. 1 schematically illustrates a schematic diagram of a head according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a schematic view of an attitude adjustment mechanism of an embodiment of the present disclosure;

FIG. 3 schematically illustrates a schematic view of a counterweight mechanism and a spindle mechanism of an embodiment of the present disclosure;

fig. 4 schematically illustrates a perspective view of a head according to an embodiment of the disclosure in a first state;

fig. 5 schematically illustrates a cross-sectional view of a head according to an embodiment of the disclosure in a first state;

fig. 6 schematically illustrates an internal structural view of a pan and tilt head according to an embodiment of the present disclosure;

fig. 7 schematically illustrates an interior elevation view of a head of an embodiment of the present disclosure in a first state;

FIG. 8 schematically illustrates a schematic diagram of a second load of an embodiment of the disclosure;

FIG. 9 schematically illustrates a snap groove schematic of an embodiment of the present disclosure;

FIG. 10 schematically illustrates a schematic view of a spacing member of an embodiment of the disclosure;

fig. 11 schematically illustrates a groove schematic of a weight of an embodiment of the present disclosure;

fig. 12 schematically illustrates a slide port schematic of a weight of an embodiment of the present disclosure;

fig. 13 schematically illustrates a cross-sectional view of a head according to an embodiment of the disclosure in a second state;

fig. 14 schematically shows an internal structural view of the pan and tilt head of the embodiment of the present disclosure in the second state;

fig. 15 schematically illustrates a side view of a head of an embodiment of the disclosure in a second state;

fig. 16 schematically shows a schematic view of an image pickup apparatus of an embodiment of the present disclosure;

FIG. 17 schematically illustrates a schematic view of a movable platform of an embodiment of the disclosure;

FIG. 18 schematically illustrates a schematic view of a movable platform of another embodiment of the disclosure; and

fig. 19 schematically illustrates a schematic view of a movable platform of another embodiment of the disclosure.

[ description of the drawings ]

1-rear support; 2-front support; 3-fitting; 4-a rotating shaft mechanism; 5-a counterweight; 6-buckling; 7-a lens module; 8-a clamping groove; 81-first daughter card slot; 82-second daughter card slot; 9-a second magnet; 10-protective glass; 11-a through hole; 12-guide bar fixing holes; 13-a guide bar; 14-a first elastic member; 15-a first magnet; 16-snap grooves; 17-a key; 18-a second elastic member; 19-a clamping slide block; 20-a slider limiting groove; 22-a third elastic member; 23-a stop member support; 24-kidney shaped holes; 25-unmanned aerial vehicle; 251-a power system; 26-a robot; 27-a handheld pan-tilt; x1-first position; x2-second position; o1-center of gravity; o2-center of gravity.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The present disclosure provides a pan/tilt, a camera device and a movable platform for passive counterweight pan/tilt solutions, such as a handheld pan/tilt or a pan/tilt disposed on a movable platform. The pan and tilt head may be used to place a load on a body (e.g., a rack, a hand held object, etc.). For example, the load may be a camera, the pan/tilt head allowing the camera to be displaced relative to the body, or rotated along one or more axes, such as a pan/tilt head allowing combined translational movement of the camera along one or more of a pitch axis, a yaw axis, and a roll axis. For another example, the pan-tilt may allow the camera to rotate about one or more of a pitch axis, a yaw axis, and a roll axis. Therefore, the posture adjustment of functional components (such as a lens, a probe and the like) can be realized, so that a user can acquire required information.

With the great progress made in the field of optical industry, especially in the consumer field, more and more optical products are presented to users under the drive of the mobile phone camera industry. These products are becoming more and more compact and cheaper. Meanwhile, consumer behaviors of users and demands for consumer products are also increasing. For example, for a miniaturized handheld camera, various accessories such as various filters, wide-angle lenses, etc. are developed, and these accessories are used as supplements to main products (such as a camera), and play an important role in shooting to meet the multi-scene shooting requirements of users. However, there are some problems in application, for example, for a small camera with a cloud platform structure, the problem of keeping the cloud platform stable is solved. In addition, for the airborne cradle head, maintaining the stability of the cradle head and reducing the energy consumption of the cradle head become problems to be solved.

Taking a miniaturized handheld pan-tilt camera as an example, the miniaturized handheld pan-tilt camera has an excellent anti-shake effect, a pan-tilt motor can be a brushless motor, the holding force of the brushless motor is relatively small, the handheld pan-tilt camera needs to be continuously powered on during working, and the handheld pan-tilt camera does not have a limiting effect on a pan-tilt during power failure. The main product can be designed to meet certain requirements for keeping the stability of the main product during working, such as the center of gravity of the main product is as far as possible over the center of at least one of the heading motor, the roll motor or the pitch motor. Similarly, the weight of the camera and other components carried by the large-scale pan-tilt head is large, and it is also necessary to make the center of gravity of the main product as far as possible over the center of at least one of the heading motor, the roll motor or the pitch motor. However, when the center of the pan/tilt head is changed (for example, after the assembly of accessories or the focusing of the lens, the center of gravity of the pan/tilt head is changed), a large load is brought to the motor, which is not beneficial to the use and maintenance of the product.

The cloud platform, camera device and movable platform that this cloud platform provided based on the passive counter weight formula mode of magnet, can realize changing at the focus of cloud platform, if after the installation accessory, the counter weight piece automatic movement to the focus position of adjustment cloud platform keeps the stability of cloud platform. Therefore, the gravity center of each shaft of the holder can be adjusted, and the compatibility of various loads of different types can be realized.

A pan and tilt head according to an embodiment of the present disclosure is described below with reference to fig. 1 to 15.

In some embodiments, the holder is configured to carry a load. Specifically, the cradle head comprises an attitude adjusting mechanism and a counterweight mechanism.

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

The weight mechanism may be adapted to be arranged on the carriage, the weight mechanism comprising a weight member 5, the weight member 5 being reciprocatable between a first position X1 and a second position X2. The counterweight 5 comprises a second magnet 9, which is used for interacting with the first magnet 15 to drive the counterweight 5 to move, so as to adjust the gravity center of the tripod head, and the gravity center of the tripod head can pass through the axis of the motor conveniently.

For example, when the weight of the load changes, a first force in a first direction (e.g., the direction from X1 to X2 in fig. 1) exists between the first magnet 15 and the second magnet 9 to drive the counterweight 5 to move 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 less than a first distance threshold. The first distance threshold is a threshold that allows the motor to satisfy a specific condition for maintaining the operating state of the camera or other components, for example, the specific condition may be that the voltage, current, power, or the like that needs to be provided to the motor is less than a preset threshold, which may be a calibrated value, a simulated value, or the like. Optionally, the first distance threshold may be zero, but allows some redundancy to be provided to cope with scenarios such as tooling deviations.

Fig. 1 schematically illustrates a schematic diagram of a pan and tilt head according to an embodiment of the present disclosure.

As shown in fig. 1, the dashed square represents a bracket for carrying a load, and the bracket may include a front bracket and a rear bracket, and may further include a connecting arm and the like. The material of the bracket includes, but is not limited to, a variety of lightweight structural materials (e.g., plastics, alloys, fibrous materials, composite materials, etc.) to provide mechanical support for the load. The first magnet 15 may be mounted on the support, for example on a part structure of the support, which part structure is detachably fixed to the support. The second magnet 9 may be disposed on the weight 5 to drive the weight 5 between the first position X1 and the second position X2 under the force between the first magnet 15 and the second magnet 9. For example, when the weight 5 is located at the first position X1, the center of gravity of the pan/tilt head is located at the center of gravity O1, and when the weight 5 is located at the second position X2, the center of gravity of the pan/tilt head is located at the center of gravity O2. The cloud platform that this disclosed embodiment provided changes the position based on magnetic drive counterweight 5, and then realizes adjusting the focus of cloud platform for the focus of cloud platform is as far as possible through the center of at least one in course motor, roll motor or pitch motor.

Fig. 2 schematically illustrates a schematic view of an attitude adjustment mechanism of an embodiment of the present disclosure.

As shown in fig. 2, the posture adjustment mechanism may include three spindle mechanisms 4 so that the load can be rotated about three axes X, Y, Z, respectively. Accordingly, three motors may be powered, respectively, and their axes may overlap the shaft X, Y, Z, respectively. As in fig. 2, the motor, corresponding to the axis Z, is broken away and comprises a stator part on the left half and a rotor part on the right half. The motor may include a coil for generating a magnetic field that, upon energization of the coil, drives the rotor to rotate about the Z-axis. The operation of the motor corresponding to the shaft X, Y is similar and will not be described in detail. 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. 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 a linear displacement, wherein the linear displacement may cause the center of gravity of the pan/tilt head to change.

Referring to fig. 4, the bracket of the posture adjustment mechanism may be formed of at least one of a bar structure, a plate structure, a ring structure, and the like. In some of these embodiments, the stent comprises: a front bracket 2 and a rear bracket 1. Wherein, the rear bracket 1 and the front bracket 2 cooperate to form a containing space to contain a load. The load may be composed of a plurality of loads that can be used together or individually, for example, the load may include a first load and a second load that are used in a set. The front bracket 2 and the rear bracket 1 can be fixed together by means of screwing, clamping, welding and the like. The shape of the posture adjustment mechanism described above is merely an example to facilitate understanding of the present disclosure, and the present disclosure does not limit thereto.

In some embodiments, the rotating shaft mechanism 4 is a translation shaft mechanism or a rolling shaft mechanism, and the bracket is used for bearing the motor of the other rotating shaft mechanisms 4 of the posture adjusting mechanism. It should be noted that, for the attitude adjustment mechanism including the three rotating shaft mechanisms 4, the weight member 5 may be used to adjust the center of gravity of the pan/tilt head so that the center of gravity passes through the center of at least one of the three rotating shaft mechanisms 4, that is, may be used to optimize the load condition of one, two, or three rotating shaft mechanisms 4 in maintaining the operating state of the camera or the like.

Fig. 3 schematically illustrates a schematic view of a weight mechanism and a spindle mechanism of an embodiment of the present disclosure.

As shown in fig. 3, the pan/tilt head includes 3 rotation shaft mechanisms 4 for driving the support of the pan/tilt head and the camera therein to rotate around three axes respectively. In order to adjust the center of gravity of the head such that the distance of the center of gravity of the head with respect to the three axes is as small as possible, a counterweight 5, which is movable in the X-direction, the Y-direction and/or the Z-direction, respectively, may be included in the holder. The counterweight 5 is provided with a second magnet 9, and the second magnet 9 can generate a first acting force with the first magnet 15 matched with the first magnet to drive the counterweight 5 to displace and adjust the gravity center of the tripod head. For example, the first magnet 15 on the left side of fig. 3 and the second magnet 9 on the vertically disposed weight 5 cooperate to drive the vertically disposed weight 5 to displace rightward, so that the center of gravity of the pan head moves rightward, so that the center of gravity of the pan head approaches the center of the rotating shaft mechanism 4 whose axis is the Z direction and the Y direction. For another example, the weight 5 has a plate-like structure, the surface of which is perpendicular to the Z direction, and the weight 5 is driven to displace in the Z direction so that the center of gravity of the pan/tilt head moves in the Z direction toward the center of the rotating shaft mechanism 4 whose axis is 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 for bearing the load. In addition, the rotating shaft mechanism 4 may also be a yaw axis structure or a roll axis structure.

For example, the load is a lens module 7 (see fig. 5), and the holder includes a housing mechanism for accommodating the lens module 7. Wherein, lens module 7 can include a plurality of lenses, for example 3, 5, 8, 13 or more etc. the material of different lenses can be different, for example plastics material, glass material etc. the lens can include spherical mirror and aspherical mirror etc. adjusts lens module 7's focus through adjusting the distance between a plurality of lenses. It should be noted that, during the focusing process, the center of gravity of the lens module 7 may change, and further the center of gravity of the pan/tilt head is affected. The counterweight can be used for improving the influence of the change of the center of the holder on the motor.

In some embodiments, the lens module 7 and the housing mechanism together form a complete camera structure. Can effectively reduce the weight of camera like this, save the shell of camera self, help reducing the whole weight of cloud platform, promote the duration performance such as unmanned aerial vehicle, robot, perhaps reduce like handheld cloud platform's weight with promotion user experience.

In some of these embodiments, the load is a camera and the stand is a frame structure for holding the camera. The user of being convenient for like this changes the camera according to the scene demand, can change the camera that has the long focus function when needs shoot the long shot, perhaps can change the camera that has wide-angle lens when needs shoot the panorama. The method is beneficial to meeting different requirements of users for multiple scenes.

The following provides a solution for a scenario in which the center of gravity of the pan/tilt head shifts due to the addition of accessories to the load.

In this embodiment, the load includes: a first load and a second load. Wherein the first load is rotatable about a rotational axis of the motor. The second load rotates with the rotation of the first load, e.g., the second load is directly mounted on the first load such 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 such that the second load rotates with the rotation of the first load. The first load may be a main device, the second load may be an accessory 3, and the accessory 3 cooperates with the main device to implement a function required by a user, such as taking a photograph as an example, implementing a long-range photograph, a wide-angle photograph, a macro-photograph, and the like. Optionally, the second load is detachably mounted on the front bracket 2.

Fig. 4 schematically shows a perspective view of a head according to an embodiment of the disclosure in a first state.

The first state may refer to a state in which the weight member 5 is located at the first position. For example, a camera or lens module 7 is provided in the holder. The user adds the accessory 3 with the telephoto lens on the bracket to meet the requirement of the user for obtaining a long-range image. As shown in fig. 4, when the fitting 3 is provided on the front frame 2, the center of gravity of the pan/tilt head is shifted in the direction in which the fitting 3 extends outward, and the distance between the center of gravity of the pan/tilt head and the axial center of the pitch axis motor becomes large. For example, the first magnet 15 may be disposed on the attachment 3 such that a repulsive force is generated between the first magnet 15 and the second magnet 9 disposed on the weight 5 to drive the weight 5 to move away from the attachment 3, thereby causing the center of gravity of the pan/tilt head to approach the axis of the pitch axis motor. In fig. 4, the axis of the pitch axis motor is parallel to the surface of the weight member 5. The spindle mechanism 4 functions as a support and a drive. The rear bracket 1 may be provided with a heat sink, such as fins, to enhance heat dissipation.

For example, the second load is the fitting 3, the fitting 3 is fixed with a magnet, similarly, the first magnet 15 is fixed at a relative position of the weight 5, the first magnet 15 and the second magnet 9 have the same polarity and can repel each other, through the magnetic force action of the designed simulated magnet, the weight 5 slides in a direction away from the second load, and is limited when the weight 5 reaches the second position (such as the position of the detent structure). When the weight member 5 is located at the second position, it is required to ensure that the designed magnetic force should be greater than the gravity of the weight member 5, and a certain safety factor is considered in combination with the conditions of manufacturing errors, acceleration and the like.

Fig. 5 schematically shows a cross-sectional view of a head according to an embodiment of the disclosure in a first state.

As shown in fig. 5, the weight member 5 may be disposed around the inner space of the front bracket 2, and if the first load is the lens module 7, the weight member 5 may be disposed around the outer periphery of the lens module 7, so as to reduce the effective space occupied by the weight member 5. The second load can be fixed on the front bracket 2 by clamping, screwing, magnetic attraction and the like. In fig. 5, the first load includes a first lens module. Accordingly, the second load (e.g., the component 3) may include a second lens module, which 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, and to achieve at least one of a micro-focus, a wide-angle, and the like.

In some of these embodiments, the first magnet 15 is disposed on the second load. In the first state, the second load is mounted on the bracket, the distance between the first magnet 15 and the second magnet 9 is relatively short, and the first magnet 15 and the second magnet 9 enable a relatively large repulsive force to be generated between the second load and the counterweight 5. In other embodiments, the first magnet 15 and the second magnet 9 may allow for attractive attraction between the second load and the weight 5. When an attractive force is formed between the first magnet 15 and the second magnet 9 and a repulsive force is formed between the first magnet 15 and the second magnet 9, the structure and the arrangement mode of the limiting part are different, for example, the opening direction of the clamping groove 8 is different from the elastic force direction provided by the first elastic part 14.

In some of these embodiments, the weight 5 is in the first position such that a first distance between a common center of gravity of the first load and the weight mechanism and the rotational axis of the motor is less than a second distance between a common center of gravity of the first load and the weight mechanism and the rotational axis of the motor when the weight 5 is in the second position. For example, referring to fig. 5, when the second load is mounted on the front bracket 2, the center of gravity of the pan/tilt head is shifted to the left. Meanwhile, the repulsive force between the first magnet 15 and the second magnet 9 enables the counterweight 5 to move towards the right, so that the gravity center of the tripod head deviates towards the right along with the movement of the counterweight 5, and the problem that the load is too high when the tripod head motor maintains the poses of a camera and the like due to the fact that the gravity center of the tripod head deviates greatly due to the fact that the accessory 3 is additionally arranged is effectively solved.

Fig. 6 schematically shows an internal structure diagram of a pan/tilt head according to an embodiment of the present disclosure. Fig. 7 schematically illustrates an interior elevation view of a head of an embodiment of the present disclosure in a first state.

As shown in fig. 6 and 7, the counterweight mechanism may further include a guide rod 13, and the guide rod 13 is disposed on the pan/tilt head. Correspondingly, the weight 5 comprises a through hole 11. This allows the guide rod 13 and the through hole 11 to cooperate to guide the weight member 5 such that the weight member 5 can reciprocate between the first position and the second position along the guide rod 13. Specifically, the guide bar 13 may be fixed to the bracket. For example, the stent 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 may be fixed to the front bracket 2 or the rear bracket 1, respectively, or one end of the guide rod 13 may be fixed to the guide rod fixing hole 12 of the front bracket 2 or the rear bracket 1. In order to provide protection to the lens module 7, a protective glass 10 may be provided in front of the lens module 7.

In some of the embodiments, the weight mechanism may further include a limiting member for limiting the weight member 5 when the weight member 5 reaches the second position. For example, the following information may be determined by way of calibration or the like: after the second load is installed on the front support 2, after the counterweight 5 is moved to a direction far away from the second load by a specified distance, the gravity center of the cradle head can coincide with the gravity center before the second load is installed or the distance between the gravity centers is smaller than a set distance threshold, the specified distance is a position where the cradle head needs to be limited, and after the counterweight 5 is prevented from moving beyond the specified distance, the gravity center of the cradle head is far away from the axis of the motor. For example, the specified distance may be determined by a test method such as calibration, or may be calculated based on the weight and shape of the second load. For a second load produced based on a standard, such as a wide-angle lens for a certain model, the specified distance may be determined by means of a query: there is a correspondence between the model number and the specified distance, which may be determined based on the above-mentioned criteria and the like.

For example, the weight 5 is provided with a detent groove 8. The limiting component comprises a clamping slide block 19, and the clamping slide block 19 and the clamping groove 8 are matched with each other to fix the counterweight 5 on the second position. The depth of the detent groove 8 can be adapted to the height of the detent slide 19. In order to facilitate the positioning of the detent slide 19, the detent groove 8 can be arranged on the side of the counterweight 5.

In some of the embodiments, in order to facilitate the reliability of the weight member 5 being limited by the retaining groove 8 and the retaining slider 19, the retaining groove 8 includes a first sub-retaining groove 81 and a second sub-retaining groove 82.

For example, an included angle between a straight line of the extending direction of the first sub-potential groove 81 and a straight line of the first direction is smaller than or equal to a first included angle threshold, and an included angle between a straight line of the extending direction of the second sub-potential groove 82 and a straight line of the perpendicular direction to the first direction is smaller than or equal to a second included angle threshold. The first angle threshold and the second angle threshold may be the same or different. When the extending direction of first sub-card position groove 81 the straight line with contained angle between the straight line of first direction place is when the small angle that is not zero, when screens slider 19 removed the tip to first sub-card position groove 81, screens slider 19 can release because of the stress (elastic deformation leads to) that produce along above-mentioned small-angle removal for screens slider 19 gets into second sub-card position groove 82 automatically, realizes carrying on spacingly automatically screens slider 19.

For example, the detent groove 8 is "L" shaped. Wherein a small included angle is formed between the long side of the L shape and the vertical direction. In order to facilitate the limitation of the movement direction of the weight member 5, the through hole 11 includes at least one of the following: circular and kidney shaped apertures 24. The waist-shaped hole 24 can prevent over-limit and improve the smoothness of the movement of the counterweight 5.

In some embodiments, the weight member 5 is provided with a detent groove 8, the detent groove 8 is fixed under the action of the detent slider 19 and the third elastic member 22, during the sliding process of the weight member 5, the detent groove 8 first drives the detent slider 19 to slide, and simultaneously compresses the third elastic member 22, when the predetermined detent position is reached, the detent slider 19 slides in the direction opposite to the previous movement direction under the action of the third elastic member 22, and the weight member 5 is locked to realize the limit.

Specifically, the tripod head can comprise a front support 2, a rear support 1 and a rotating shaft mechanism 4 for supporting and driving, wherein a fitting 3 is assembled on the front surface of the front support 2, the fitting 3 is fixed on the front support 2 through a buckle 6, a lens module 7 for imaging is fixed in the tripod head, a counterweight 5 is distributed around the lens module 7, the counterweight 5 can slide back and forth through a guide rod 13, the guide rod 13 is fixed between the front support 2 and the rear support 1, the four corners of the counterweight 5 are fixed with second magnets 9, the middle of each second magnet 9 is perforated and fixed on the counterweight 5, the same number of magnets are also fixed on the fitting 3, the fitting 3 and the counterweight 5 repel each other under the action of the magnets, because the fitting 3 is fixed on the front support 2, the counterweight 5 slides in the direction far away from the fitting 3 under the repulsion action of the counterweight magnets, a clamping groove 8 is processed on the fitting 5, a slide block limiting groove 20 is processed on the front support 2, the counterweight 5 can be clamped to a fixed position under the action of spring force and a clamping groove 8 of the counterweight 5 through a key 17 and a clamping slide block 19, the fixed position is determined according to the actual size and weight of the accessory 3, the center of gravity of a pan-tilt head before the accessory 3 is assembled is guaranteed to pass through the center of the pitching motor, and the center of gravity of the pan-tilt head after the accessory 3 is assembled is also guaranteed to pass through the center of the pitching motor.

In some of these embodiments, in order to allow the weight 5 to be easily returned to the first position after the second load is removed, there is a second force between the weight 5 and the first load in a second direction, the second direction being opposite to the first direction. So that the second force drives the weight 5 back to the first position after the first force has disappeared.

Specifically, the weight mechanism further includes a first elastic member 14. Wherein the first elastic member 14 is connected to one end of the weight member 5 to provide an elastic force for driving the weight member 5 to move in the second direction. Such that the first resilient member 14 is able to drive the weight 5 from the second position to the first position when the second load is removed. Wherein the first elastic component 14 includes but is not limited to: springs, rubber members, etc.

For example, when the accessory 3 is detached, the repulsive force applied to the second magnet 9 disappears, and in order to move the counterweight 5 to the first position so that the center of gravity of the pan/tilt head passes through the axis of the motor, a manual key operation is required, 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 blocking slider 19, pushing the blocking slider 19 to move away from the key 17, overcoming the elastic force of the third elastic member 22, so as to separate the blocking slider 19 from the second blocking slot 82 of the counterweight 5, and the counterweight 5 is reset by the first elastic member 14 and stops moving under the limit of the structure. At the same time, the blocking slide 19 is reset under the action of the third elastic component 22, and the key 17 is reset under the action of the second elastic component 18.

In order to deal with some special scenes, for example, the optical axis of the lens module 7 is perpendicular to the horizontal plane (or the angle between the optical axis and the vertical line is greater than the set angle threshold), in order to make the elastic force provided by the first elastic member 14 to bounce the weight member 5 in the special scene, the following conditions need to be satisfied: when the weight member 5 is located at the first position, the magnitude of the second acting force is larger than the magnitude of the gravity of the weight member 5. For another example, in order that, in this extreme scenario, when the second load is mounted, the repulsive force between the first magnet 15 and the second magnet 9 may enable the weight 5 to reach the second position, the following condition needs to be satisfied: when the weight member 5 is located at the second position, the magnitude of the first acting force is larger than the sum of the magnitude of the second acting force and the magnitude of the gravity of the weight member 5.

Figure 10 schematically illustrates a schematic view of a spacing component of an embodiment of the disclosure.

As shown in fig. 10, the securing of the counterweight 5 by means of the detent groove 8 and the detent slide 19 is facilitated, while at the same time the counterweight 5 can be easily returned to the first position after the second load has been removed. The limiting part further comprises a key 17, wherein the blocking slide block 19 comprises a first wedge-shaped part, the key 17 comprises a second wedge-shaped part, and the first wedge-shaped part and the second wedge-shaped part are matched with each other to realize relative displacement between the blocking slide block 19 and the key 17, wherein the relative displacement is perpendicular to a third direction, and the third direction is a direction in which the key 17 is pressed down or bounced up. In order to improve the convenience of the user for operating the key 17, such as automatically recovering the bounce state, the position limiting component further includes a second elastic component 18 for providing a first restoring force to the key 17. In addition, the position limiting component may further include a third elastic component 22, configured to provide a second restoring force to the position limiting slider 19, where a direction of the first restoring force is perpendicular to a direction of the second restoring force. The second and third elastic members 18 and 22 may be a variety of members that provide a restoring force, including but not limited to: springs, rubber members, etc. For example, the relative displacement perpendicular to the third direction is adapted to the length of the second daughter card slot 82. This allows the detent slider 19 to be moved into the second partial detent recess 82 to a position in which it is connected to the first partial detent recess 81 when the push button 17 is pushed.

Specifically, when the key 17 is pressed, the detent slider 19 can move to a position in the second sub-detent groove 82, which is connected to the first sub-detent groove 81, so that the weight member 5 can move along the extending direction of the first sub-detent groove 81 under the second acting force.

In some embodiments, in order to facilitate fixing one or more of the key 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 bracket 23, and the limiting member bracket 23 is configured to fix at least one of the following: the key 17, the second elastic member 18 and the third elastic member 22.

In some embodiments, the fitting 3 may be fixed by the snap 6 thereon and the snap groove 16 on the front bracket 2, so that the snap 6 is snapped into the snap groove 16.

Fig. 8 schematically illustrates a schematic diagram of a second load of an embodiment of the disclosure. Fig. 9 schematically illustrates a snap groove schematic of an embodiment of the disclosure.

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

Fig. 11 schematically illustrates a notch schematic of a weight of an embodiment of the present disclosure. Fig. 12 schematically illustrates a slide port schematic of a weight of an embodiment of the disclosure.

As shown in fig. 11 and 12, in a scenario where the counterweight 5 is limited by the cooperation of the first sub-detent groove 81, the second sub-detent groove 82 and the detent slider 19, because there is a small angle between the first sub-detent groove 81 and the vertical direction, the counterweight moves along the guide rod 13, and a displacement occurs in a direction perpendicular to the extending direction of the guide rod 13. In order to avoid the unsmooth movement of the weight member 5 caused by the over-positioning of the limiting block by the guide rod 13, a through hole 11 on the weight member 5 can be a waist-shaped hole 24.

Specifically, the weight member 5 is provided with a kidney-shaped hole 24. Accordingly, the length of the second sub-detent slot 82 is adapted to the length of the slotted hole 24. For example, the length of the second sub-card slot 82 is the same as the length of the slotted hole 24, or the length of the second sub-card slot 82 is slightly greater or slightly less than the length of the slotted hole 24.

Fig. 13 schematically illustrates a cross-sectional view of a head of an embodiment of the disclosure in a second state. Fig. 14 schematically shows an internal structure diagram of the pan/tilt head in the second state according to the embodiment of the present disclosure. Fig. 15 schematically illustrates a side view of a head of an embodiment of the disclosure in a second state.

As shown in fig. 13 to 15, the weight member 5 is located at the second position and has been restrained at the second position by the catch slide 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 blocking slider 19 may still be limited to the second position by the second sub-detent groove 82, and at this time, the user needs to press the key 17 to move the blocking slider 19 from the second sub-detent groove 82 to the first sub-detent groove 81, and move along the first sub-detent groove 81 to the first position under the action 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 component 14 and the structural limit, the spring force required to be designed at the first position should be greater than the gravity of the weight member 5, and a certain safety factor is considered in combination with manufacturing errors, acceleration and the like.

When the weight member 5 is at the first position, the gravity center of the holder passes through the center of the pitching motor, so that the load of the motor is reduced. Likewise, after fitting the fitting 3, the counterweight 5 is in the second position, i.e. the counterweight 5 is in the blocking position, the centre of gravity of the head also needs to be over the centre of the pitch motor in order to reduce the load on the motor.

In some of these embodiments, the weight mechanism may include multiple sets of weight components, the multiple sets of weight components being symmetrically arranged. Referring to fig. 11, 12 and 14, in order to fully utilize the space around the load (such as a camera module) in the bracket, the mating mechanism may be configured as a plurality of sets of configuration sub-components, which effectively improves the space utilization. The structural form of the weight piece 5 is not limited to the structure shown in the figure, the weight can be designed and distributed according to the interior of the holder and the structure of the lens module 7, the material of the weight piece 5 can be selected to meet the requirements of producibility, reliability and the like, and the selected material can ensure that the center of gravity is basically unchanged before and after assembly. If desired, non-unitary materials may be used, such as alloys, hybrid plastics, insert forms, and the like.

For example, the sets of weight subcomponents include a first weight subcomponent and a second weight subcomponent. Accordingly, the weight members 5 of the first weight member and the second weight member are respectively disposed around the first lens module. It should be noted that the above weight mechanism is merely an exemplary illustration, for example, the plurality of sets of weight sub members may be composed of two weight sub members, three weight sub members, four weight sub members, or more weight sub members, and is not limited herein.

The following describes the head in an exemplary embodiment.

The tripod head structure comprises a rear support 1, a front support 2 and a rotating shaft mechanism 4 playing a role in supporting and driving, wherein a fitting 3 is assembled on the front surface of the front support 2, the fitting 3 is fixed on the front support 2 through a buckle 6, a lens module 7 for imaging is fixed in the tripod head, a counterweight 5 is distributed around the lens module 7, the counterweight 5 can slide back and forth through a guide rod 13, the guide rod 13 is tightly matched between the front support 2 and the rear support 1, the four corners of the counterweight 5 are respectively fixed with a second magnet 9, the middle of the second magnet 9 is perforated and fixed on the counterweight 5, the same number of magnets are also fixed on the fitting 3, the fitting 3 and the counterweight 5 repel each other under the action of the magnets, the fitting 3 is fixed on the front support 2, so the counterweight 5 slides backwards under the repelling action of the magnets, a clamping groove 8 is processed on the counterweight 5, a slide block limiting groove 20 is processed on the front support 2, the counterweight 5 can be clamped to a fixed position (a second position) under the action of spring force and the clamping groove 8 of the counterweight 5 through the key 17 and the clamping slide block 19, the fixed position is determined according to the size and weight of the actual accessory 3, the gravity center of the pan-tilt head before the accessory 3 is assembled is ensured to pass through the center of the pitching motor, and the gravity center of the pan-tilt head after the accessory 3 is assembled is also ensured to pass through the center of the pitching motor.

The accessory 3 is fixed with a magnet, the magnet is also fixed at the opposite 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, the counterweight 5 slides in the direction far away from the first magnet 15 under the action of the magnetic force of the magnet for simulating design, the first elastic component 14 contracts and is fixed when the second clamping slot of the counterweight 5 reaches the position of the clamping slide block, the contraction of the first elastic component 14 stops, the designed magnetic force needs to be ensured to be larger than the sum of the spring force and the gravity of the counterweight 5 at the moment, and a certain safety factor is considered by combining the conditions of manufacturing errors, acceleration and the like.

The fittings 3 are fastened by the fasteners 6 on the fittings and the fastener grooves 16 on the front bracket 2, so that the fasteners 6 are fastened in the fastener grooves 16 to achieve the effect of fixing the fittings 3, the structure of the fasteners 6 is not limited to the structural form shown in the figure, and the number of the fasteners 6 is also not limited to the number shown in the figure.

The initial position of the weight member 5 is determined by the spring force and the structural limit, the spring force required to be designed by the first elastic member 14 at the initial position should be greater than the gravity of the weight member 5, and a certain safety factor is considered in combination with the conditions of manufacturing errors, acceleration and the like.

The weight 5 is in the first position to ensure that the center of gravity of the internal structure passes through the center of the pitching motor so as to reduce the load of the motor. Likewise, after fitting the accessory 3, the counterweight 5 is in the second position, i.e. the position in which the counterweight 5 is in the blocking position, also ensuring that the centre of gravity of the structure of the head as a whole and of the accessory 3 passes through the centre of the pitch motor.

The structural form of the weight piece 5 is not limited to the structure shown in the figure, the weight can be designed and distributed according to the interior of the holder and the structure of the lens module 7, the material of the weight piece 5 can be selected to meet the requirements of producibility, reliability and the like, and the selected material can ensure that the center of gravity is basically unchanged before and after assembly. The weight 5 may be a non-unitary material such as an alloy, a hybrid plastic, an insert, etc.

The weight member 5 has two through holes, one of which is a circular hole to improve the guiding accuracy and the other of which is a kidney-shaped hole 24, and the two through holes 11 pass through the guide rod 13 so that the weight member 5 can slide on the guide rod 13.

The weight member 5 is provided with a clamping groove 8, the clamping groove 8 is fixed under the action of a clamping slide block 19 and a third elastic component 22, in the sliding process of the weight member 5, the clamping groove 8 firstly drives the clamping slide block 19 to slide rightwards, meanwhile, the third elastic component 22 is compressed, and when the preset clamping position is reached, the clamping slide block 19 slides leftwards under the action of the third elastic component 22 to clamp the weight member 5, so that the fixation is realized.

When the accessory 3 is detached, the repulsive force disappears, and in order to enable the weight part 5 to return to the first position, a manual key operation is required, namely, the key 17 is pressed, the inclined surface of the key 17 contacts the inclined surface of the clamping slide block 19 to push the clamping slide block 19 to move rightwards by overcoming the acting force of the second elastic part 18, the clamping slide block 19 is separated from the clamping groove 8 of the weight part 5 by overcoming the third elastic part 22, and the weight part 5 is reset under the action of the first elastic part 14 and stops under the limit of the structure; at the same time, the blocking slide 19 is reset under the action of the third elastic component 22, and the key 17 is reset under the action of the second elastic component 18.

Fig. 16 schematically shows a schematic view of an image pickup apparatus of an embodiment of the present disclosure.

As shown in fig. 16, the image pickup apparatus may include a pan/tilt head, and a member disposed in a holder of the pan/tilt head, wherein the member includes a lens group disposed in a space formed by the front holder 2 and the rear holder 1 so as to facilitate a user to capture a desired image. The structure of the pan/tilt head can refer to the content shown above, and is not described in detail herein.

Another aspect of the present disclosure provides a movable platform, which may include: the supporting body and the cloud platform as above, the cloud platform is installed on the supporting body, and this supporting body can be frame, damping device etc.. For example, the movable platform is any one of an unmanned aerial vehicle, a ground remote-controlled robot, or a handheld tripod head. For another example, the supporting body is any one of a frame of an unmanned aerial vehicle, a body of a ground remote-controlled robot, or a handle of a handheld tripod head.

FIG. 17 schematically illustrates a schematic view of a movable platform of an embodiment of the disclosure.

As shown in fig. 17, the movable platform may be a drone 25, the drone 25 may include a plurality of power systems 251 and a foot rest. The cradle head may be disposed on the drone 25.

The holder may be the holder described in any one of fig. 1 to 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.

The power system 251 may include one or more of a rotating body, propeller, blade, engine, motor, wheel, bearing, magnet, nozzle. For example, the rotator of the power system 251 may be a self-fastening rotator, rotator assembly, or other rotator power unit. The movable platform may have one or two, two or more, three or more, or four or more power systems 251. All of the power systems 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 a support member (e.g. a drive shaft). The power system 251 may be mounted at any suitable location on the movable platform, such as at the top, bottom, front, back, sides, or any combination thereof.

In some embodiments, the power system 251 enables the movable platform to take off from the surface vertically, or land on the surface vertically, without requiring any horizontal movement of the movable platform (e.g., without requiring taxiing on a runway). Alternatively, the power system 251 may allow the moveable platform to preset positions and/or yaw in the air. One or more of the power systems 251 may be controlled independently of the other power systems 251. Alternatively, one or more of the power systems 251 may be controlled simultaneously. For example, the movable platform may have a plurality of horizontally oriented rotating bodies to control the lifting and/or pushing of the movable platform. The horizontally oriented rotating bodies can be actuated to provide the capability of vertical takeoff, vertical landing, and hovering of the movable platform. In some embodiments, one or more of the horizontally oriented rotator may rotate in a clockwise direction while the other one or more of the horizontally oriented rotator may rotate in a counter-clockwise direction. For example, the number of the rotating bodies rotating clockwise is the same as that of the rotating bodies rotating counterclockwise. The rate of rotation of each horizontally oriented rotating body can be independently varied to effect the lifting and/or pushing action caused by each rotating body to adjust the spatial orientation, velocity, and/or acceleration (e.g., rotation and translation with respect to up to three degrees of freedom) of the movable platform.

In one embodiment, the plurality of power systems 251 of the drone 25 correspond one-to-one with the plurality of booms. Each power system 251 may include a motor assembly and a blade coupled to the motor assembly. Each power system 251 may be disposed on its corresponding horn, with the power system 251 being supported by the corresponding horn.

Furthermore, the drone 25 may also include a foot rest. The foot rest can be positioned below the holder and is connected with the holder. When the unmanned aerial vehicle 25 lands, can be used for unmanned aerial vehicle 25 to land.

Fig. 18 schematically illustrates a schematic view of a movable platform of another embodiment of the disclosure.

As shown in fig. 18, the movable platform is a robot 26, such as a land-based travel-type robot, on which a pan-tilt head may be disposed. Although the movable platform is described as a land robot, such description is not limiting, and any of the types of movable platforms described above are suitable (e.g., aerial robots, water robots). In some embodiments, the drive means may be located at 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 a target object, and the like. In addition, the land robot may further include a communication system for information interaction with one or more terminals. The driving means may be a power system 251 as described above, such as a motor or the like, and the sensing module may include a radar, a laser sensor, a positioning sensor or the like. Terminals include, but are not limited to: the communication between the land robot and the terminal can be performed by the prior art, such as a remote controller, a desktop computer, a notebook computer, etc., and will not be described in detail herein.

Fig. 19 schematically illustrates a schematic view of a movable platform of another embodiment of the disclosure.

As shown in fig. 19, the movable platform is a handheld cradle head 27, and the handheld cradle head 27 may include the structure of a cradle head as described above. The handheld cloud deck 27 may include: cloud platform and the handle that supports the cloud platform, this handle is the part that the user gripped, can include control button to operate the cloud platform. The handheld cradle head 27 is communicatively connected to a functional component (e.g., a camera) in the cradle to acquire image information captured by the camera.

The above is a preferred embodiment of the present disclosure, which should be explained only for understanding the present disclosure and not for limiting the scope of the present disclosure. Furthermore, the features of the preferred embodiments, unless otherwise specified, are applicable to both the method embodiments and the apparatus embodiments, and technical features that may be present in the same or different embodiments may be used in combination without conflict with each other.

It is to be understood that the above definitions of various elements are not limited to the specific structures or shapes mentioned in the embodiments, and that the substitution thereof is easily made by those skilled in the art, and the above described specific embodiments, further detailed description of the purpose, technical solution and advantages of the present disclosure, it is to be understood that the above described are only specific embodiments of the present disclosure and are not to be construed as limiting the present disclosure, and any modification, equivalent substitution, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (39)

1. A head for carrying a load, the head comprising:

the attitude adjusting mechanism comprises at least one rotating shaft mechanism and a first magnet, the rotating shaft mechanism is used for adjusting the attitude of the load, the rotating shaft mechanism comprises a motor and a bracket, and the motor can drive the bracket to rotate; the first magnet may be mounted on the bracket;

a counterweight mechanism for placement on the support, the counterweight mechanism including a counterweight that is reciprocally movable between a first position and a second position; the weight member includes a second magnet for interacting with the first magnet,

when the weight of the load changes, a first acting force in a first direction exists between the first magnet and the second magnet to drive the counterweight to move from the first position to the second position, so that the distance between the gravity center of a motor load of the motor and the rotating shaft of the motor is smaller than a first distance threshold value.

2. A head according to claim 1, wherein said rotary shaft mechanism is a pitch shaft mechanism, said support being adapted to carry said load.

3. A head according to claim 2, wherein said load is a lens module, and said cradle comprises housing means for receiving said lens module.

4. A head according to claim 3, wherein said lens module and said housing means together form a complete camera structure.

5. A head according to claim 2, wherein said load is a camera and said support is a frame structure for holding said camera.

6. A head according to claim 1, wherein said rotary shaft mechanism is a translation shaft mechanism or a traverse roller mechanism, and said support is adapted to carry a motor of the rotary shaft mechanism of said attitude adjustment mechanism.

7. A head according to claim 1, wherein said load comprises: a first load rotatable about a rotational axis of the motor, an

The second load rotates along with the rotation of the first load.

8. A head according to claim 7, wherein said first magnet is arranged on said second load; when the second load is mounted on the bracket, the first magnet and the second magnet cause a repulsive force to be generated between the second load and the weight member.

9. A head according to claim 7, wherein said weight member is positioned in said first position such that a first distance between a common centre of gravity of said first load and said weight mechanism and the rotational axis of said motor is less than a second distance between a common centre of gravity of said first load and said weight mechanism and the rotational axis of said motor when said weight member is positioned in said second position.

10. A head according to claim 7, wherein a second force is present between said weight member and said first load in a second direction, said second direction being opposite to said first direction.

11. A head according to claim 10, wherein said counterweight mechanism further comprises:

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

12. A head according to claim 11, wherein said first elastic member is capable of driving said counterweight from said second position to said first position when said second load is removed.

13. A head according to claim 10, wherein:

when the weight member is located at the first position, the magnitude of the second acting force is larger than that of the gravity of the weight member; and/or

When the weight member is located at the second position, the magnitude of the first acting force is larger than the sum of the magnitude of the second acting force and the magnitude of the gravity of the weight member.

14. A head according to claim 1, wherein said counterweight mechanism further comprises:

the guide rod is arranged on the holder;

the weight member includes a through hole;

wherein the guide rod and the through-hole cooperate to guide the weight member such that the weight member is reciprocally movable between a first position and a second position along the guide rod.

15. A head according to claim 14, wherein said through holes comprise at least one of: circular holes and kidney-shaped holes.

16. A head according to claim 1, wherein said counterweight mechanism further comprises: a limiting component for limiting the weight when the weight reaches a second position.

17. A head according to claim 16, wherein:

the counterweight is provided with a clamping groove; and

the limiting part comprises a clamping slide block, and the clamping slide block and the clamping groove are matched with each other to fix the counterweight part on the second position.

18. A head according to claim 17, wherein said blocking slot is provided on a side edge of said counterweight.

19. A head according to claim 17, wherein said blocking slots comprise a first sub-blocking slot and a second sub-blocking slot;

the included angle between the straight line of the extending direction of the first sub-potential groove and the straight line of the first direction is smaller than or equal to a first included angle threshold value, and the included angle between the straight line of the extending direction of the second sub-potential groove and the straight line of the vertical direction of the first direction is smaller than or equal to a second included angle threshold value.

20. A head according to claim 19, wherein said blocking slot is "L" -shaped.

21. A head according to claim 19, wherein:

the counterweight is provided with a waist-shaped hole; and

the length of the second sub-clamping slot is matched with that of the waist-shaped hole.

22. A head according to claim 19, wherein said stop element further comprises a key, wherein said blocking slider comprises a first wedge-shaped portion, and wherein said key comprises a second wedge-shaped portion, said first wedge-shaped portion and said second wedge-shaped portion cooperating to allow a relative displacement between said blocking slider and said key perpendicular to a third direction, said third direction being the direction in which said key is pressed or bounced.

23. A head according to claim 22, wherein said retaining member further comprises a second resilient member arranged to provide a first return force to said key.

24. A head according to claim 23, wherein said limiting member further comprises a third resilient member adapted to provide a second return force to said blocking slide, wherein the direction of said first return force is perpendicular to the direction of said second return force.

25. A head according to claim 24, wherein said stop member further comprises a stop member support for fixing at least one of: the key, the second elastic component and the third elastic component.

26. A head according to claim 22, wherein said relative displacement perpendicular to said third direction is adapted to the length of said second daughter card slot.

27. A head according to claim 22, wherein said blocking slide is movable to a position in said second sub-detent channel in connection with said first sub-detent channel when said push button is depressed, so that said weight member is movable along the extension of said first sub-detent channel under a second force.

28. A head according to claim 7, wherein said first load comprises a first lens module.

29. A head according to claim 28, wherein said second load comprises a second lens module, said second lens module being adapted to cooperate with said first lens module.

30. A head according to claim 7, wherein said second load is connected to said first load in a snap-fit manner.

31. A head according to claim 28, wherein said weight mechanism comprises a plurality of sets of weight components, said sets of weight components being arranged symmetrically.

32. A head according to claim 31, wherein said plurality of sets of weight components comprises a first weight component and a second weight component;

the first counterweight component and the second counterweight component are respectively arranged around the first lens module in a surrounding manner.

33. A head according to claim 7, wherein said support comprises:

a front bracket; and

and the rear bracket is matched with the front bracket to form an accommodating space so as to accommodate the first load.

34. A head according to claim 33, wherein said second load is removably mounted on said front cradle.

35. A head according to claim 14, wherein said support comprises: the guide rod is arranged between the front support and the rear support.

36. An image pickup apparatus, characterized by comprising:

a head according to any one of claims 1 to 35.

37. A movable platform, comprising:

a carrier; and

a head according to any one of claims 1 to 35, mounted on the carrier body.

38. The movable platform of claim 37, wherein the movable platform is any one of an unmanned aerial vehicle, a ground-based remote-controlled robot, or a hand-held pan/tilt head.

39. The movable platform of claim 37, wherein the carrier is any one of a frame of an unmanned aerial vehicle, a body of a ground remote-controlled robot, or a handle of a handheld pan/tilt head.

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