WO2015196485A1 - 云台 - Google Patents

云台 Download PDF

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Publication number
WO2015196485A1
WO2015196485A1 PCT/CN2014/081047 CN2014081047W WO2015196485A1 WO 2015196485 A1 WO2015196485 A1 WO 2015196485A1 CN 2014081047 W CN2014081047 W CN 2014081047W WO 2015196485 A1 WO2015196485 A1 WO 2015196485A1
Authority
WO
WIPO (PCT)
Prior art keywords
pillar
pan
center
tilt
guide
Prior art date
Application number
PCT/CN2014/081047
Other languages
English (en)
French (fr)
Inventor
潘立忠
赵岩崇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to JP2016571717A priority Critical patent/JP6219543B2/ja
Priority to PCT/CN2014/081047 priority patent/WO2015196485A1/zh
Priority to CN201480002079.XA priority patent/CN104603517B/zh
Publication of WO2015196485A1 publication Critical patent/WO2015196485A1/zh
Priority to US15/390,779 priority patent/US10054842B2/en

Links

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/041—Allowing quick release of the apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

Definitions

  • the present invention relates to the field of photographing equipment, and in particular to a cloud platform. Background technique
  • the gimbal is a support table for mounting the camera, and the camera is placed on the gimbal. Through the adjustment of the gimbal, the camera lens is adjusted to achieve the correct imaging of the target.
  • the pan/tilt can be compatible with a variety of different types of cameras or lenses, and the center of gravity of each axis of the gimbal can be adjusted.
  • the center of gravity is adjusted by the relative displacement of the gimbal crust. Since the structural members are mostly loaded, the static friction between the structural members is large, which makes the relative movement difficult. 3 ⁇ 4 and the relative displacement is very small, the image of the center of gravity is also very large, and the adjustment of the salty center of gravity is difficult. Summary of the invention
  • the object of the present invention is to provide a pan/tilt that can quickly adjust the center of gravity.
  • Embodiments of the present invention are implemented in such a manner that a cloud platform is used to carry an imaging device.
  • the cloud platform includes: a cloud platform for carrying an imaging device, the cloud platform comprising:
  • the first support frame comprises two first legs and two guide columns, the two guide columns being arranged substantially perpendicular to the two first legs, the two guide columns being used to carry the imaging Device
  • a second support frame includes two second pillars, and a first driving device, one of which The second pillar is connected to a rotating shaft of one of the first pillars; and the other second pillar is hinged to the other shaft of the first pillar by the first driving device;
  • a third support frame includes a third support, a second driving device, and a connecting plate, wherein the second driving device is rotatably coupled to the second support for driving the second support frame,
  • the second driving device is fixed at one end of the third pillar, and a driving shaft of the second driving device is fixed to the second pillar for driving the second pillar to rotate, so as to drive the second pillar
  • the support frame rotates, the 3 ⁇ 4 end of the third pillar is connected to the connecting plate; and at least one center of gravity adjusting unit, the at least one center of gravity adjusting unit is disposed on the first pillar, the guide pillar, and the fan
  • the center of gravity adjusting the sheep element is used to adjust the center of gravity of the pan/tilt.
  • At least one center of gravity adjustment unit is disposed in at least two of the first pillars
  • the at least one center of gravity adjustment sheep element is disposed in at least one of the two derivative guide columns.
  • the at least one center of gravity adjustment unit is disposed in the connecting plate.
  • the at least one center of gravity adjustment is disposed in at least one of the two first pillars and at least one of the two guide pillars.
  • the at least one center of gravity adjustment unit is disposed in at least one of the two first pillars and in the connected connecting plate.
  • the at least one center of gravity adjustment unit is disposed in at least one of the two guide columns and in the connecting plate.
  • each of the center of gravity adjustment unit comprises a threaded rod, and one threaded and threaded a weighting block that is screwed to the threaded rod, and a lifting device, wherein the threaded socket and the weighting block are disposed in the first pillar, in the guide pillar or in the third
  • the driving device is fixedly connected to one end of the threaded yoke, and is in the first strut, in the guide column or the third support frame, when the driving device drives the threaded rod The weight is moved along the length of the threaded rod as the threaded rod rotates.
  • At least one receiving slot is defined in the side wall of the weight, and the center of gravity adjusting body further includes at least one anti-slip block, and each of the sliding blocks is correspondingly received in a receiving slot.
  • the threaded thread includes a threaded zone and a non-grain g disposed on both sides of the threaded zone, the threaded zone is provided with an external thread, the unlined zone is unthreaded, and each of the center of gravity adjustment unit further comprises a splicing device, the splicing device is disposed on the non-ribbed region at one end of the threaded rod, and is configured to trap the threaded rod on the first pillar, the guide pillar or the third
  • the driving device includes a main body portion and an axis mounted on the main body portion, the rotating shaft is rotatable relative to the main body portion, and the threaded rod is further One without grain. Connected with the turn ##4.
  • the stagnation device includes a central positioning member and a locking member for receiving the central positioning member.
  • the central positioning member has a shape of a country, and a central through hole is defined in the central portion.
  • the diameter of the first through hole is greater than or equal to the diameter of the unlined portion of the threaded rod, and is smaller than the diameter of the threaded portion of the threaded rod.
  • the locking member is opened. The shape and the size are matched with the center positioning member.
  • the country is set in the first pillar of the beautiful
  • the first through hole is disposed in the first through hole, and is rotatable in the first through hole.
  • the first pillar, the guide pillar, and the connecting plate are all hollow, and the first pillar, the guiding pillar, and the inner wall of the connecting plate are all provided with internal threads.
  • the main body portion of the driving device is provided with an external thread, and the external thread cooperates with the internal thread to make the driving device and the first pillar, the guiding column, or the connecting plate Secured.
  • the pan/tilt head further includes a driving portion and a holding portion, wherein the driving portion is a brushless motor, and the rotor is connected to the connected connecting plate, The stator is fixed to the grip portion, and the driving portion is used to drive the third support frame to rotate.
  • the driving portion is a brushless motor
  • the rotor is connected to the connected connecting plate
  • the stator is fixed to the grip portion, and the driving portion is used to drive the third support frame to rotate.
  • the connecting plate is a hollow column-shaped structure, and a hollow cylindrical receiving hole is disposed therein, and an inner wall of the animal husbandry hole is provided with an internal thread, and the external thread of the driving device and the receiving hole are The internal threads cooperate to connect the drive unit to the connecting plate.
  • the first support frame further includes two first latching devices, the guide post is movable along a length direction of the first post, and is determined by the first latching device a pillar.
  • the two card positioning devices respectively include a latching hole, two receiving portions respectively disposed on two sides of the latching hole, and a cover, the axial direction of the latching hole being perpendicular to In the axial direction of the grazing portion, two of the first struts are respectively sleeved in one of the holding holes, and each of the accommodating portions is respectively configured to receive one end of the guiding column, so that two The guide post is disposed substantially flatly, and the attachment 3 ⁇ 4 is attached to the first post by the first latching device.
  • the pan/tilt head further includes a clamping device, the clamping device includes a first adapter member slidably disposed on the guide post, and a mounting plate, the mounting plate is fixed at the Fans first adapter.
  • the first adapter includes two first and second pressure blocks disposed opposite to each other, and two slots are formed between the first pressure block and the second pressure block, and the guide column is inserted. The first pressure piece and the second pressure piece are locked into two first screws, and the first screw is fastened, and the first adapter is fixed in the On the guide post; release the first screw, the first adapter slides along the length of the guide post on the guide post,
  • the nut of the first screw is fixed to a first wrench.
  • the pan/tilt head of the present invention further includes at least one center of gravity adjustment unit, the at least one center of gravity adjustment unit being disposed on at least the first pillar, the guide pillar, and the third support frame One, therefore, the pan/tilt can adjust the center of gravity of the pan/tilt head through the center of gravity adjustment unit.
  • FIG. 1 is a schematic perspective view of a gimbal assembly provided by the present invention.
  • 3 ⁇ 42 is a three-dimensional assembly diagram of the center of gravity adjustment unit in the pan/tilt in Fig. 1.
  • FIG. 3 is a perspective exploded view of the center of gravity adjustment unit of FIG. 2.
  • IS 4 is a usage state diagram of the pan/tilt in Fig. 1. detailed description
  • FIG. 1 to FIG. 3 provides a cloud platform loo for carrying an imaging device 200 (FIG. 4).
  • the imaging device 200 can be a camera, a video camera or a lens or the like. In this embodiment, the imaging device 200 is a camera.
  • the platform 00 includes a first support frame 0, a clamping device 20 movably disposed on the first support frame 10, and a hinged to the first support frame 10 and can drive the first a second support frame 40 that rotates the support frame 10, a third support frame 40a that is hinged to the second support frame 40 and that can drive the second support frame 40 to rotate, and a third support frame 40a that drives the third support frame 40a to rotate
  • the driving portion 40b, the three center of gravity adjustment sheep 50, and the holding portion 60 among the three center of gravity adjustment units 50, two of the center of gravity adjustment units 50 are disposed on the first support frame 10b to adjust the center of gravity of the first support frame 10, respectively.
  • the center of gravity adjustment unit 50 is disposed in the third support frame 40a. for the center of gravity of the third support frame 40a.
  • the first support frame 10 includes two first struts 11, two guide posts 12, and two first locating devices 13. Two of the guide columns 12 are disposed perpendicular to the two first pillars. The two guide posts 12 are movable along the length of the first struts ⁇ by the first locating device B, and the two guide posts can be passed by the first locating device 13 The 12 garden is located at any position of the first pillar ⁇ .
  • the first pillars 1 1 are in a national column shape, and each of the first pillars 1 includes a connecting end 110 and a receiving end 110a away from the connecting end 10 .
  • the connecting end U0 has a through hole 1 ⁇ 1 .
  • the axial direction of the through hole 111 is substantially perpendicular to the longitudinal direction of the first pillar u. It is understandable to set a rotation axis U2 in the 3 ⁇ 4 through hole ⁇ .
  • the first pillar I was lost! It can also be other shapes.
  • the inner wall of the receiving end 110a is provided with an internal thread (not shown).
  • the two guide columns .1.2 are all cylindrical, and it can be understood that the guide columns 12 can also have other shapes.
  • the inner wall of one of the guide columns 12 is provided with internal threads (not shown)
  • the two first latching devices 13 each include a latching hole 130, two receiving portions 132 respectively disposed on opposite sides of the latching hole 130, and a pair of attachments 134.
  • the axial direction of the retaining hole 130 is substantially perpendicular to the axial direction of the mering portion 132.
  • the shape and size of the retaining holes 130 correspond to the shape and size of the first post 1 1 , respectively.
  • the two first pillars I are respectively sleeved in a cam hole 130.
  • Each of the obscuring portions 132 ffl is immersed in one end of the guide post 12 such that the two reversed guide columns are substantially parallel.
  • the cymbal attachment 4 is used to affix the first locating device 13 to any position of the first struts 1 1 .
  • the lock attachment 134 is a lock, which is made of metal.
  • the wire tightening device 20 includes a first transfer member slidably disposed on the guide post and a mounting plate 24.
  • the mounting plate 24 is fixed to the first adapter 23.
  • the mounting plate 2 is fixed to the first adapter 23 by screwing.
  • the first adapter 23 includes a first clamping block 231 and a second pressing block 232 disposed oppositely, the first pressing block 231 and the second pressing block.
  • Two ⁇ -shaped slots 230 are formed between the blocks 232, the guide posts are inserted into the circular slot 230, and the first pressing block 231 and the second pressing block 232 are locked into the first screw.
  • the first adapter 233 is clamped to the first screw 233, and the first adapter 23 is fixed on the guide post 12: The first adapter 233 is loosened, and the first adapter 23 slides along the length of the guide post 12 on the guide post 1.2.
  • the nut of the first screw 233 is disposed on a first teaching hand 234, and the first wrench 234 extends along the longitudinal direction of the first screw 233, and the first wrench 234 is pulled.
  • the first wrench 234 is pulled to rotate in the reverse direction of the first screw 233, that is, The loosening of the first screw 233 adjusts the sliding and fixing of the first adapter 23.
  • the first adapter 23 can also be automatically adjusted by using a screw mechanism.
  • the second support frame 40 includes two second legs 41 and a first drive unit 42.
  • One of the second struts 41 is directly hinged to the rotating shaft 112 of one of the first struts 11; and the other of the second struts 41 passes through the first driving device 42 and the other of the first struts
  • the rotating shaft 112 of 1 1 is hinged.
  • the first driving device 42 is fixed to an end of the second pillar 41 adjacent to the first pillar U, and a driving shaft (not shown) of the first driving device 42 and one of the first
  • the rotating shaft 12 of the pillar U is spliced to drive the rotating shaft ⁇ 2 to rotate to drive the first support frame 10 to rotate.
  • the axial direction of the drive shaft of the first driving device 42 is substantially perpendicular to the longitudinal direction of the second leg 42.
  • the first motive device 42 drives the first support frame 10 to rotate to adjust the shooting angle of the salt image device 200 and adjust the rotation speed in time to suit various postures.
  • the first driving device 42 is a brushless motor. It can be understood that the first driving device 42 can also be a brush motor or a motor, etc., and is not limited to the embodiment.
  • the third support frame 40a includes a third post 43 and a second tilting device 44. And a connecting plate 45.
  • the shape of the third pillar 43 is a hollow column shape.
  • the second swaying device 44 is rotatably coupled to the second struts 41 for coarsely rotating the second support frame 40.
  • the second driving device 44 is disposed at one end of the third pillar 43.
  • the driving shaft (not shown) of the second driving device 44 is connected to the second pillar 41 for moving
  • the second post 41 rotates to drive the second support frame 40 to rotate.
  • the other end of the third leg 43 is connected to the connecting plate 45.
  • the connecting plate 45 is a hollow column-shaped structure, and a hollow cylindrical receiving hole (not shown) is disposed therein, and an inner wall of the receiving hole is provided with an internal screw (not shown).
  • the plate 45 is substantially perpendicular to the third leg 43 and is substantially parallel to the axis of rotation of the second drive unit 44.
  • the driving portion 40b is a brushless motor
  • the rotor is connected to the connecting plate 45
  • the stator is fixed to the holding portion 60.
  • the third portion 40b for driving the third support frame 40a can be rotated 360 degrees in the horizontal direction.
  • the grip portion 60 has a bent rod shape. Specifically, the grip portion 60 includes a first connecting portion 601, a first supporting portion 602, and a hand portion 603.
  • the first supporting portion 602 is a rod, and the first connecting portion 601 13 is fixed to the center of the first supporting portion 602 /1.
  • the first connecting portion 60 is connected to the driving portion 40b.
  • the hand-held portion 603 is a two-column handle, and the hand 4 temple portion 603 3 ⁇ 4 is fixed at both ends of the first support portion 602.
  • the handle portion 60 is fixed with a handle 604.
  • the handle 604 is fixed to the first support portion 602-side, and is disposed opposite to the first connecting portion 601.
  • the grip portion 60 can also be provided with a locking mechanism, which is set on the ladder from the 3 ⁇ 4 ® to realize the use of mechanical automatic movement. Yunyuntai 100.
  • the three center of gravity adjustment units 50 are respectively disposed in the first pillar ⁇ , in the guide post 2, and in the connecting plate 45, respectively for adjusting the first support frame 10.
  • the center of gravity of the second support frame 40 and the third support frame 40a are respectively disposed in the first pillar ⁇ , in the guide post 2, and in the connecting plate 45, respectively for adjusting the first support frame 10.
  • the center of gravity adjustment unit 50 includes a screw lever 5, a weight 52 that is screwed to the threaded rod 51 and screwed to the threaded rod 51, and two anti-slip blocks 53.
  • the threaded rod 51 includes a threaded region 511 and a grainless region 512 disposed on both sides of the threaded region 511.
  • the threaded region 51 1 is provided with an external thread 510, and the non-grained region 512 is unthreaded.
  • the length of the threaded rod 51 is greater than the length of the first leg 11.
  • the shape of the weight 52 matches the shape of the first post 11, the guide post 12 and the connecting plate 45. In the present embodiment, only the weight 52 mounted in the first stay 11 is taken as an example.
  • the shape of the weight plate 52 corresponds to a national column shape, and the outer diameter of the weight 52 is equal to the inner diameter of the first column 13.
  • the length of the weight 52 is smaller than the length of the first pillar 11.
  • the center portion of the weight 52 is opened with a through-threaded hole 520 that matches the external thread 510 of the threaded rod 51.
  • the center of the through screw & hole 520 coincides with the center of the weight unit 52.
  • Two side pockets 521 are defined in the side wall of the weight 52.
  • the weight 52 is made of a metal material. It will be appreciated that the weight 52 can also be stripped from other materials.
  • the anti-slip block 53 is made of rubber, the anti-slip block 53 is a ring-shaped ring, and the outer diameter of the anti-slip block 53 is slightly larger than or equal to the inner diameter of the first pillar il, two The anti-sliders 53 are respectively received in the receiving groove 52 and abut against the first pillar! 1 and the place Between the weights 52.
  • the anti-slip block 53 is used to prevent the weight 52 from rotating together when the threaded rod 51 is rotated.
  • the number of the teaching pockets 52] and the anti-slip blocks 53 are not limited to two, and can be arbitrarily set according to requirements, such as one or two or more respectively.
  • the number of the anti-slip blocks 53 disposed in the same first pillar U is not limited to one, and two or more of them may be provided as needed, and is not limited to the embodiment.
  • the free-fitting device 54 is disposed at the non-grooved region 512 at one end of the thread.
  • the locking device 54 is configured to dispose the threaded ring 51 in the first leg U.
  • the folding device 5! includes a centering member 54] and a coupling member 542 for housing the centering member 541.
  • the central positioning member 54 is shaped like a dome, and a first through hole 5410 is defined in a central portion thereof.
  • the first through hole 5410 has a diameter slightly larger than or equal to the diameter of the non-grooved portion 512 of the threaded spindle 51 and smaller than the diameter of the threaded portion 51 1 .
  • the locking member 542 defines a setting 5423 that is shaped and dimensioned with the centering member 541.
  • the centering member 541 is received in the fixing slot 5423 and is connected to the locking member 542 by a glue.
  • the diameter of the lock member 542 is slightly smaller than or equal to the inner diameter of the first post 1 1 , and the folding device 54 is fixed in the first post 1 by glue. It can be understood that, in other implementations, the locking device 54 can also be fixed in the first post 1. by other means, such as by bolts.
  • the driving device 55 is a motor including a main body portion 55 and a rotating shaft 552 mounted on the main body portion 551.
  • the shaft 552 can be rotated relative to the main body portion 551.
  • the outer wall of the main body portion 551 is provided with an external thread 5520 that matches the internal thread of the first strut 1 1 .
  • the rotating shaft 552 is in the shape of a blank, the threaded rod Another 3 ⁇ 4 pattern 512 of 51 is sleeved in the rotating shaft 552 by an interference fit and is fixed by a glue phase.
  • the threaded rod 512 can be fixed by screwing the screw, and is not limited to the actual example.
  • the splicing device 54 When the sputum is assembled, the splicing device 54 is assembled and disposed in the first struts 11 , and the two anti-slip blocks 53 are respectively immersed in the two receiving slots 521 .
  • the through-threaded hole 520 of the weight 52 is screwed to the threaded portion 511 of the threaded rod 51, and then the threaded hinge 51 and the weight 52 are screwed together to the first pillar. ⁇ , the non-ribbed region 512 of the threaded rod 51 is sleeved in the first through hole 5410 and can be rotated in the first through hole 5410, and then the unlined area 512 of the threaded ring
  • the inner shaft 552 is fixedly connected to the rotating shaft 552, and the external thread 5520 of the main body portion 551 of the driving device 55 is screwed with the internal thread of the first pillar 11 .
  • the driving device 55 is fixed to the first pillar 11 .
  • connecting means can also be used to connect the driving device 55 to the first pillar U, such as by bolting or splicing.
  • the manner in which the other two of the center of gravity adjustment units 50 are mounted on the guide column 2 and the connecting plate 45 is similar to the manner in which the upper center of gravity adjustment unit 50 is mounted on the first pillar 11 , and is not described herein. .
  • one of the imaging devices 200 is disposed on the locking device 20.
  • the center of gravity between the first support frame 10, the locking device 20, and the imaging device 200 should fall on the first driving device 42.
  • On the axis of rotation Through mechanical analysis, when the center of gravity between the first support frame 10, the locking device 20, and the imaging device 200 should fall on the first driving device 42.
  • no rotational torque is generated, that is, the first support frame 10 does not solidify and oscillate back and forth, and the imaging device 200 during the rotation is increased. Stability.
  • the first support frame 10 and the image forming apparatus 200 are also in a state of dynamic balance. f.
  • the center of gravity between the first support frame 10, the clamping device 20, and the imaging device 200 does not fall on the rotating shaft of the first driving device 42, the driving device 55 is driven, Since the weight 52 is tightly engaged with the inner wall of the first pillar II by the obscuring slider 53, the weight 52 is between the anti-slip block 53 and the inner wall of the first pillar 44.
  • the friction does not rotate with the rotation of the tilting device 55, but moves along the length of the threaded rod 51 as the driving device 55 rotates, to the first support frame.
  • the center of gravity of 10 is fine-tuned such that the center of gravity between the first support frame 0, the clamping device 20 and the imaging device 200 falls on the rotational axis of the first drive device 42.
  • the first pillar ⁇ 1, the guide post 12, the connecting plate 45, and the weight 52 may be formed into a rectangular parallelepiped shape, a square shape, or a relaxation thereof. Some irregular shapes.
  • each of the weights 52 itself converts the rotation of the threaded rod 51 into the weight of the weight 52 in the first branch 11, the guide post 12 and the connecting plate 45. Translation is not limited to this embodiment.
  • the center of gravity adjustment unit 50 may be separately installed in the two first pillars 1 , and is not limited to the embodiment.
  • the center of gravity adjustment unit 50 can also be installed in each of the two guide columns 12 . It is to be understood that, in other embodiments, at least one of the first support frame 10, the second support frame 40, and the third support frame 40a is provided with the center of gravity adjustment unit 50, which is not limited thereto. This implementation copper.
  • the pan/tilt head of the present invention further includes at least one center of gravity adjustment unit, the at least one center of gravity adjustment unit being disposed in at least one of the first pillar, the guide pillar, and the third support frame, and therefore
  • the cloud platform can adjust the center of gravity of the pan/tilt head through the center of gravity adjustment unit.

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Abstract

一种云台（100），其用于承载一成像装置（200）。所述云台（100）包括一第一支撑架（10）、一与所述第一支撑架（10）铰接可驱动所述第一支撑架（10）转动的第二支撑架（40），以及一与所述第二支撑架（40）铰接且可驱动所述第二支撑架（40）转动的第三支撑架（40a）。所述第一支撑架（10）包括两个第一支柱（11）和两个导行柱（12）。两个所述导行柱（12）大致垂直于两个所述第一支柱（12）设置。两个所述第一支柱（12）用于承载所述成像装置（200）。所述云台（100）还包括至少一重心调节单元（50），所述至少一重心调节单元（50）设置于所述第一支柱（11）、所述导行柱（12）、和所述第三支撑架（40a）中的至少一个内。所述重心调节单元（50）用于调节所述云台（100）的重心。

Description

说 明 书 云台 技术领域
本发明涉及拍摄设备领域， 尤其涉及一种云台。 背景技术
云台是用于安装摄像机使用的支撑工作台， 摄像机设置在云台上。 通过对云台的调整， 以调整摄像机的镜头， 实现正确对目标的摄像。 所述云台可以兼容多种不同型号的摄像机或镜头， 云台各轴重心可以调 节。 但是由于现有调节重心的结构， 是利用云台结枸的相对位移进行重 心调节， 由于结构件大多承重., 造成结构件之间静摩擦力很大， 使得相 对运动囷难。 ¾且相对位移量很小时对重心的影像也非常大， 造咸重心 调节困难。 发明内容
本发明的目的在于 4¾供一种可快速调节使重心平衡的云台。
本发明实施例是这样实现的， 一种云台 其用于承载一成像装置。 所迷云台包括： 一种云台， 其用于承载一成像装置， 所述云台包括：
—第一支撑架包括两个第一支柱和两个导行柱， 两个所迷导行柱大 致垂直于两个所述第一支柱设置， 两个所述导行柱用于承载所述成像装 置；
一第二支撑架包括两个第二支柱、 以及一第一驱动装置， 其中一所 迷第二支柱与其中一所逑第一支柱的一转轴相较接； 而另一所迷第二支 柱通过所述第一驱动装置与另―所述第一支柱的一转轴相铰接；
一第三支撑架包括一第三支柱、 一第二驱动装置、 以及一连接板， 所述第二驱动装置转动连接于所述第二支柱， 用于驱动所述第二支撑 架， 所述第二驱动装置闺定于所迷第三支柱的一端， 所述第二驱动装置 的一驱动轴与所述第二支柱相固接， 用于驱动所述第二支柱转动， 以带 动所迷第二支撑架转动， 所逑第三支柱的 ¾一端连接于所迷连接板； 和 至少一重心调节单元 , 所述至少一重心调节单元设置于所述第一支 柱、 所迷导行柱、 和所迷连接板中的至少一个内， 所述重心调节羊元用 于调节所述云台的重心。
其中, 所迷至少一重心调节单元设置于两个所述第一支柱中的至少
—个内
其中， 所述至少一重心调节羊元设置于两个财述导行柱的至少一个 内。
其中， 所述至少一重心调节单元设置于所述连接板内。
其中， 所述至少一重心调节举元设置予两个所述第一支柱中的至少 一个内和两个所述导 ΐ亍柱的至少一个内。
其中， 所述至少一重心调节单元设置于两个所迷第一支柱中的至少 —个内和所逑连接板内。
其中 , 所述至少一重心调节竿元设置于两个所述导行柱中的至少一 个内和所述连接板内。
其中， 每个所迷重心调节单元包括一螺紋杆.， 一与穿设于所迷螺紋 杆且与所述螺紋杆相螺接的配重块、 以及一駆动装置， 所迷螺紋軒与所 述配重块均设置于所述第一支柱内、 导行柱内或所述第三支撑架内， 所 迷驱动装置与所述螺紋軒的一端阖定连接， 并与所述第一支柱内、 导行 柱内或所述第三支撑架， 当所述驱动装置驱动所述螺纹杆时， 所述配重 块隨着所述螺紋杆的转动 沿着所迷螺紋杆的长度方向移动。
其中， 所述配重块的側壁上开设有至少一收容槽， 所述重心调节羊 元进一步包括至少一防滑块， 每个所述昉滑块对应收容于一所迷收容槽 内。
其中， 所逑螺纹軒包括一螺紋区和设置于所迷螺紋区两側的无纹 g， 所述螺紋区设置有外螺紋， 所述无紋区无螺紋， 每个所述重心调节单元 进一步包括一镄合装置， 所述锬合装置设置于所述螺紋杆一端的所述无 紋区， 用于将所述螺紋杆困设于所述第一支柱、 所述导行柱或所述第三 支撑架中的至少其中之一内， 所迷驱动装置包括一主体部和一安,装于所 述主体部上的转轴， 所述转轴能相对所述主体部相转动， 所述螺紋杆的 另一无紋. 与所述转#相¾接。
其中， 所迷镇合裝置包括一中心定位件和一用于***述中心定位 件的鎖合件， 所述中心定位件的形状为国形， 其中心部开设有一第一贯 穿孔， 所述第一贯穿孔的直径大于或等于所述螺紋杆的无紋区的直径， 同时小于所逑螺紋区的直径， 所述.锁合件开设.有一形状和尺寸均与所迷 中心定位件相匹配的定位槽， 所述中心定位件收容于所述定位槽内且与 所述镇合件相國接， 所迷锁合件的直径小于或等于所述第一支柱的内 径， 所述锬合装置國定于所迷第一支柱内， 所迷螺紋杆一端的无紋区套 设于所逑第一贯穿孔内， 并能在所迷第一贯穿孔内转动。
其中， 所述第一支柱、 所述导行柱、 和所述连接板均为中空状， 所 迷第一支柱、 所述导行柱、 和所述连接板的内壁均设.置内螺紋,， 所述驱 动装置的主体部设置有外螺紋， 所述外螺紋与所述内螺纹相配合， 以使 所述驱动装置与所述第一支柱、 所迷导行柱、 或所述连接板相固接。
其中， 所述云台进一步包括一驱动部和一把持部， 所述驱动部为一 无刷电机， 其转子连接于所逑连接板， ！¾定子阖定于所迷把持部， 所迷 驱动部用于驱动所述.第三支撑架旋转。
其中， 所迷连接板为中空柱状结构， 其内设置有中空的圃柱形收容 孔， 所述牧容孔的内壁设置有内螺紋， 所述驱动装置的外螺紋与所述收 容孔的所述内螺紋相配合， 以使所迷驱动装置与所迷连接板相囷接。
其中， 所述第一支撑架还包括两个第一卡位装置， 所述导行柱能够 沿所述第一支柱的长度方向移动， 且通过所述第一卡位装置囷定于所述 第一支柱。
其中， 两个所述第一卡位装置均包括一卡持孔、 两个分别设置于所 迷卡持孔两側的收容部、 以及一锬,附件， 所述卡持孔的轴向垂直于所述 牧容部的轴向， 两个所述第一支柱分别套设于一所述卡持孔内 , 每个所 迷收容部分别用于***述导行柱的一端， 以使两个所述导行柱大致平 r设置， 所逑镄附件 ¾予将所迷第一卡位装置镇附于所述第一支柱。
其中， 所述云台还包括一锬紧装置， 所述锬紧装置包括一能够滑动 地设置于所述导行柱上的第一转接件、 以及一安装板， 所述安装板固定 于所迷第一转接件。 其中， 所述第一转接件包括相对设置的第一压块和第二压块， 所述 第一压块与所述第二压块之间形成两个插槽， 所述导行柱***所述 ®形 插槽内， 所述第一压块和所迷第二压块共] ¾锁入两个第一螺钉， 锬紧所 述第一螺钉，所述第一转接件固定于所述导行柱上；松开所述第一螺钉， 所述第一转接件在所迷导行柱上沿所述导行柱长度方向滑动 ,
其中， 所述第一螺钉的螺帽固设于一第一扳手。
相对于现有技术， 本发明的云台进一步包括至少一重心调节单元， 所述至少一重心调节单元设置于所迷第一支柱、 所述导行柱、 和所述第 三支撑架中的至少一个内， 因此， 所述云台可通过重心调节单元调节所 述云台的重心。
附图说明
图 1是本发明提供的云台的立体组装示意图。
¾2是图 1中的云台中的重心调节单元的立体組装示意图。
图 3是图 2中重心调节单元的立体分解示意图。
IS 4是图 1中的云台的使用状态图。 具体实施方式
下面将结合本发明实施例中的附图， 对本发明实施例中的技术方案 进行清楚、 完整地描述， M, 所描述的实施例仅是本发明的一部分实 施例， 而不是全部的实施例。 基于本发明中的实施例， 本领域普通技术 人员在没有做出创造性劳动前提下所获得的所有其它实施例， 都属于本 发明保护的范围。 以下结合具体实施方式对本发明的实现进行详细的描迷。
请―并参阅图 1至图 3， 本发明提供的一种云台 loo其用于承载一 成像装置 200 (如图 4) 。 所述成像装置 200可以为相机、 摄像机或镜 头等。 本实施例中， 所述成像装置 200为一相机。
所述云台〗00包括一第一支撑架〗0、一可移动地设置于所述第一支 撑架 10的锬紧装置 20、一与所迷第一支撑架 10铰接且可驱动所述第一 支撑架 10转动的第二支撑架 40、一与所逑第二支撑架 40铰接且可驱动 所述第二支撑架 40转动的第三支撑架 40a、 一驱动所述第三支撑架 40a 转动的驱动部 40b、 三个重心调节羊元 50、 以及一把持部 60。 本实施例 中， 三个所述重心调节单元 50中， 其中两个所述重心调节单元 50均设 置于所述第一支撑架 10 ¾于分別调节所述第一支撑架 10的重心， 另外 一个所述重心调节单元 50设置于所述第三支撑架 40a.内，用于所述第三 支撑架 40a的重心。
所¾第一支撑架 10包括两个第一支柱 11、两个导行柱 12及两个第 一卡位装置 13。 两个所述导行柱 12垂直所述两个第一支柱 Π设置。 两 个所迷.导行柱 12通过所迷第一卡位装置 B可沿所迷第一支柱 Π 的长 度方向移动， 且可通过所迷第一卡位装置 13将所述两个导行柱 12園定 于所述第一支柱 Π的任意位置。
具体地， 所述第一支柱 1 1为一國柱状， 每个所述第一支拄】1均包 括一连接端 110与一远离所迷连接端 1 0的收容端 110a。所迷连接端 U0 开设有一通孔 1 Ϊ 1。 本实施例中， 所迷通孔 111 的轴向大致垂直于所述 第一支柱 u的长度方向。所¾通孔 ηι. 内设置一转动轴 U2， 可以理解 的是， 所迷第一支柱 I！也可为其他形状。 所迷收容端 110a的内壁设置 有内螺紋 （图未示） 。
本实施例中， 两个导行柱 .1.2 均为圓柱状， 可以理解的是, 所述导 行柱 12也可为其他形状。 其中一导行柱 12的内壁设置有内螺紋 （图未 示〉 o
两个所述第一卡位装置 13均包括一卡持孔 130、两个分别设置予所 述卡持孔 130两側的收容部 132、 以及一锬附件 134。
所述卡持孔 130的轴向大致垂直于所述牧容部 132的轴向。 所述卡 持孔 130的形状和尺寸分別与所述第一支柱 1 1 的形状和尺寸相对应。 两个所述第一支柱 I 分别套设于一所迷卡持孔 130内。
每个所迷.收容部 132分別 ffl于牧容所述导行柱 12的一端， 以使两 个所逆导行柱 Π大致平行设置。
所述锬附件 4 用于将所述第一卡位装置 13镇附于所述第一支柱 1 1的任意位置。 具体地， 所述锁附件 134为一锁扣， 其采.用金属材质。
所述綫紧装置 20包括一可滑动地设置于所述导行柱 Π上的第一转 接件 、 及一安装板 24。 所述安装板 24固定于所述第一转接件 23。 本实施例中， 所述安装板 2 通过螺检闺定于所述第一转接件 23上。
为了可以调节所述第一转接件 23滑动， 所迷第一转接件 23包括相 对设置的第一压块 231和第二压块 232， 所迷第一压块 231与所述第二 压块 232之间形成两个圃形插槽 230，所述导纾柱 ***所述圓形插槽 230内， 所迷第一压块 231和所述第二压块 232共冏锁入第一螺钉 233。 锬紧所迷第一螺钉 233， 所迷第一转接件 23囷定于所述导行柱 12上： 松开所逑第一螺钉 233， 所迷第一转接件 23在所迷导行柱 1.2上沿所述 导行柱 12长度方向滑动。
本实施方式中, 所述第一螺钉 233的螺帽闺设于一第一教手 234, 所述第一扳手 234沿垂直所述第一螺钉 233长度方向延伸， 扳动所述第 一扳手 234按所述第一螺钉 233镇紧方向旋转，即实现所述第一螺钉 3 的锬絷， 反之， 扳动所述第一扳手 234按所述第一螺钉 233锬紧方向反 向旋转， 即实现所迷第一螺钉 233的松开, 进而调节所迷第一转接件 23 的滑动与固定。 当然, 在其他实施方式中, 所述第一转接件 23 还可以 利用丝杆机构进行自动调节。
所¾第二支撑架 40包括两个第二支柱 41、以及一第一驱动装置 42。 其中一所述第二支柱 41直接与其中一所迷第一支柱 11的转动轴 112相 铰接； 而另一所述第二支柱 41通过所迷第一驱动装置 42与另一所述第 一支柱 1 1的转动轴 112相铰接。 具体地， 所迷第一驱动装置 42固定于 所迷第二支柱 41 靠近所述第一支柱 U 的一端， 所述第一驱动裝置 42 的驱动轴 （图未示） 与其中一所述第一支柱 U 的转动轴 1 12相闺接， 用于驱动所述转动轴 Π2转动， 以带动所述第一支撑架 10转动。 本实 施 j中, 所述第一驱动装置 42 的驱动轴的轴向大致垂直于所述第二支 柱 42的长度方向。 所述第一雜动装置 42驱动所述第一支撑架 10转动 以调整咸像装置 200 的拍摄角度以及及时调整转速大小以适.应各种姿 态。 本实施例中， 所迷第一驱动装置 42 为无刷电机。 可以理解的是， 所迷第一驱动装置 42也可为有刷电机或马达等， 并不限于本实施例。
所¾第三支撑架 40a包括一第三支柱 43、 一第二驿动装置 44、 以 及一连接板 45。 所述第三支柱 43的形状为中空柱状。 所迷第二驿动装 置 44转动连接于所述第二支柱 41， 用于粗动所述第二支撑架 40转动。 具体地， 所述第二驱动装置 44 定于所述第三支柱 43的一端， 所述第 二驱动装置 44的驱动轴 (图未示) 与所述第二支柱 41相園接， 用于 动所述第二支柱 41转动， 以带动所述第二支撑架 40转动。 所述第三支 柱 43的另一端连接于所述连接板 45。 本实施例中， 所述连接板 45为中 空柱状结构， 其内设置有中空的圆柱形收容孔 （图未示） ， 所迷收容孔 的内壁设置有内螺 ( S未示〉 。 所述连接板 45 大致垂直于所述第三 支柱 43并大致平行于所迷第二驱动装置 44的转轴。
本实施例中， 所述驱动部 40b为一无刷电机, 其转子连接于所述连 接板 45 , 而定子固定于所述把持部 60。 所¾駔动部 40b用于驱动所迷 第三支撐架 40a可以在水平方向 360° 旋转。
所述把持部 60呈折弯杆状。 具体地， 所迷把持部 60包括第一连接 部 601、 第一支撑部 602和手持部 603。 所迷第一支撑部 602为一杆件， 所述第一连接部 601 13定连接于所述第一支撑部 602 /1何中心。 所述第 —连接部 60 连接于所述驱动部 40b。
所述手持部 603为两 "柱形把手， 所述手 4寺部 603 ¾定于所述第一 支撑部 602两端。
所述把持部 60固设一提手 604，所述提手 604固定予所迷第一支撑 部 602—側，相对所述第一连接部 601.设置，方便在不使用所述云台 100 时， 可以随意携带， 节省力量。 当然， 在其他实施方式中， 所迷把持部 60还可 设置锁紧机构， 从 ¾ ®定于云梯上， 实现利用机械自动移动所 迷云台 100。
本实施例中， 三个所述重心调节单元 50分别设置于所述第一支柱 Π内、 所述导纾柱 2内、 以及所述连接板 45内， 分別用于调节所述第 一支撑架 10、 所述第二支撑架 40以及第三支撑架 40a的重心。
具体地,， 所迷重心调节单元 50包括一螺故杆 5】、 一与穿设于所述 螺紋杆 51且与所述螺紋杆 51 相螺接的配重块 52、 两个防滑块 53、 一 个锁合装置 54、 以及一驱动装置 55。
本实拖例中， 所述螺紋杆 51 包括一螺紋区 511和设置于所述螺纹 区 511 两側的无紋区 512。 所迷螺紋区 51 1设置有外螺紋 510, 而所述 无紋区 512无螺纹。所迷螺紋杆 51 的长度大于所述第一支柱 11的长度。
所述配重块 52的形状与所迷第一支柱 11、所迷导行柱 12和所述连 接板 45的形状相匹配。 本实施例中， 仅与安装于所述第一支柱 11内的 配重块 52为例。 所逑配重块 52的形状对应为國柱状, 而且所述配重块 52的外径等于所述第一支柱 13的内径。所迷配重块 52的长度小于所述 第一支柱 11的长度。所述配重块 52的中心部开谩有一与所迷螺紋杆 51 的外螺紋 510相匹配的贯穿螺紋孔 520。 所迷贯穿螺&孔 520的中心与 所述.配重块 52的中心重合。 所述配重块 52的侧壁上开设有两个牧容槽 521。 本实施例中， 所迷配重块 52由金属材料制成。 可以理解的是， 所 述配重块 52也可由其他材料剝成。
本实族例中，所述防滑块 53由橡胶制成，所述防滑块 53为圃环状， 且所述防滑块 53的外径略大于或等于所迷第一支柱 i l的内径， 两个防 滑块 53分别收容于所述收容槽 52〗内， 且抵持于所述第一支柱！ 1 与所 迷配重块 52之间。 所述防滑块 53用于防止所迷螺紋杆 51转动时， 所 述配重块 52随着一起转动。
可以理解的是， 所述教容槽 52】 和所述防滑块 53的数量均不限于 两个， 其可根据需求而任意设定， 如分别均为一个或两个以上。 同一所 述第一支柱 U内设置所述防滑块 53的数量也不限于一个， 其可根据需 求设置两个或两个以上， 并不限于本实施例。
所逸销合装置 54设置于所述螺纹軒 5】一端的所述无紋区 512。 所 述锁合装置 54用于将所述螺紋軒 51 圉设于所述第一支柱 U 内。 具体 地， 所迷锬合装置 5! 包括一中心定位件 54】.和一用于***迷中心定 位件 541的锬合件 542。 所述中心定位件 54 !的形状为圃形， 其中心部 开设有一第一贯穿孔 5410。 所述第一贯穿孔 5410的直径略大于或等于 所迷螺紋軒 51的无紋区 512的直径, 同时小于所述螺紋区 51 1的直径。 所述锁合件 542开设有一形状和尺寸均与所述中心定位件 541相 ES配的 定歸 5423。 所述中心定位件 541收容于所述定 槽 5423内且通过胶 体与所述.锁合件 542相 li接。 所迷鎖合件 542的直径略小于或等于所述 第一支柱 1 1的内径，所迷锬合装置 54通过胶水 定于所述第一支柱】1 内。 可以理解的是， 在其他实施倒中， 所述锁合装置 54 也可采用其他 方式固定于所述第一支柱 1. 内， 如通过螺栓相固接。
本实拖例中， 所述驱动装置 55为一马达， 其包括一主体部 55】 和 —安装于所述主体部 551上的转轴 552。 所迷转轴 552能相对所述主体 部 551相转动。 所迷主体部 551 的外壁设置有与所述第一支柱 1 1 的内 螺紋相匹配的外螺紋 5520。 所述转轴 552 为申空画柱状， 所述螺紋杆 51的另一 ¾紋区 512通过过盈配合的方式套设于所述转轴 552内,并通 过胶水相固接。 在其他实施例中， 所述螺紋杆 51 的无紋区 512套设于 所述转轴 552内后， 也可通进螺桎将两者相固定, 并不限于本实拖例。
組袈时， 先将所述镄合装置 54組装并園定于所述.第一支柱 11 内， 再将两个防滑块 53分别牧容于两个所述收容槽 521. 内， 随后， 将所述 配重块 52的贯穿螺紋孔 520与所述螺紋杆 51的螺紋区 511相螺接， 接 着将螺接在一起的螺紋軒 51 和配重块 52—起组装至所迷第一支柱 Π 内， 所述螺紋杆 51—端的无紋区 512套设于所述第一贯穿孔 5410内 并可在所述第一贯穿孔 5410内转动， 随后所迷螺纹軒 5〗的无紋区 512 套设干所述转轴 552内， 并与所述转轴 552相固接， 最后将所述驱动装 置 55的所迷主体部 551 的外螺紋 5520与所述第一支柱 11的内螺紋相 螺接， 以使所述驱动装置 55与所述第一支柱 11相固接。
可以理解的是， 实际应用中， 也可采用其他的连接方式使所迷驱动 装置 55与所迷第一支柱 U相 I]接， 如通过螺栓连接或相烀接等方式。
其他两个所述重心调节单元 50安装于所迷导行柱】2和所述连接板 45的方式与上逸重心调节单元 50安裝于所迷第一支柱 11的方式相似, 在此， 不在贅述。
使用时， 其中一成像装置 200國设于所述锁紧裝置 20上。 为了增 大所述成像装置 200拍摄过程中的稳定性能， 所迷第一支撑架 10、 所述 锁紧装置 20、与所述成像装置 200之间的重心应落在所迷第一驅动装置 42 的旋转轴上。 通过力学分析， 当所述第一支撑架 10、 所述锁紧装置 20、 与所述成像装置 200之间的重心应落在所述第一驱动装置 42 的驱 动轴上时， 所述第一支撑架 10 转动至任意角度均不会产生转动力矩， 即所述第一支撑架 10 不会固为力矩而来回晃动， 增加转动过程中的所 迷成像装置 200的稳定性。
当所述云台 100平穗运行时, 所述第一支撑架 10和所述成像装置 200也处于动态平衡状态。 f 当所述第一支撑架 10、 所迷锬紧装置 20、 与所述成像装置 200之间的重心没有落在所述第一驱动装置 42 的旋转 轴上时， 驱动所述驱动装置 55， 由于所述配重块 52通所迷昉滑块 53与 所述第一支柱 I I的内壁紧配合， 因此， 所述配重块 52由于所述防滑块 53与所述第一支柱 44内壁之间的摩擦，不会随着所述駆动装置 55的旋 转而旋转, 而会随.着所述驱动装置 55的旋转而沿着所迷螺紋杆 51的长 度方向移动， 以对所 ¾第一支撑架 10的重心进行微调， 以使所述第一支 撑架〗0、 所述锬紧装置 20 与所迷成像装置 200之间的重心落在所述 第一驱动装置 42的旋转轴上。
可以理解的是， 在其他实施倒中， 也可将所述第一支柱 Γ1、 所述导 疔柱 12和所述连接板 45 以及所述配重块 52制成长方体状、 正方体状 或其弛一些不规则形状。 此时， 各个所述配重块 52 自身将所述螺紋杆 51的转动转化为所述配重块 52在所述第一支拄 11、 所迷导行柱 12和 所迷连接板 45内的平动， 并不限于本实施例。
可以理解的是， 在其他实施例中， 也可在两个第一支柱 ] 1 内分别 安装一所述重心调节单元 50, 并不限于本实施例。
可以理解的是, 在其他实施例中, 也可在两个所迷导行柱 12 内分 別安装一所述重心调节单元 50。 可以理解的是， 在其他实施例中， 所迷第一支撑架 10、 所迷第二支 撑架 40和所述第三支撑架 40a的至少其中之一设置所述重心调节单元 50, 并不限于本实施铜。
本发明的云台进一步包括至少一重心调节单元， 所述至少一重心调 节单元设置于所述第一支柱、 所迷导行柱、 和所述第三支撑架中的至少 一个内， 因此， 所述云台可通过重心调节单元调节所述云台的重心。
以上所迷仅为本发明的实施例， 并非因此限制本发明的专利范闺， 凡是利用本发明说明书及附图内容所作的等效结抅或等效流程变换， 或 直接或间接运用在其他相关的技术领蜮， 均同理包括在本发明的专利保 护范围内。

Claims

权 利 要 求 书
1. 一种云台， 其用于承载一成像装置， 所述云台包括：
一第一支撑架包括两个第一支柱和两个导行柱， 两个所迷导行柱大 致垂直于两个所述第一支柱设置， 两个所述导行柱用于承载所述成像裝 置；
一第二支撑架包括两个第二支柱、 以及一第一 动装置， 其中一所 迷第二支柱与其中一所述第一支柱的一转轴相铰接； 而另一所述第二支 柱通过所述第一驱动装置与另一所述第一支柱的一转轴相铰接；
一第三支撑架包括一第三支柱、 一第二驱动装置、 以及一连接板， 所述第二驱动装置转动连接于所述第二支柱， 用于驱动所述第二支撑 架， 所迷第二驱动装置 ¾定于所逑第三支柱的一端， 所迷第二驱动装置 的一驱动轴与所述第二支柱相圉接， 用予驱动所述第二支柱转动， 以带 动所迷第二支撑架转动， 所迷第三支柱的另一端连接于所迷连接板； 和 至少一重心调节单元， 所述至少一重心调节单元设置于所述第一支 柱、 所迷导行柱、 和所述连接板中的至少一个内， 所述重心调节单元用 于调节所迷云台的重心。
2、如权利要求 1所迷的云台， 其特征在于： 所述至少一重心调节单元 设置于两个所述第一支柱中的至少一个内。
3,如杈利要求〗所述的云台， 其特征在于： 所迷至少一重心调节羊元 设置于两个所述导行柱的至少一个内。
4,如权利要求 1所迷的云台， 其特征在于： 所述至少一重心调节单元 设置于所述连接板内。
5.如权利要求 1所述的云台， 其特征在于： 所述至少一重心调节单元 设置于两个所述第一支柱中的至少一个内和两个所述导行柱的至少一 个内。
6.如权利要求 1所述的云台 , 其特征在于： 所述至少一重心调节单元 设置于两个所述第一支柱中的至少一个内和所述连接板内。
？.如权利要求 1所迷的云台， 其特征在于： 所迷至少一重心调节单元 设置于两个所述导行柱中的至少一个内和所述连 4娄板 _内。
8,如杈利要求 1. 所迷的云台， 其特征在于： 每个所迷重心调节单元 包括一螺纹軒、 一与穿设于所述螺紋杆且与所述螺紋杆相螺接的配重 块、 以及一驱动装置， 所述螺紋杆与所迷配重块均设置于所迷第一支柱 内、 导行柱内或所述第三支撑架内， 所述駆动装置与所述螺紋軒的一端 固定连接， 并与所迷第一支柱内、 导！ t柱内或所迷第三支撑架， 当所述 驱动装置驱动所述螺紋軒时， 所述配重块随着所述螺紋軒的转动而沿着 所述螺紋杆的长度方向移动。
9. 如杈利要求 8所迷的云台， 其特征在于： 所述配重块的侧壁上开 设有至少一收容槽， 所述重心调节单元进一步包括至少一防滑块， 每个 所迷防滑块对应牧容于一所述收容槽内。
10. 如权利要求 9所迷的云台， 其特征在于： 所迷螺紋軒包括一螺紋 区和设置于所述螺纹区两側的无紋区, 所述螺紋区设置有外螺紋， 所述 无紋. S无螺紋， 每个所述重心调节单元进一步包括一锁合装置， 所述铰 合装置设置于所迷螺紋杆一端的所迷无 &区， 用于将所迷螺紋杆固设于 所迷第一支柱、 所迷导行柱或所迷第三支撑架中的至少其中之一内， 所 述驱动装置包括一主休部和一安装于所述主体部上的转轴， 所述转轴能 相对所述主体部相转动， 所述螺紋.軒的另一无紋区与所迷转轴相固接。
11. 如权剝要求 10所述的云台， 其特征在于： 所述销合装置包括一 中心定位件和一用于牧容 '所述中心定位件的镄合件， 所述中心定位件的 形状为圃形， 其中心部开设有一第一贯穿孔， 所述第一贯穿孔的直径大 于或等于所迷螺紋.杆的无纹 E的直径， 同时小于所迷螺纹区的直径， 所 述锁合件开设有一形状和尺寸均与所述中心定位件相匹配的定位槽 , 所 ¾中心定位件牧容于所迷定位槽内且与所迷镇合件相固接， 所述锬合件 的直径小于或等于所述第一支柱的内径， 所述销合裝置固定于所述第一 支柱内， 所迷螺紋.軒一端的无紋区套设于所迷第一贯穿孔内， 并能在所 迷第一贯穿孔内转动。
12. 如权利要求 11所述的云台， 其特征在于： 所迷第一支柱、 所迷 导行柱、 和所述连接板均为中空状， 所述第一支柱、 所迷导行柱、 和所 述连接板的内壁均设置内螺紋， 所述驱动装置的主体部设置有外螺纹， 所迷外螺紋与所述内螺紋相配合， 以使所述驱动装置与所述第一支柱、 所述导行柱、 或所述连接板相 ¾接。
13. 如权利要求 .12所述的云台， 其特征在于： 所述云台进一步包括
—驱动部和一; te持部， 所迷驱动部为一无刷电机， 其转子连接于所述连 接板， 而定子阖定于所述把持部， 所迷驱动部用于驱动所述第三支撑架 旋转。
14. 如权利要求: 13所述的云台， 其特征在于： 所迷连接板为中空柱 状結抅， 其内设置有中空的鬮柱形收容孔， 所迷收容孔的内壁设置有内 螺紋， 所述驱动裝置的外螺紋与所述收容孔的所述内螺紋相配合, 以使 所述驱动装置与所述连接板相闺接。
15. 如权利要求 1所迷的云台, 其特征在于: 所述第一支撑架还包括 两个第一卡位装置， 所迷导行柱能够沿所述.第一支柱的长度方向移动， 且通过所述第一卡位装置固定于所述第一支柱。
16. 如权利要求 15所迷的云台， 其特征在于： 两个所迷第一卡位装 置均包括一^ ^持孔、 两个分别设置于所述卡持孔两铜的收容部、 以及一 销附件， 所述卡持孔的轴向垂直于所述收容部的轴向， 两个所迷第一支 柱分别套设于一所述卡持孔内， 每个所述收容部分别用于***述导 ff 柱的一端, 以使两个所迷导行柱大致平行设置， 所迷镇附件用于将所迷 第一卡位装置锬附于所述第一支柱。
17. 如权利要求 1所迷的云台， 其特征在于： 所述云台还包括一镇紧 装置， 所迷锬紧装置包括一能够滑动地设置于所述导行柱上的第一转接 件、 以及一安装板， 所述安装板闺定于所述第一转接件。
1.8. 如权利要求 17所述的云台， 其特征在于： 所迷第一转接件包括 相对设置的第一压块和第二压块， 所述第一压块与所述第二压块之间形 成两个插槽， 所述导行柱***所述圓形插槽内， 所迷第一压块和所述第 二压块共 I锬入两个第一螺钉， 镇紧所述第一螺钉， 所述第一转接件固 定于所述导行柱上； .松开所迷第一螺钉, 所述第一转接件在所述导行柱 上沿所迷导 fr柱长度方向滑动，
19. 如权利要求: 1 8所述的云台， 其特征在于： 所迷第一螺钉的螺帽 ®设于一第一扳手,
PCT/CN2014/081047 2014-06-27 2014-06-27 云台 WO2015196485A1 (zh)

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