WO2017206424A1 - Pan-tilt and photographing apparatus comprising pan-tilt - Google Patents

Pan-tilt and photographing apparatus comprising pan-tilt Download PDF

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Publication number
WO2017206424A1
WO2017206424A1 PCT/CN2016/102722 CN2016102722W WO2017206424A1 WO 2017206424 A1 WO2017206424 A1 WO 2017206424A1 CN 2016102722 W CN2016102722 W CN 2016102722W WO 2017206424 A1 WO2017206424 A1 WO 2017206424A1
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WO
WIPO (PCT)
Prior art keywords
bracket
hole
connecting rod
pan
rod
Prior art date
Application number
PCT/CN2016/102722
Other languages
French (fr)
Chinese (zh)
Inventor
刘国尧
赵岩崇
李卫东
赵朝华
Original Assignee
深圳市大疆灵眸科技有限公司
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Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Publication of WO2017206424A1 publication Critical patent/WO2017206424A1/en

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Classifications

    • 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
    • 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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the present invention relates to a stable pan/tilt head and a photographing device using the same.
  • VR virtual reality
  • a pan/tilt head for supporting an image forming apparatus comprising a stabilizing bracket and a connecting assembly, the connecting assembly comprising a connecting rod, the connecting rod being connected to the stabilizing bracket, the connecting rod comprising A connecting end to which the imaging device is connected, the connecting end extending a predetermined distance away from the stabilizing bracket.
  • connection assembly further includes a weight, the weight is connected to the other end of the connecting rod that faces away from the connecting end, and the weight of the weight can match different types of the Imaging equipment.
  • the weight is detachably connected to the connecting rod; or/and
  • the weight includes a plurality of portions that can be separated; or/and
  • the weight is arranged to be slidable along the length of the connecting rod; or/and
  • the weight is coupled to the connecting rod in a threaded manner, and the weight can be moved along the length of the connecting rod by rotation.
  • the connecting rod is slidable relative to the stabilizing bracket, so that the stabilizing bracket can be fixed at different positions of the connecting rod along the length direction.
  • connection assembly further includes a connection block that connects the connecting rod and the stabilizing bracket, and the connecting rod is capable of adjusting a connection position with respect to the connecting block.
  • the stabilizing bracket includes a guiding rod, and the connecting block is connected to the guiding rod, and the connecting block is capable of adjusting a connecting position along a length direction of the guiding rod.
  • the connecting block is provided with a first connecting hole, the first connecting hole can pass through the guiding rod, the guiding rod can slide relative to the first connecting hole and can be connected with respect to the connecting The block is fixed.
  • the connecting block is provided with a second connecting hole, the second connecting hole can pass through the connecting rod, the connecting rod can slide relative to the second connecting hole and can be connected with respect to the connecting The block is fixed.
  • the number of the guiding rods is two, and the two guiding rods are disposed in parallel with each other, the first connecting holes are correspondingly arranged in parallel, and the second connecting holes are disposed at the first interval Between the connection holes.
  • the connecting block includes a substrate, a sliding plate and a positioning plate; the sliding plate is connected to a side of the substrate; an end of the positioning plate is connected to the substrate; and the sliding plate is opened first a connecting hole through which the guide rod can pass, the guide rod can slide relative to the first connecting hole and can be fixed relative to the sliding block; Two connecting holes, the second connecting holes are capable of passing through the connecting rod, the connecting rods are relatively slidable along the second connecting holes and are fixable relative to the positioning plate.
  • the number of the sliding plates is two, and each of the connecting blocks is provided with a pair of the first connecting holes.
  • the positioning plate extends parallel to the substrate, and the substrate is provided with a through hole, and the through hole and the second connecting hole are aligned.
  • each of the sliding plates is provided with a notch corresponding to the first connecting hole thereof, and the notch of the sliding plate penetrates from the side edge of the corresponding sliding plate to the corresponding first connecting hole, The spacing between the notched sidewalls of the sliding plate can be adjusted to adjust the aperture of the first connecting aperture to thereby lock or release the first connecting aperture.
  • each of the sliding plates is provided with a locking hole, and a locking hole of the sliding plate penetrates from a side of the sliding plate to two opposite sides of the corresponding notch, and the connecting block further comprises a lock Firmware, the fastener passes through the locking hole and can be screwed or loosened relative to the corresponding sliding plate to change the inner diameter of the first connecting hole, thereby locking or releasing the sliding plate Describe the guide rod.
  • the positioning plate is provided with a notch corresponding to the second connecting hole thereof, and the notch of the positioning plate penetrates from the side edge of the positioning plate to the corresponding second connecting hole, the notch of the positioning plate The spacing between the two side walls is adjusted to adjust the aperture of the second connecting hole, thereby locking or releasing the connecting rod.
  • the positioning plate is provided with a locking hole, and the locking hole of the positioning plate penetrates from the side of the positioning plate to two opposite sides of the corresponding notch, and the connecting block further includes a locking component.
  • the locking member passes through the locking hole and can be screwed or loosened relative to the positioning plate to change the inner diameter of the second connecting hole, thereby locking or releasing the connecting rod.
  • the number of the sliding plates is two, the connecting block is provided with two pairs of the first connecting holes, the positioning plate extends parallel to the substrate, and the substrate is opened and aligned with the second connecting hole
  • the through hole is located between the two sliding plates, and the second connecting hole and the through hole are located between the two pairs of the first connecting holes.
  • the bracket includes a first bracket, a second bracket, and a third connected in sequence a bracket, the first bracket is rotatably coupled to the support mechanism, the second bracket is rotatably coupled to the first bracket, and the third bracket is rotatably coupled to the second bracket, the connecting rod and The third bracket is connected.
  • the third bracket is slidable relative to the connecting rod along the length direction of the connecting rod, and the third bracket can be fixed at different positions of the connecting rod along the length direction.
  • the third bracket includes a guide rod that is substantially parallel to a rotation axis of the third bracket, and the connecting rod is coupled to the guide rod.
  • the third bracket further includes two rotating blocks, and the two rotating blocks are respectively connected to the two ends of the guiding rod and can drive the guiding rod to rotate about the rotating shaft of the third bracket.
  • the weight of the other end of the connecting rod facing away from the connecting end is greater than the weight of the connecting end to match the weight of the image forming apparatus.
  • a photographing apparatus comprising the pan/tilt head and the image forming apparatus according to any one of the above, wherein the image forming apparatus is mounted at a joint end of the connecting rod.
  • the imaging device includes a plurality of imaging lenses oriented in different directions; and/or
  • the imaging device includes a plurality of microphones for capturing sound from different directions.
  • the image forming apparatus is provided in a spherical or polyhedral shape,
  • the image forming apparatus further includes a connecting portion, and the image forming apparatus is connected to the connecting end through the connecting portion.
  • the photographing device is used for mounting on a drone.
  • the connecting end of the connecting rod for connecting the imaging device on the connecting rod of the present invention extends away from the stabilizing bracket, thereby effectively preventing the cloud platform from forming a shadow on the viewing angle of the imaging device.
  • FIG. 1 is a schematic diagram of decomposition of some components in a cloud platform according to an embodiment of the present invention.
  • FIG. 2 is an enlarged schematic view of the connecting block of FIG. 1.
  • FIG. 2 is an enlarged schematic view of the connecting block of FIG. 1.
  • FIG. 3 is a schematic view of the assembly of FIG. 1.
  • Third drive component 16 Connection component 20 Connector twenty one Substrate 212 Sliding plate 213 Positioning plate 214 First connection hole 215 Second connection hole 216 gap 217 Locking hole 218 Connecting rod twenty three Connection end 231 Counterweight twenty four Lock firmware 90
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to be “Connect” another component, which can be directly connected to another component or possibly a centered component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides a photographing apparatus 300 for mounting on a drone (not shown) for performing ground photographing in aerial photography or other equipment.
  • the photographing device 300 includes an imaging device 200 and a pan-tilt head 100.
  • the imaging device 200 is a camera, a mobile phone, a tablet, or the like.
  • the imaging device 200 is a virtual reality (VR) camera, and the imaging device 200 has a substantially spherical structure including a plurality of imaging lenses 201 facing different directions, and the imaging device 200 can The images/videos captured by the plurality of the image pickup lenses 201 are combined into a panoramic image/video, and thus, it is possible to provide the image/video viewer with a completely immersive viewing experience.
  • the imaging device 200 may further include a plurality of microphones (not shown) that are capable of capturing sound from different directions.
  • the outer shape of the image forming apparatus 200 is not limited to the embodiment, and for example, the image forming apparatus 200 may be a polyhedral shape, and the image pickup lens 201 may be disposed on different surfaces of the image forming apparatus 200.
  • the number of the camera lenses 201 can be specifically set according to different needs.
  • the number of the image pickup lenses 201 may be any suitable number of four, six, eight, ten, and the like.
  • the imaging device 200 includes a connection portion 202 through which the imaging device 200 can be connected to the platform 100.
  • the platform 100 includes a stabilizing bracket 10 and a connecting assembly 20.
  • the stabilizing bracket 10 is connected to the connecting component 20 and a supporting mechanism (not shown).
  • Typical supporting mechanisms include, but are not limited to, a drone body.
  • a handle, a telescopic rod, a tripod, a rocker arm, etc., are used to connect the imaging device 200.
  • the stabilizing bracket 10 can adjust the orientation of the connecting component 20 to further adjust the orientation of the imaging device 200, and/or the stabilizing bracket 10 and the connecting component 20 can be compensated by the rotation to compensate the imaging device 200
  • the vibration serves to stabilize the imaging device 200.
  • the stabilizing bracket 10 includes a first bracket 11 , a second bracket 12 , and a third bracket 13 that are sequentially connected, and the second bracket 12 can be opposite to the first bracket 11 .
  • Rotating, the third bracket 13 is rotatable relative to the second bracket 12.
  • the first bracket 11 is rotatably coupled to a support mechanism, and the third bracket 13 is coupled to the connection assembly 20.
  • the stabilizing bracket 10 further includes a first driving component 14, a second driving component 15, and a third driving component 16.
  • the first driving component 14 is fixedly disposed on the supporting mechanism or the first bracket 11 for driving the first bracket 11 to rotate relative to the supporting mechanism;
  • the second driving component 15 is fixedly disposed on the first a bracket 11 or the second bracket 12 for driving the second bracket 12 to rotate relative to the first bracket 11;
  • the third driving component 16 is fixedly disposed on the second bracket 12 or the
  • the three brackets 13 are configured to drive the third bracket 13 to rotate relative to the second bracket 12.
  • the first driving component 14 drives the first bracket 11 to rotate about a heading (YAW) axis of the platform 100
  • the second driving component 15 drives the The second bracket 12 rotates about a roll axis of the pan head 100
  • the third driving element 16 drives the third bracket 13 to rotate about a pitch (PITCH) axis of the pan/tilt head 100.
  • the first bracket 11 includes a first rotating arm 112 and a first connecting arm 113.
  • the first rotating arm 112 and the first connecting arm 113 are substantially elongated.
  • the first rotating arm 112 is rotatably coupled to the support mechanism.
  • the first connecting arm 113 is disposed substantially perpendicular to the first rotating arm 112 and is movable along a length direction of the first rotating arm 112 to adjust the first connecting arm 113 relative to the first rotation
  • the connection position of the arm 112 is such that the center of gravity of the gimbal 100 is adjusted.
  • the second bracket 12 is substantially U-shaped.
  • the second bracket 12 includes a second rotating arm 121 and a second connecting arm 123.
  • the second rotating arm 121 is rotatably coupled to the first connecting arm 113.
  • the number of the second connecting arms 123 is two, and the two second connecting arms 123 are respectively connected to opposite ends of the first connecting arm 113, and further, two of the second connections
  • the arm 123 is symmetrically disposed about the ROLL axis of the pan/tilt head 100.
  • the third bracket 13 is rotatably coupled to the second connecting arm 123.
  • the third bracket 13 is substantially disposed in an elongated structure, and the third bracket 13 is rotatably coupled to the two second connecting arms 123 in the longitudinal direction.
  • the third bracket 13 includes two rotating blocks 131 and a guiding rod 132 fixedly connected between the two rotating blocks, and the two rotating blocks 131 are rotatably connected to the second connecting arm 123 and can be driven
  • the guide rod 132 rotates about a rotation axis of the third bracket, and the guide rod 132 is used for connection with the connection assembly 20.
  • the number of the guiding rods 132 is two, and the two guiding rods 132 are arranged in parallel with each other.
  • the pan/tilt head 100 may further include a controller (not shown) for controlling the first driving component 14, the second driving component 15, and the third driving component 16 to control the first a bracket 11, the second bracket 12 and the third bracket 13 rotation, thereby achieving the purpose of adjusting the position, orientation of the connection assembly 20 and stabilizing the imaging device 200.
  • a controller not shown for controlling the first driving component 14, the second driving component 15, and the third driving component 16 to control the first a bracket 11, the second bracket 12 and the third bracket 13 rotation, thereby achieving the purpose of adjusting the position, orientation of the connection assembly 20 and stabilizing the imaging device 200.
  • the connecting component 20 includes a connecting block 21, a connecting rod 23 and a weighting block 24.
  • the connecting block 21 is connected to the connecting rod 23 and the stabilizing bracket 10, and two ends of the connecting rod 23 are respectively connected to the weight 24 and the image forming apparatus 200.
  • the connecting block 21 is connected to the guiding rod 132, and the connecting block 21 can adjust the connecting position along the length direction of the guiding rod 132, thereby adjusting the overall center of gravity of the connecting assembly 20 and the image forming apparatus 200. Positioning the center of gravity on the ROLL axis to prevent the second driving element 15 from being subjected to an unintended torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 being offset from the ROLL axis) .
  • the connecting block 21 is also connected to the connecting rod 23, and the connecting rod 23 can adjust the connecting position with respect to the connecting block 21 to adjust the center of gravity of the connection position adjusting connection assembly 20 and the imaging device 200, so that The center of gravity is located on the PITCH axis to prevent the third drive element 16 from being subjected to unintended torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 being offset from the PITCH axis).
  • the connecting rod 23 is slidable relative to the connecting block 21 in the longitudinal direction, and the connecting block 21 can be fixed to different positions of the connecting rod 23 in the longitudinal direction.
  • the connecting block 21 includes a substrate 212 , a sliding plate 213 , and a positioning plate 214 .
  • the sliding plate 213 is connected to a side of the substrate 212, and the positioning plate 214 is connected to the substrate 212.
  • the substrate 212 is substantially rectangular; the number of the sliding plates 213 is two, and the two sliding plates 213 extend from opposite ends of the substrate 212 to the same side; the positioning plate 214 is parallel to The substrate 212 and the end portion are connected to the substrate 212.
  • the sliding plate 213 defines a first connecting hole 215, and the positioning plate 214 defines a second connecting hole.
  • the connecting block 21 is provided with a pair of first connecting holes 215 in each of the sliding plates 213.
  • the substrate 212 is provided with a through hole corresponding to the second connection hole 216 (not shown).
  • the first connecting hole 215 can pass through the guide rod 132 of the third bracket 13 , and the guide rod 132 can slide relative to the first connecting hole 215 and can be fixed relative to the connecting block 21 .
  • the second connecting hole 216 and the through hole can pass through the connecting rod 23, and the connecting rod 23 can slide relative to the second connecting hole 216 and can be fixed relative to the connecting block 21.
  • the positioning plate 214 is located between the two sliding plates 213 , so the second connecting hole 216 and the through hole are located between the two pairs of the first connecting holes 215 .
  • Each of the sliding plates 213 is provided with a notch 217 corresponding to the first connecting hole 215.
  • the notch 217 of the sliding plate 213 passes through the side edge of the corresponding sliding plate 213 away from the substrate 212 to the corresponding The first connection hole 215 is described.
  • the connecting block 21 further includes a locking member 90, and the spacing between the inner walls of the two sides of the notch 217 of the sliding plate 213 can be adjusted by the locking or releasing of the locking member 90, so that the aperture of the first connecting hole 215 can pass The locking member 90 is adjusted to lock or release the first connecting hole 215.
  • each of the sliding plates 213 is provided with a locking hole 218, and the locking hole 218 of the sliding plate 213 penetrates from the side of the sliding plate 213 to two opposite sides of the corresponding notch 217.
  • the locking hole 218 can be passed through by the locking member 90, and the inner diameter of the first connecting hole 215 is changed by the locking member 90 being screwed or loosened relative to the corresponding sliding plate 213, thereby making the sliding plate 213 locks or releases the guide rod 132.
  • the positioning plate 214 defines a notch 217 corresponding to the second connecting hole 216 .
  • the notch of the positioning plate 214 penetrates from the side edge of the positioning plate 214 to the second connecting hole 216 .
  • the spacing between the inner walls of the two sides of the notch 217 of the positioning plate 214 can be adjusted by the locking or releasing of the locking member 90, so that the aperture of the second connecting hole 216 can be adjusted by the locking member 90, thereby enabling the
  • the second connecting hole 216 locks or releases the connecting rod twenty three.
  • the positioning plate 214 is provided with a locking hole 218, and the locking hole 218 of the positioning plate 214 penetrates from the side of the positioning plate 214 to two opposite sides of the notch 217 of the positioning plate 214.
  • the locking hole 218 can be passed through by the locking member 90, and the inner diameter of the second connecting hole 216 is changed by the locking member 90 being screwed or loosened relative to the corresponding positioning plate 214, thereby making the positioning plate 214 locks or releases the connecting rod 23.
  • the connecting rod 23 includes a connecting end 231, and the connecting end 231 is connected to the image forming apparatus 200. Specifically, the connecting end 231 is mated with the connecting portion 202 of the image forming apparatus 200, and the connecting end 231 is The connecting portion 202 can be connected to each other by a snap connection, an interference fit connection, a screw connection, a glue connection, an integral molding or the like.
  • the weight 24 is connected to the other end of the connecting rod 23 opposite to the connecting end 231.
  • the weight 24 is used to balance the weight of the image forming apparatus 200 such that the overall center of gravity of the connecting component 20 and the image forming apparatus 200 is located on the PITCH axis, and the third driving component 16 is prevented from being unintended. Torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 deviating from the PITCH axis).
  • the weight of the weight 24 can match different types of the imaging device 200 such that the overall center of gravity of the connection assembly 20 and the imaging device 200 are located on the PITCH axis.
  • the weight 24 and the connecting rod 23 are disposed in a detachable structure. For the image forming apparatus 200 of different weights, the connecting rod 23 can select the weight 24 of the corresponding weight.
  • the weights 24 may also be provided as a plurality of parts that can be separated, and the parts of the weights 24 may be correspondingly increased or decreased for different weights of the image forming apparatus 200; or the weights
  • the block 24 may be arranged to be slidable along the length of the connecting rod 23, in which case the weight 24 further includes a fastening mechanism at which the weight 24 slides to a predetermined position of the connecting rod 23. Thereafter, the fastening mechanism can fix the weight 24 to the connecting rod 23; or the weight 24 and the The connecting rod 23 is provided in a threaded engagement, and the weight 24 can be moved along the length of the connecting rod 23 by rotation.
  • the locking member 90 is in a released state, and the guiding rod 132 and the connecting rod 23 are slidable relative to the first connecting hole 215 and the second connecting hole 216 respectively.
  • the image forming apparatus 200 and the corresponding weight of the weight 24 are mounted on the connecting rod 23, respectively sliding the connecting block 21 and the connecting rod 23 to an appropriate position, and operating the locking member 90 to lock the first
  • the connecting hole 215 and the second connecting hole 216 further fix the connecting block 21 and the connecting rod 23, and the connecting block 21 and the third bracket 13 relatively.
  • the position adjustment is completed, and the imaging device 300 can be further used.
  • first rotating arm 112 and the first connecting arm 113 can also be arranged as a fixed connection.
  • the number of the second connecting arms 123 can be set to one, and the third bracket 13 is rotatably connected to the second connecting arms 123.
  • the number of the guide bars 132 of the third bracket 13 can be set to one or more than two, and the number of the first connection holes 215 is correspondingly set to one or more than two.
  • the rotating block 131 of the third bracket 13 can be omitted, and the guiding rod is substantially parallel to the rotating shaft of the third bracket.
  • the connecting block 21 can be omitted, the connecting rod 23 can slide relative to the stabilizing bracket 10 along the length direction, and the stabilizing bracket 10 can be fixed at different positions of the connecting rod 23 along the length direction.
  • the connecting rod 23 is slidable relative to the third bracket 13 in the longitudinal direction, and the third bracket 13 can be fixed to different positions of the connecting rod 23 in the longitudinal direction.
  • the position of the notch 217 can be changed, for example, a side edge disposed on the sliding plate 213 opposite to the two first connecting holes 215, and disposed on the second connection.
  • the side edge of the other location of the aperture 216 can be changed, for example, a side edge disposed on the sliding plate 213 opposite to the two first connecting holes 215, and disposed on the second connection.
  • connecting block 21 is provided as a block structure, and the connecting block 21 is provided with a first connecting hole 215 extending in the length direction and a second extending in the height direction. Connection hole 216.
  • first connecting hole 215 and the second connecting hole 216 can be set to other manners, for example, a plurality of fixing holes are respectively disposed along the length direction of the guiding rod 132 and the connecting rod 23.
  • the connecting block 21 is provided with a positioning hole in the connecting hole, and the guiding rod 132 and the connecting rod 23 can be fixed relative to the connecting hole through the positioning hole and the fixing hole through a screw or a pin.
  • the weight 24 can be omitted.
  • the weight of the other end of the connecting rod 23 facing away from the connecting end 231 is greater than the weight of the connecting end 231 to match the weight of the image forming apparatus 200, thereby adjusting the connecting assembly 20 and the image forming apparatus.
  • the overall center of gravity of the 200 is greater than the weight of the image forming apparatus 200.
  • the connecting end 231 of the connecting rod 23 of the pan/tilt head 100 extends away from the stabilizing bracket 10 by a predetermined distance, so that the imaging device 200 connected to the connecting end 231 forms a large distance from other components of the pan/tilt head 100, thereby effectively avoiding the gimbal 100. A shadow is formed on the viewing angle of the imaging device 200.
  • the stabilizing bracket 10 includes a bracket that can be sequentially connected in relative rotation, and a controller that controls the rotation, and can adjust the position and direction of the imaging device 200 in time, and can effectively avoid the influence of external vibration of the shooting process on the photographing screen.
  • the connecting block 21 is arranged to be slidable or fixed relative to the third bracket 13
  • the connecting rod 23 is arranged to be slidable or fixed relative to the connecting block 21
  • the connecting rod 23 of the connecting component 20 is detachably connected to the imaging device 200 .
  • the pan/tilt head 100 can be connected to a plurality of image forming apparatuses 200 of different weights, and the expansion performance is improved.

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

Abstract

Disclosed are a pan-tilt (100) and a photographing apparatus (300) comprising the pan-tilt (100). The pan-tilt (100) is used for supporting an imaging device (200) and comprises a stabilizing support (10) and a connecting assembly (20). The connecting assembly (20) comprises a connecting rod (23). The connecting rod (23) is connected to the stabilizing support (10). The connecting rod (23) comprises a connection end (231) for connection to the imaging device (200). The connection end (231) extends for a predetermined distance away from the stabilizing support (10). The pan-tilt (100) effectively avoids forming an obstruction in the visual angle of the imaging device (200).

Description

云台及包括该云台的拍摄装置PTZ and camera device including the same 技术领域Technical field
本发明涉及一种拍摄稳定的云台，以及使用该云台的拍摄装置。The present invention relates to a stable pan/tilt head and a photographing device using the same.
背景技术Background technique
虚拟现实(Virtual reality：VR)技术发展迅速，能够带给人们身临其境的体验，拍摄运动镜头时，由于外界传导过来的振动以及风动等不可控因素，造成拍摄出来的图像会有明显的摇晃或抖动，很容易给观看者造成疲劳感。而目前的云台与VR相机配合使用时，会对VR相机的视角形成遮挡。Virtual reality (VR) technology is developing rapidly, and it can bring people an immersive experience. When shooting motion footage, the images will be obvious due to uncontrollable factors such as vibrations and winds transmitted from the outside. Shaking or shaking, it is easy to cause fatigue to the viewer. When the current PTZ is used with a VR camera, it will obscure the angle of view of the VR camera.
发明内容Summary of the invention
鉴于以上内容，有必要提供一种拍摄稳定且能防止遮挡相机视角的增稳云台，以及使用所述云台的拍摄装置。In view of the above, it is necessary to provide an enhanced pan/tilt head that is stable in shooting and that can prevent the camera from obscuring, and a photographing device that uses the pan/tilt head.
一种云台，用于支撑成像设备，其包括增稳支架及连接组件，所述连接组件包括连接杆，所述连接杆与所述增稳支架相连，所述连接杆包括用于与所述成像设备连接的连接端，所述连接端远离所述增稳支架延伸预定距离。A pan/tilt head for supporting an image forming apparatus, comprising a stabilizing bracket and a connecting assembly, the connecting assembly comprising a connecting rod, the connecting rod being connected to the stabilizing bracket, the connecting rod comprising A connecting end to which the imaging device is connected, the connecting end extending a predetermined distance away from the stabilizing bracket.
进一步地，所述连接组件还包括配重块，所述配重块连接于所述连接杆的与所述连接端相背离的另一端，所述配重块的重量能够匹配不同类型的所述成像设备。Further, the connection assembly further includes a weight, the weight is connected to the other end of the connecting rod that faces away from the connecting end, and the weight of the weight can match different types of the Imaging equipment.
进一步地，所述配重块与所述连接杆之间能够拆卸地连接；或/及Further, the weight is detachably connected to the connecting rod; or/and
所述配重块包括能够分拆的多个部分；或/及The weight includes a plurality of portions that can be separated; or/and
所述配重块设置为能够沿所述连接杆的长度方向滑动；或/及 The weight is arranged to be slidable along the length of the connecting rod; or/and
所述配重块与所述连接杆之间螺纹配合连接，所述配重块能够通过旋转而沿所述连接杆的长度方向移动。The weight is coupled to the connecting rod in a threaded manner, and the weight can be moved along the length of the connecting rod by rotation.
进一步地，所述连接杆能够相对所述增稳支架滑动，使得所述增稳支架能够固定于所述连接杆沿长度方向的不同位置。Further, the connecting rod is slidable relative to the stabilizing bracket, so that the stabilizing bracket can be fixed at different positions of the connecting rod along the length direction.
进一步地，所述连接组件还包括连接块，所述连接块连接所述连接杆及增稳支架，所述连接杆能够相对于所述连接块调整连接位置。Further, the connection assembly further includes a connection block that connects the connecting rod and the stabilizing bracket, and the connecting rod is capable of adjusting a connection position with respect to the connecting block.
进一步地，所述增稳支架包括导杆，所述连接块与所述导杆相连，所述连接块能够沿所述导杆的长度方向调整连接位置。Further, the stabilizing bracket includes a guiding rod, and the connecting block is connected to the guiding rod, and the connecting block is capable of adjusting a connecting position along a length direction of the guiding rod.
进一步地，所述连接块开设有第一连接孔，所述第一连接孔能够供所述导杆穿过，所述导杆能够沿所述第一连接孔相对滑动并且能够相对于所述连接块被固定。Further, the connecting block is provided with a first connecting hole, the first connecting hole can pass through the guiding rod, the guiding rod can slide relative to the first connecting hole and can be connected with respect to the connecting The block is fixed.
进一步地，所述连接块开设有第二连接孔，所述第二连接孔能够供所述连接杆穿过，所述连接杆能够沿所述第二连接孔相对滑动并且能够相对于所述连接块被固定。Further, the connecting block is provided with a second connecting hole, the second connecting hole can pass through the connecting rod, the connecting rod can slide relative to the second connecting hole and can be connected with respect to the connecting The block is fixed.
进一步地，所述导杆的数量为两个，两个所述导杆相互平行间隔设置，所述第一连接孔对应地平行间隔设置，所述第二连接孔设置于所述间隔的第一连接孔之间。Further, the number of the guiding rods is two, and the two guiding rods are disposed in parallel with each other, the first connecting holes are correspondingly arranged in parallel, and the second connecting holes are disposed at the first interval Between the connection holes.
进一步地，所述连接块包括基板、滑动板以及定位板；所述滑动板连接于所述基板的侧部；所述定位板的端部与所述基板相连；所述滑动板开设有第一连接孔，所述第一连接孔能够供所述导杆穿过，所述导杆能够沿所述第一连接孔相对滑动并且能够相对于所述滑动块被固定；所述定位板开设有第二连接孔，所述第二连接孔能够供所述连接杆穿过，所述连接杆能够沿所述第二连接孔相对滑动并且能够相对于所述定位板被固定。Further, the connecting block includes a substrate, a sliding plate and a positioning plate; the sliding plate is connected to a side of the substrate; an end of the positioning plate is connected to the substrate; and the sliding plate is opened first a connecting hole through which the guide rod can pass, the guide rod can slide relative to the first connecting hole and can be fixed relative to the sliding block; Two connecting holes, the second connecting holes are capable of passing through the connecting rod, the connecting rods are relatively slidable along the second connecting holes and are fixable relative to the positioning plate.
进一步地，所述滑动板的数量为两个，每一个所述连接块设置有一对所述第一连接孔。 Further, the number of the sliding plates is two, and each of the connecting blocks is provided with a pair of the first connecting holes.
进一步地，所述定位板平行于所述基板延伸，所述基板开设有通孔，所述通孔与第二连接孔对正设置。Further, the positioning plate extends parallel to the substrate, and the substrate is provided with a through hole, and the through hole and the second connecting hole are aligned.
进一步地，每一个所述滑动板开设有对应于其第一连接孔的缺口，所述滑动板的缺口自对应的所述滑动板的侧缘贯通至对应的所述第一连接孔，所述滑动板的缺口两侧壁之间的间距能够调整，以调整所述第一连接孔的孔径，进而使所述第一连接孔锁紧或释放所述导杆。Further, each of the sliding plates is provided with a notch corresponding to the first connecting hole thereof, and the notch of the sliding plate penetrates from the side edge of the corresponding sliding plate to the corresponding first connecting hole, The spacing between the notched sidewalls of the sliding plate can be adjusted to adjust the aperture of the first connecting aperture to thereby lock or release the first connecting aperture.
进一步地，每一个所述滑动板开设有锁固孔，所述滑动板的锁固孔自所述滑动板的侧面穿透至对应的所述缺口的两相对侧面，所述连接块还包括锁固件，所述锁固件穿过所述锁固孔且能够相对于对应的所述滑动板旋紧或放松而改变所述第一连接孔的内径尺寸，进而使所述滑动板锁紧或释放所述导杆。Further, each of the sliding plates is provided with a locking hole, and a locking hole of the sliding plate penetrates from a side of the sliding plate to two opposite sides of the corresponding notch, and the connecting block further comprises a lock Firmware, the fastener passes through the locking hole and can be screwed or loosened relative to the corresponding sliding plate to change the inner diameter of the first connecting hole, thereby locking or releasing the sliding plate Describe the guide rod.
进一步地，所述定位板开设有对应于其第二连接孔的缺口，所述定位板的缺口自所述定位板的侧缘贯通至对应的所述第二连接孔，所述定位板的缺口两侧壁之间的间距调整，以调整所述第二连接孔的孔径，进而使所述第二连接孔锁紧或释放所述连接杆。Further, the positioning plate is provided with a notch corresponding to the second connecting hole thereof, and the notch of the positioning plate penetrates from the side edge of the positioning plate to the corresponding second connecting hole, the notch of the positioning plate The spacing between the two side walls is adjusted to adjust the aperture of the second connecting hole, thereby locking or releasing the connecting rod.
进一步地，所述定位板开设有锁固孔，所述定位板的锁固孔自所述定位板的侧面穿透至对应的所述缺口的两相对侧面，所述连接块还包括锁固件，所述锁固件穿过所述锁固孔且能够相对于所述定位板旋紧或放松而改变所述第二连接孔的内径尺寸，进而使所述定位板锁紧或释放所述连接杆。Further, the positioning plate is provided with a locking hole, and the locking hole of the positioning plate penetrates from the side of the positioning plate to two opposite sides of the corresponding notch, and the connecting block further includes a locking component. The locking member passes through the locking hole and can be screwed or loosened relative to the positioning plate to change the inner diameter of the second connecting hole, thereby locking or releasing the connecting rod.
进一步地，滑动板的数量为两个，所述连接块设置有两对所述第一连接孔，所述定位板平行于所述基板延伸，所述基板开设有对正所述第二连接孔的通孔，所述定位板位于两个所述滑动板之间，所述第二连接孔及所述通孔位于两对所述第一连接孔之间。Further, the number of the sliding plates is two, the connecting block is provided with two pairs of the first connecting holes, the positioning plate extends parallel to the substrate, and the substrate is opened and aligned with the second connecting hole The through hole is located between the two sliding plates, and the second connecting hole and the through hole are located between the two pairs of the first connecting holes.
进一步地，所述支架包括依次连接的第一支架、第二支架及第三 支架，所述第一支架能够转动地连接于支撑机构，所述第二支架能够转动地连接所述第一支架，所述第三支架能够转动地连接所述第二支架，所述连接杆与所述第三支架相连。Further, the bracket includes a first bracket, a second bracket, and a third connected in sequence a bracket, the first bracket is rotatably coupled to the support mechanism, the second bracket is rotatably coupled to the first bracket, and the third bracket is rotatably coupled to the second bracket, the connecting rod and The third bracket is connected.
进一步地，所述第三支架能够沿连接杆的长度方向相对于所述连接杆滑动，且所述第三支架能够固定于所述连接杆沿长度方向的不同位置。Further, the third bracket is slidable relative to the connecting rod along the length direction of the connecting rod, and the third bracket can be fixed at different positions of the connecting rod along the length direction.
进一步地，所述第三支架包括导杆，所述导杆大致平行所述第三支架的转动轴，所述连接杆连接于所述导杆上。Further, the third bracket includes a guide rod that is substantially parallel to a rotation axis of the third bracket, and the connecting rod is coupled to the guide rod.
进一步地，所述第三支架还包括两个旋转块，两个所述旋转块分别连接于所述导杆的两端并能够带动所述导杆绕所述第三支架的转动轴转动。Further, the third bracket further includes two rotating blocks, and the two rotating blocks are respectively connected to the two ends of the guiding rod and can drive the guiding rod to rotate about the rotating shaft of the third bracket.
进一步地，所述连接杆的背离所述连接端的另一端的重量大于所述连接端的重量，以与所述成像设备的重量相匹配。Further, the weight of the other end of the connecting rod facing away from the connecting end is greater than the weight of the connecting end to match the weight of the image forming apparatus.
一种拍摄装置，所述拍摄装置包括如上任意一项所述的云台及成像设备，所述成像设备安装于所述连接杆的连接端。A photographing apparatus comprising the pan/tilt head and the image forming apparatus according to any one of the above, wherein the image forming apparatus is mounted at a joint end of the connecting rod.
进一步地，所述成像设备包括朝向不同方向的多个摄像镜头；及/或Further, the imaging device includes a plurality of imaging lenses oriented in different directions; and/or
所述成像设备包括多个麦克风，所述麦克风用于从不同方向捕捉声音。The imaging device includes a plurality of microphones for capturing sound from different directions.
进一步地，所述成像设备设置为球状或多面体形状，Further, the image forming apparatus is provided in a spherical or polyhedral shape,
进一步地，所述成像设备还包括连接部，所述成像设备通过所述连接部与所述连接端连接。Further, the image forming apparatus further includes a connecting portion, and the image forming apparatus is connected to the connecting end through the connecting portion.
进一步地，所述拍摄装置用于安装于无人机。Further, the photographing device is used for mounting on a drone.
本发明的的云台中连接杆上用于连接成像设备的连接端远离增稳支架延伸，有效避免云台对成像设备视角形成遮蔽。 The connecting end of the connecting rod for connecting the imaging device on the connecting rod of the present invention extends away from the stabilizing bracket, thereby effectively preventing the cloud platform from forming a shadow on the viewing angle of the imaging device.
附图说明DRAWINGS
图1为本发明实施方式提供的云台中部分元件分解的示意图。FIG. 1 is a schematic diagram of decomposition of some components in a cloud platform according to an embodiment of the present invention.
图2为图1中连接块的放大示意图。FIG. 2 is an enlarged schematic view of the connecting block of FIG. 1. FIG.
图3为图1的组装示意图。3 is a schematic view of the assembly of FIG. 1.
主要元件符号说明Main component symbol description
拍摄装置Camera 300300
成像设备 Imaging equipment 200200
摄像镜头Camera lens 201201
连接部Connection 202202
云台Yuntai 100100
增稳支架Stabilizing bracket 1010
第一支架 First bracket 1111
第一旋转臂First rotating arm 112112
第一连接臂First connecting arm 113113
第二支架 Second bracket 1212
第二旋转臂Second rotating arm 121121
第二连接臂Second connecting arm 123123
第三支架 Third bracket 1313
旋转块 Rotating block 131131
导杆 Guide rod 132132
第一驱动元件 First drive element 1414
第二驱动元件 Second drive element 1515
第三驱动元件 Third drive component 1616
连接组件 Connection component 2020
连接块Connector 21twenty one
基板 Substrate 212212
滑动板 Sliding plate 213213
定位板 Positioning plate 214214
第一连接孔 First connection hole 215215
第二连接孔 Second connection hole 216216
缺口 gap 217217
锁固孔 Locking hole 218218
连接杆Connecting rod 23twenty three
连接端 Connection end 231231
配重块Counterweight 24twenty four
锁固件 Lock firmware 9090
如下具体实施方式将结合上述附图进一步说明本发明。The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.
具体实施方式detailed description
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，显然，所描述的实施例仅仅是本发明一部分实施例，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他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是 “连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to be "Connect" another component, which can be directly connected to another component or possibly a centered component. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.
请参阅图1，本发明实施方式提供一种拍摄装置300，所述拍摄装置300用于安装于无人机(图未示)，以进行航拍或其他设备中进行地面拍摄。所述拍摄装置300包括成像设备200及云台100。所述成像设备200为相机、手机、平板电脑等。本实施方式中，所述成像设备200为虚拟现实(Virtual Reality：VR)相机，所述成像设备200大致呈球状结构，其包括朝向不同方向的多个摄像镜头201，所述成像设备200能够将多个所述摄像镜头201拍摄的图像/视频合成为全景图像/视频，因此，能够给图像/视频观看者提供完全沉浸式的观看体验。在其他实施方式中，所述成像设备200还可以包括多个麦克风(图未示)，多个所述麦克风能够从不同的方向捕捉声音。Referring to FIG. 1 , an embodiment of the present invention provides a photographing apparatus 300 for mounting on a drone (not shown) for performing ground photographing in aerial photography or other equipment. The photographing device 300 includes an imaging device 200 and a pan-tilt head 100. The imaging device 200 is a camera, a mobile phone, a tablet, or the like. In this embodiment, the imaging device 200 is a virtual reality (VR) camera, and the imaging device 200 has a substantially spherical structure including a plurality of imaging lenses 201 facing different directions, and the imaging device 200 can The images/videos captured by the plurality of the image pickup lenses 201 are combined into a panoramic image/video, and thus, it is possible to provide the image/video viewer with a completely immersive viewing experience. In other embodiments, the imaging device 200 may further include a plurality of microphones (not shown) that are capable of capturing sound from different directions.
可以理解，所述成像设备200的外形不限于本实施方式，例如，所述成像设备200可以为多面体形状，所述摄像镜头201可以设置于所述成像设备200的不同表面。It is to be understood that the outer shape of the image forming apparatus 200 is not limited to the embodiment, and for example, the image forming apparatus 200 may be a polyhedral shape, and the image pickup lens 201 may be disposed on different surfaces of the image forming apparatus 200.
可以理解，所述摄像镜头201的数量可以依据不同的需求具体设 置，例如，所述摄像镜头201的数量可以为四个、六个、八个、十个等任意合适的数量。It can be understood that the number of the camera lenses 201 can be specifically set according to different needs. For example, the number of the image pickup lenses 201 may be any suitable number of four, six, eight, ten, and the like.
所述成像设备200包括连接部202，所述成像设备200能够通过所述连接部202与所述云台100相连。The imaging device 200 includes a connection portion 202 through which the imaging device 200 can be connected to the platform 100.
所述云台100包括增稳支架10及连接组件20，所述增稳支架10连接所述连接组件20及支撑机构(图未示)，典型的支撑机构包括但不限于无人机机身、手柄、伸缩杆、三脚架、摇臂等，所述连接组件20用于连接成像设备200。The platform 100 includes a stabilizing bracket 10 and a connecting assembly 20. The stabilizing bracket 10 is connected to the connecting component 20 and a supporting mechanism (not shown). Typical supporting mechanisms include, but are not limited to, a drone body. A handle, a telescopic rod, a tripod, a rocker arm, etc., are used to connect the imaging device 200.
所述增稳支架10能够调节所述连接组件20的朝向，进一步调节成像设备200的朝向，及/或，所述增稳支架10及所述连接组件20能够通过转动补偿所述成像设备200受到的震动，进而起到稳定所述成像设备200的作用。The stabilizing bracket 10 can adjust the orientation of the connecting component 20 to further adjust the orientation of the imaging device 200, and/or the stabilizing bracket 10 and the connecting component 20 can be compensated by the rotation to compensate the imaging device 200 The vibration, in turn, serves to stabilize the imaging device 200.
具体在图示的实施方式中，所述增稳支架10包括依次连接的第一支架11、第二支架12及第三支架13，且所述第二支架12能够相对于所述第一支架11转动，所述第三支架13能够相对于所述第二支架12转动。所述第一支架11能够转动地连接于支撑机构，所述第三支架13连接于所述连接组件20。Specifically, in the illustrated embodiment, the stabilizing bracket 10 includes a first bracket 11 , a second bracket 12 , and a third bracket 13 that are sequentially connected, and the second bracket 12 can be opposite to the first bracket 11 . Rotating, the third bracket 13 is rotatable relative to the second bracket 12. The first bracket 11 is rotatably coupled to a support mechanism, and the third bracket 13 is coupled to the connection assembly 20.
所述增稳支架10还包括第一驱动元件14、第二驱动元件15及第三驱动元件16。所述第一驱动元件14固定设置于支撑机构或者所述第一支架11上，用于驱动所述第一支架11相对于支撑机构转动；所述第二驱动元件15固定设置于所述第一支架11或者所述第二支架12上，用于驱动所述第二支架12相对于所述第一支架11转动；所述第三驱动元件16固定设置于所述第二支架12或者所述第三支架13上，用于驱动所述第三支架13相对于所述第二支架12转动。The stabilizing bracket 10 further includes a first driving component 14, a second driving component 15, and a third driving component 16. The first driving component 14 is fixedly disposed on the supporting mechanism or the first bracket 11 for driving the first bracket 11 to rotate relative to the supporting mechanism; the second driving component 15 is fixedly disposed on the first a bracket 11 or the second bracket 12 for driving the second bracket 12 to rotate relative to the first bracket 11; the third driving component 16 is fixedly disposed on the second bracket 12 or the The three brackets 13 are configured to drive the third bracket 13 to rotate relative to the second bracket 12.
本实施方式中，所述第一驱动元件14驱动所述第一支架11绕所述云台100的航向(YAW)轴转动，所述第二驱动元件15驱动所述 第二支架12绕所述云台100的横滚(ROLL)轴转动，所述第三驱动元件16驱动所述第三支架13绕所述云台100的俯仰(PITCH)轴转动。In this embodiment, the first driving component 14 drives the first bracket 11 to rotate about a heading (YAW) axis of the platform 100, and the second driving component 15 drives the The second bracket 12 rotates about a roll axis of the pan head 100, and the third driving element 16 drives the third bracket 13 to rotate about a pitch (PITCH) axis of the pan/tilt head 100.
所述第一支架11包括第一旋转臂112及第一连接臂113。本实施方式中，所述第一旋转臂112及所述第一连接臂113大致呈长条状。所述第一旋转臂112能够转动地连接于支撑机构。所述第一连接臂113大致垂直于所述第一旋转臂112设置，且可沿所述第一旋转臂112的长度方向移动，以调节所述第一连接臂113相对于所述第一旋转臂112的连接位置，从而达到对云台100重心调节的目的。The first bracket 11 includes a first rotating arm 112 and a first connecting arm 113. In the present embodiment, the first rotating arm 112 and the first connecting arm 113 are substantially elongated. The first rotating arm 112 is rotatably coupled to the support mechanism. The first connecting arm 113 is disposed substantially perpendicular to the first rotating arm 112 and is movable along a length direction of the first rotating arm 112 to adjust the first connecting arm 113 relative to the first rotation The connection position of the arm 112 is such that the center of gravity of the gimbal 100 is adjusted.
所述第二支架12大致呈U形。所述第二支架12包括第二旋转臂121及第二连接臂123。所述第二旋转臂121能够相对转动地连接于所述第一连接臂113。所述第二连接臂123的个数设置为两个，两个所述第二连接臂123分别连接于所述第一连接臂113的相背两端，进一步地，两个所述第二连接臂123关于所述云台100的ROLL轴对称设置。The second bracket 12 is substantially U-shaped. The second bracket 12 includes a second rotating arm 121 and a second connecting arm 123. The second rotating arm 121 is rotatably coupled to the first connecting arm 113. The number of the second connecting arms 123 is two, and the two second connecting arms 123 are respectively connected to opposite ends of the first connecting arm 113, and further, two of the second connections The arm 123 is symmetrically disposed about the ROLL axis of the pan/tilt head 100.
所述第三支架13能够转动地连接于所述第二连接臂123。所述第三支架13大致设置为长条状结构，所述第三支架13能够沿长度方向转动地连接于所述两个第二连接臂123。The third bracket 13 is rotatably coupled to the second connecting arm 123. The third bracket 13 is substantially disposed in an elongated structure, and the third bracket 13 is rotatably coupled to the two second connecting arms 123 in the longitudinal direction.
进一步地，所述第三支架13包括两个旋转块131及固定连接于所述两个旋转块之间的导杆132，所述两个旋转块131转动地连接第二连接臂123并能够带动所述导杆132绕所述第三支架的转动轴转动，所述导杆132用于与所述连接组件20连接。本实施方式中，所述导杆132的数量为两个，两个所述导杆132相互平行间隔设置。Further, the third bracket 13 includes two rotating blocks 131 and a guiding rod 132 fixedly connected between the two rotating blocks, and the two rotating blocks 131 are rotatably connected to the second connecting arm 123 and can be driven The guide rod 132 rotates about a rotation axis of the third bracket, and the guide rod 132 is used for connection with the connection assembly 20. In this embodiment, the number of the guiding rods 132 is two, and the two guiding rods 132 are arranged in parallel with each other.
所述云台100还可以包括控制器(图未示)，所述控制器用于控制所述第一驱动元件14、所述第二驱动元件15以及所述第三驱动元件16以控制所述第一支架11、所述第二支架12以及所述第三支架 13转动，进而实现调整连接组件20的位置、方向及稳定成像设备200的目的。The pan/tilt head 100 may further include a controller (not shown) for controlling the first driving component 14, the second driving component 15, and the third driving component 16 to control the first a bracket 11, the second bracket 12 and the third bracket 13 rotation, thereby achieving the purpose of adjusting the position, orientation of the connection assembly 20 and stabilizing the imaging device 200.
所述连接组件20包括连接块21、连接杆23及配重块24。所述连接块21连接所述连接杆23及所述增稳支架10，所述连接杆23的两端分别连接所述配重块24及所述成像设备200。The connecting component 20 includes a connecting block 21, a connecting rod 23 and a weighting block 24. The connecting block 21 is connected to the connecting rod 23 and the stabilizing bracket 10, and two ends of the connecting rod 23 are respectively connected to the weight 24 and the image forming apparatus 200.
所述连接块21与所述导杆132相连，且所述连接块21能够沿所述导杆132的长度方向调整连接位置，进而调节所述连接组件20及所述成像设备200的整体的重心位置，使该重心位于所述ROLL轴上，避免所述第二驱动元件15承受非预期的扭力(因所述连接组件20及所述成像设备200的整体重心偏离所述ROLL轴导致的扭力)。The connecting block 21 is connected to the guiding rod 132, and the connecting block 21 can adjust the connecting position along the length direction of the guiding rod 132, thereby adjusting the overall center of gravity of the connecting assembly 20 and the image forming apparatus 200. Positioning the center of gravity on the ROLL axis to prevent the second driving element 15 from being subjected to an unintended torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 being offset from the ROLL axis) .
所述连接块21还与所述连接杆23相连，所述连接杆23能够相对于所述连接块21调整连接位置，以调整连接位置调整连接组件20及成像设备200的整体的重心，使该重心位于所述PITCH轴上，避免所述第三驱动元件16承受非预期的扭力(因所述连接组件20及所述成像设备200的整体重心偏离所述PITCH轴导致的扭力)。所述连接杆23能够沿长度方向相对所述连接块21滑动，且所述连接块21能够固定于所述连接杆23沿长度方向的不同位置。The connecting block 21 is also connected to the connecting rod 23, and the connecting rod 23 can adjust the connecting position with respect to the connecting block 21 to adjust the center of gravity of the connection position adjusting connection assembly 20 and the imaging device 200, so that The center of gravity is located on the PITCH axis to prevent the third drive element 16 from being subjected to unintended torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 being offset from the PITCH axis). The connecting rod 23 is slidable relative to the connecting block 21 in the longitudinal direction, and the connecting block 21 can be fixed to different positions of the connecting rod 23 in the longitudinal direction.
请参阅图2，所述连接块21包括基板212、滑动板213以及定位板214。所述滑动板213连接于所述基板212的侧部，所述定位板214与所述基板212相连。具体地，所述基板212大致呈矩形；所述滑动板213的数量为两个，两个所述滑动板213由所述基板212相对的两端向同侧延伸；所述定位板214平行于所述基板212且端部与所述基板212相连。Referring to FIG. 2 , the connecting block 21 includes a substrate 212 , a sliding plate 213 , and a positioning plate 214 . The sliding plate 213 is connected to a side of the substrate 212, and the positioning plate 214 is connected to the substrate 212. Specifically, the substrate 212 is substantially rectangular; the number of the sliding plates 213 is two, and the two sliding plates 213 extend from opposite ends of the substrate 212 to the same side; the positioning plate 214 is parallel to The substrate 212 and the end portion are connected to the substrate 212.
所述滑动板213开设有第一连接孔215，所述定位板214开设有第二连接孔。所述连接块21于每一个所述滑动板213设有成对的第一连接孔215。所述基板212设有与所述第二连接孔216对应的通孔 (图未示)。The sliding plate 213 defines a first connecting hole 215, and the positioning plate 214 defines a second connecting hole. The connecting block 21 is provided with a pair of first connecting holes 215 in each of the sliding plates 213. The substrate 212 is provided with a through hole corresponding to the second connection hole 216 (not shown).
所述第一连接孔215能够供所述第三支架13的导杆132穿过，所述导杆132能够沿所述第一连接孔215相对滑动并且能够相对于所述连接块21被固定。所述第二连接孔216及所述通孔能够供所述连接杆23穿过，所述连接杆23能够沿所述第二连接孔216相对滑动并且能够相对于所述连接块21被固定。The first connecting hole 215 can pass through the guide rod 132 of the third bracket 13 , and the guide rod 132 can slide relative to the first connecting hole 215 and can be fixed relative to the connecting block 21 . The second connecting hole 216 and the through hole can pass through the connecting rod 23, and the connecting rod 23 can slide relative to the second connecting hole 216 and can be fixed relative to the connecting block 21.
本实施方式中，所述定位板214位于两个所述滑动板213之间，因此所述第二连接孔216及所述通孔位于两对所述第一连接孔215之间。In this embodiment, the positioning plate 214 is located between the two sliding plates 213 , so the second connecting hole 216 and the through hole are located between the two pairs of the first connecting holes 215 .
每一个所述滑动板213开设有对应于其第一连接孔215的缺口217，所述滑动板213的缺口217自对应的所述滑动板213背离所述基板212的侧缘贯通至对应的所述第一连接孔215。所述连接块21还包括锁固件90，所述滑动板213的缺口217两侧内壁之间的间距可由锁固件90的锁紧或释放进行调整，因此所述第一连接孔215的孔径可通过所述锁固件90调整，进而使所述第一连接孔215锁紧或释放所述导杆132。具体地，每一个所述滑动板213开设有锁固孔218，所述滑动板213的锁固孔218自所述滑动板213的侧面穿透至对应的所述缺口217的两相对侧面，所述锁固孔218可由锁固件90穿过，通过所述锁固件90相对于对应的所述滑动板213旋紧或放松而改变所述第一连接孔215的内径尺寸，进而使所述滑动板213锁紧或释放所述导杆132。Each of the sliding plates 213 is provided with a notch 217 corresponding to the first connecting hole 215. The notch 217 of the sliding plate 213 passes through the side edge of the corresponding sliding plate 213 away from the substrate 212 to the corresponding The first connection hole 215 is described. The connecting block 21 further includes a locking member 90, and the spacing between the inner walls of the two sides of the notch 217 of the sliding plate 213 can be adjusted by the locking or releasing of the locking member 90, so that the aperture of the first connecting hole 215 can pass The locking member 90 is adjusted to lock or release the first connecting hole 215. Specifically, each of the sliding plates 213 is provided with a locking hole 218, and the locking hole 218 of the sliding plate 213 penetrates from the side of the sliding plate 213 to two opposite sides of the corresponding notch 217. The locking hole 218 can be passed through by the locking member 90, and the inner diameter of the first connecting hole 215 is changed by the locking member 90 being screwed or loosened relative to the corresponding sliding plate 213, thereby making the sliding plate 213 locks or releases the guide rod 132.
所述定位板214开设有对应于其第二连接孔216的缺口217，所述定位板214的缺口自所述定位板214的侧缘贯通至所述第二连接孔216。所述定位板214的缺口217两侧内壁之间的间距可由锁固件90的锁紧或释放进行调整，因此所述第二连接孔216的孔径可通过所述锁固件90调整，进而使所述第二连接孔216锁紧或释放所述连接杆 23。具体地，所述定位板214开设有锁固孔218，所述定位板214的锁固孔218自所述定位板214的侧面穿透至所述定位板214的缺口217的两相对侧面，所述锁固孔218可由锁固件90穿过，通过所述锁固件90相对于对应的所述定位板214旋紧或放松而改变所述第二连接孔216的内径尺寸，进而使所述定位板214锁紧或释放所述连接杆23。The positioning plate 214 defines a notch 217 corresponding to the second connecting hole 216 . The notch of the positioning plate 214 penetrates from the side edge of the positioning plate 214 to the second connecting hole 216 . The spacing between the inner walls of the two sides of the notch 217 of the positioning plate 214 can be adjusted by the locking or releasing of the locking member 90, so that the aperture of the second connecting hole 216 can be adjusted by the locking member 90, thereby enabling the The second connecting hole 216 locks or releases the connecting rod twenty three. Specifically, the positioning plate 214 is provided with a locking hole 218, and the locking hole 218 of the positioning plate 214 penetrates from the side of the positioning plate 214 to two opposite sides of the notch 217 of the positioning plate 214. The locking hole 218 can be passed through by the locking member 90, and the inner diameter of the second connecting hole 216 is changed by the locking member 90 being screwed or loosened relative to the corresponding positioning plate 214, thereby making the positioning plate 214 locks or releases the connecting rod 23.
所述连接杆23包括连接端231，所述连接端231与所述成像设备200相连，具体地，所述连接端231与所述成像设备200的连接部202配合连接，所述连接端231与所述连接部202可以采用卡合连接、过盈配合连接、螺纹连接、胶合连接、一体成型等方式相互连接。所述配重块24连接于所述连接杆23上与所述连接端231相对的另一端。The connecting rod 23 includes a connecting end 231, and the connecting end 231 is connected to the image forming apparatus 200. Specifically, the connecting end 231 is mated with the connecting portion 202 of the image forming apparatus 200, and the connecting end 231 is The connecting portion 202 can be connected to each other by a snap connection, an interference fit connection, a screw connection, a glue connection, an integral molding or the like. The weight 24 is connected to the other end of the connecting rod 23 opposite to the connecting end 231.
所述配重块24用于平衡所述成像设备200的重量，使得所述连接组件20及所述成像设备200的整体重心位于所述PITCH轴上，避免所述第三驱动元件16承受非预期的扭力(因所述连接组件20及所述成像设备200的整体重心偏离所述PITCH轴导致的扭力)。所述配重块24的重量能够匹配不同类型的所述成像设备200，使所述连接组件20及所述成像设备200的整体重心位于所述PITCH轴。具体地，所述配重块24与所述连接杆23设置为可拆结构，针对不同重量的成像设备200，所述连接杆23可以选择对应重量的配重块24。The weight 24 is used to balance the weight of the image forming apparatus 200 such that the overall center of gravity of the connecting component 20 and the image forming apparatus 200 is located on the PITCH axis, and the third driving component 16 is prevented from being unintended. Torque (the torque caused by the connection assembly 20 and the overall center of gravity of the imaging device 200 deviating from the PITCH axis). The weight of the weight 24 can match different types of the imaging device 200 such that the overall center of gravity of the connection assembly 20 and the imaging device 200 are located on the PITCH axis. Specifically, the weight 24 and the connecting rod 23 are disposed in a detachable structure. For the image forming apparatus 200 of different weights, the connecting rod 23 can select the weight 24 of the corresponding weight.
其他实施方式中，所述配重块24还可以设置为能够分拆的多个部分，针对不同重量的成像设备200，可以对应增减所述配重块24的部分；或者，所述配重块24可以设置为能够沿所述连接杆23的长度方向滑动，此种情况下，所述配重块24还包括紧固机构，在所述配重块24滑动至所述连接杆23预定位置后，所述紧固机构能够将所述配重块24固定于所述连接杆23上；或者，所述配重块24与所述 连接杆23设置为螺纹配合连接，所述配重块24能够通过旋转而沿所述连接杆23的长度方向移动。In other embodiments, the weights 24 may also be provided as a plurality of parts that can be separated, and the parts of the weights 24 may be correspondingly increased or decreased for different weights of the image forming apparatus 200; or the weights The block 24 may be arranged to be slidable along the length of the connecting rod 23, in which case the weight 24 further includes a fastening mechanism at which the weight 24 slides to a predetermined position of the connecting rod 23. Thereafter, the fastening mechanism can fix the weight 24 to the connecting rod 23; or the weight 24 and the The connecting rod 23 is provided in a threaded engagement, and the weight 24 can be moved along the length of the connecting rod 23 by rotation.
请参阅图3，使用前，所述锁固件90处于释放状态，所述导杆132及所述连接杆23能够分别相对所述第一连接孔215及所述第二连接孔216滑动。先将成像设备200及对应重量的配重块24安装于所述连接杆23，分别滑动所述连接块21及所述连接杆23至适当位置，操作锁固件90，以锁紧所述第一连接孔215及所述第二连接孔216，进而使所述连接块21与所述连接杆23、以及所述连接块21与所述第三支架13均相对固定。此时，位置调整完成，所述拍摄装置300能够进一步进行使用。Referring to FIG. 3 , before use, the locking member 90 is in a released state, and the guiding rod 132 and the connecting rod 23 are slidable relative to the first connecting hole 215 and the second connecting hole 216 respectively. First, the image forming apparatus 200 and the corresponding weight of the weight 24 are mounted on the connecting rod 23, respectively sliding the connecting block 21 and the connecting rod 23 to an appropriate position, and operating the locking member 90 to lock the first The connecting hole 215 and the second connecting hole 216 further fix the connecting block 21 and the connecting rod 23, and the connecting block 21 and the third bracket 13 relatively. At this time, the position adjustment is completed, and the imaging device 300 can be further used.
可以理解，所述第一旋转臂112与所述第一连接臂113还可以设置为固定连接。It can be understood that the first rotating arm 112 and the first connecting arm 113 can also be arranged as a fixed connection.
可以理解，所述第二连接臂123的数量可以设置为一个，所述第三支架13能够转动地连接于所述第二连接臂123。It can be understood that the number of the second connecting arms 123 can be set to one, and the third bracket 13 is rotatably connected to the second connecting arms 123.
可以理解，所述第三支架13的导杆132的数量可以设置为一个或者多于两个，所述第一连接孔215的数量对应地设置为一个或者多于两个。It can be understood that the number of the guide bars 132 of the third bracket 13 can be set to one or more than two, and the number of the first connection holes 215 is correspondingly set to one or more than two.
可以理解，所述第三支架13的旋转块131可以省略，所述导杆大致平行于所述第三支架的转动轴。It can be understood that the rotating block 131 of the third bracket 13 can be omitted, and the guiding rod is substantially parallel to the rotating shaft of the third bracket.
可以理解，所述连接块21可以省略，所述连接杆23能够沿长度方向相对所述增稳支架10滑动，且所述增稳支架10能够固定于所述连接杆23沿长度方向的不同位置，具体地，所述连接杆23能够沿长度方向相对所述第三支架13滑动，且所述第三支架13能够固定于所述连接杆23沿长度方向的不同位置。It can be understood that the connecting block 21 can be omitted, the connecting rod 23 can slide relative to the stabilizing bracket 10 along the length direction, and the stabilizing bracket 10 can be fixed at different positions of the connecting rod 23 along the length direction. Specifically, the connecting rod 23 is slidable relative to the third bracket 13 in the longitudinal direction, and the third bracket 13 can be fixed to different positions of the connecting rod 23 in the longitudinal direction.
可以理解，所述缺口217的位置可以改变，例如设置于所述滑动板213上两个第一连接孔215相背的侧缘，以及设置于所述第二连接 孔216的另一位置的侧缘。It can be understood that the position of the notch 217 can be changed, for example, a side edge disposed on the sliding plate 213 opposite to the two first connecting holes 215, and disposed on the second connection. The side edge of the other location of the aperture 216.
可以理解，所述连接块21的结构可以改变，例如所述连接块21设置为块状结构，所述连接块21设有沿长度方向延伸的第一连接孔215及沿高度方向延伸的第二连接孔216。It can be understood that the structure of the connecting block 21 can be changed. For example, the connecting block 21 is provided as a block structure, and the connecting block 21 is provided with a first connecting hole 215 extending in the length direction and a second extending in the height direction. Connection hole 216.
可以理解，所述第一连接孔215及所述第二连接孔216的锁紧与释放可以设置为其他方式，例如沿所述导杆132及所述连接杆23长度方向分别设有若干固定孔，连接块21于连接孔设有定位孔，通过螺纹件或插销等穿过定位孔及固定孔，能够使所述导杆132及所述连接杆23相对连接孔固定。It can be understood that the locking and releasing of the first connecting hole 215 and the second connecting hole 216 can be set to other manners, for example, a plurality of fixing holes are respectively disposed along the length direction of the guiding rod 132 and the connecting rod 23. The connecting block 21 is provided with a positioning hole in the connecting hole, and the guiding rod 132 and the connecting rod 23 can be fixed relative to the connecting hole through the positioning hole and the fixing hole through a screw or a pin.
可以理解，所述配重块24可以省略。所述连接杆23的背离所述连接端231的另一端的重量大于所述连接端231的重量，以与所述成像设备200的重量相匹配，进而调节所述连接组件20及所述成像设备200的整体重心。It can be understood that the weight 24 can be omitted. The weight of the other end of the connecting rod 23 facing away from the connecting end 231 is greater than the weight of the connecting end 231 to match the weight of the image forming apparatus 200, thereby adjusting the connecting assembly 20 and the image forming apparatus. The overall center of gravity of the 200.
上述云台100中连接杆23的连接端231远离增稳支架10延伸预定距离，使连接端231连接的成像设备200与所述云台100的其他元件间形成较大距离，有效避免云台100对成像设备200视角形成遮蔽。The connecting end 231 of the connecting rod 23 of the pan/tilt head 100 extends away from the stabilizing bracket 10 by a predetermined distance, so that the imaging device 200 connected to the connecting end 231 forms a large distance from other components of the pan/tilt head 100, thereby effectively avoiding the gimbal 100. A shadow is formed on the viewing angle of the imaging device 200.
所述增稳支架10包括能够相对转动依次连接的支架，及控制上述转动的控制器，能够及时调整成像设备200的位置及方向，能有效地避免拍摄过程外界振动对拍摄画面的影响。The stabilizing bracket 10 includes a bracket that can be sequentially connected in relative rotation, and a controller that controls the rotation, and can adjust the position and direction of the imaging device 200 in time, and can effectively avoid the influence of external vibration of the shooting process on the photographing screen.
所述连接块21设置为能够相对第三支架13滑动或固定，所述连接杆23设置为能够相对连接块21滑动或固定，所述连接组件20的连接杆23能够拆卸地连接成像设备200，使所述云台100能够连接不同重量的多种成像设备200，提高了拓展性能。The connecting block 21 is arranged to be slidable or fixed relative to the third bracket 13 , the connecting rod 23 is arranged to be slidable or fixed relative to the connecting block 21 , and the connecting rod 23 of the connecting component 20 is detachably connected to the imaging device 200 , The pan/tilt head 100 can be connected to a plurality of image forming apparatuses 200 of different weights, and the expansion performance is improved.
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发 明技术方案的精神和范围。 The above embodiments are only intended to illustrate the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the above embodiments. Those skilled in the art should understand that the technical solutions of the present invention may be modified or equivalently replaced. Should be out of this hair The spirit and scope of the technical programme.

Claims (26)

  1. 一种云台，用于支撑成像设备，其包括增稳支架及连接组件，其特征在于：所述连接组件包括连接杆，所述连接杆与所述增稳支架相连，所述连接杆包括用于与所述成像设备连接的连接端，所述连接端远离所述增稳支架延伸预定距离。A pan/tilt head for supporting an image forming apparatus, comprising a stabilizing bracket and a connecting component, wherein the connecting component comprises a connecting rod, the connecting rod is connected with the stabilizing bracket, and the connecting rod comprises And at a connecting end connected to the imaging device, the connecting end extends a predetermined distance away from the stabilizing bracket.
  2. 如权利要求1所述的云台，其特征在于：所述连接组件还包括配重块，所述配重块连接于所述连接杆的与所述连接端相背离的另一端，所述配重块的重量能够匹配不同类型的所述成像设备。The pan/tilt head according to claim 1, wherein said connecting assembly further comprises a weighting block, said counterweight block being connected to the other end of said connecting rod facing away from said connecting end, said The weight of the weight can match different types of the imaging device.
  3. 如权利要求2所述的云台，其特征在于：所述配重块与所述连接杆之间能够拆卸地连接；或/及The platform according to claim 2, wherein said weight is detachably coupled to said connecting rod; or/and
    所述配重块包括能够分拆的多个部分；或/及The weight includes a plurality of portions that can be separated; or/and
    所述配重块设置为能够沿所述连接杆的长度方向滑动；或/及The weight is arranged to be slidable along the length of the connecting rod; or/and
    所述配重块与所述连接杆之间螺纹配合连接，所述配重块能够通过旋转而沿所述连接杆的长度方向移动。The weight is coupled to the connecting rod in a threaded manner, and the weight can be moved along the length of the connecting rod by rotation.
  4. 如权利要求1所述的云台，其特征在于：所述连接杆能够相对所述增稳支架滑动，使得所述增稳支架能够固定于所述连接杆沿长度方向的不同位置。The pan/tilt head according to claim 1, wherein said connecting rod is slidable relative to said stabilizing bracket such that said stabilizing bracket can be fixed to different positions of said connecting rod along a length direction.
  5. 如权利要求1所述的云台，其特征在于：所述连接组件还包括连接块，所述连接块连接所述连接杆及增稳支架，所述连接杆能够相对于所述连接块调整连接位置。The platform according to claim 1, wherein said connecting assembly further comprises a connecting block, said connecting block connecting said connecting rod and said stabilizing bracket, said connecting rod being capable of adjusting a connection with respect to said connecting block position.
  6. 如权利要求5所述的云台，其特征在于：所述增稳支架包括导杆，所述连接块与所述导杆相连，所述连接块能够沿所述导杆的长度方向调整连接位置。A pan/tilt head according to claim 5, wherein said stabilizing bracket comprises a guide bar, said connecting block being connected to said guide bar, said connecting block being capable of adjusting a connection position along a length direction of said guide bar .
  7. 如权利要求6所述的云台，其特征在于：所述连接块开设有第一连接孔，所述第一连接孔能够供所述导杆穿过，所述导杆能够沿所述第一连接孔相对滑动并且能够相对于所述连接块被固定。 The pan/tilt head according to claim 6, wherein the connecting block is provided with a first connecting hole, the first connecting hole is capable of passing the guide rod, and the guiding rod can be along the first The connection holes are relatively slid and are fixable relative to the connection block.
  8. 如权利要求6所述的云台，其特征在于：所述连接块开设有第二连接孔，所述第二连接孔能够供所述连接杆穿过，所述连接杆能够沿所述第二连接孔相对滑动并且能够相对于所述连接块被固定。The pan/tilt head according to claim 6, wherein the connecting block is provided with a second connecting hole, the second connecting hole is capable of passing through the connecting rod, and the connecting rod can be along the second The connection holes are relatively slid and are fixable relative to the connection block.
  9. 如权利要求6所述的云台，其特征在于：所述导杆的数量为两个，两个所述导杆相互平行间隔设置，所述第一连接孔对应地平行间隔设置，所述第二连接孔设置于所述间隔的第一连接孔之间。The pan/tilt head according to claim 6, wherein the number of the guiding rods is two, and the two guiding rods are arranged in parallel with each other, and the first connecting holes are correspondingly arranged in parallel, the first Two connection holes are disposed between the first connection holes of the space.
  10. 如权利要求6所述的云台，其特征在于：所述连接块包括基板、滑动板以及定位板；所述滑动板连接于所述基板的侧部；所述定位板的端部与所述基板相连；所述滑动板开设有第一连接孔，所述第一连接孔能够供所述导杆穿过，所述导杆能够沿所述第一连接孔相对滑动并且能够相对于所述滑动块被固定；所述定位板开设有第二连接孔，所述第二连接孔能够供所述连接杆穿过，所述连接杆能够沿所述第二连接孔相对滑动并且能够相对于所述定位板被固定。The platform according to claim 6, wherein the connecting block comprises a substrate, a sliding plate and a positioning plate; the sliding plate is connected to a side of the substrate; an end of the positioning plate and the The sliding plate is open with a first connecting hole, the first connecting hole is capable of passing through the guiding rod, the guiding rod is relatively slidable along the first connecting hole and is slidable relative to the sliding The block is fixed; the positioning plate is provided with a second connecting hole, the second connecting hole can pass through the connecting rod, the connecting rod can slide relative to the second connecting hole and can be opposite to the The positioning plate is fixed.
  11. 如权利要求10所述的云台，其特征在于：所述滑动板的数量为两个，每一个所述连接块设置有一对所述第一连接孔。The pan/tilt head according to claim 10, wherein the number of the sliding plates is two, and each of the connecting blocks is provided with a pair of the first connecting holes.
  12. 如权利要求10所述的云台，其特征在于：所述定位板平行于所述基板延伸，所述基板开设有通孔，所述通孔与第二连接孔对正设置。The pan/tilt head according to claim 10, wherein the positioning plate extends parallel to the substrate, the substrate is provided with a through hole, and the through hole is aligned with the second connecting hole.
  13. 如权利要求10所述的云台，其特征在于：每一个所述滑动板开设有对应于其第一连接孔的缺口，所述滑动板的缺口自对应的所述滑动板的侧缘贯通至对应的所述第一连接孔，所述滑动板的缺口两侧壁之间的间距能够调整，以调整所述第一连接孔的孔径，进而使所述第一连接孔锁紧或释放所述导杆。The pan/tilt head according to claim 10, wherein each of the sliding plates is provided with a notch corresponding to the first connecting hole thereof, and the notch of the sliding plate penetrates from a side edge of the corresponding sliding plate to Corresponding the first connecting hole, the spacing between the sidewalls of the notch of the sliding plate can be adjusted to adjust the aperture of the first connecting hole, thereby locking or releasing the first connecting hole Guide rod.
  14. 如权利要求13所述的云台，其特征在于：每一个所述滑动板开设有锁固孔，所述滑动板的锁固孔自所述滑动板的侧面穿透至对应的所述缺口的两相对侧面，所述连接块还包括锁固件，所述锁固件 穿过所述锁固孔且能够相对于对应的所述滑动板旋紧或放松而改变所述第一连接孔的内径尺寸，进而使所述滑动板锁紧或释放所述导杆。The pan/tilt head according to claim 13, wherein each of the sliding plates is provided with a locking hole, and the locking hole of the sliding plate penetrates from a side of the sliding plate to the corresponding notch Two opposite sides, the connecting block further includes a lock, the lock The inner diameter of the first connecting hole is changed through the locking hole and can be screwed or loosened relative to the corresponding sliding plate, thereby locking or releasing the sliding plate.
  15. 如权利要求10所述的云台，其特征在于：所述定位板开设有对应于其第二连接孔的缺口，所述定位板的缺口自所述定位板的侧缘贯通至对应的所述第二连接孔，所述定位板的缺口两侧壁之间的间距调整，以调整所述第二连接孔的孔径，进而使所述第二连接孔锁紧或释放所述连接杆。The pan/tilt head according to claim 10, wherein the positioning plate is provided with a notch corresponding to the second connecting hole thereof, and the notch of the positioning plate penetrates from the side edge of the positioning plate to the corresponding The second connecting hole adjusts a spacing between the two sidewalls of the notch of the positioning plate to adjust the aperture of the second connecting hole, thereby locking or releasing the connecting rod.
  16. 如权利要求15所述的云台，其特征在于：所述定位板开设有锁固孔，所述定位板的锁固孔自所述定位板的侧面穿透至对应的所述缺口的两相对侧面，所述连接块还包括锁固件，所述锁固件穿过所述锁固孔且能够相对于所述定位板旋紧或放松而改变所述第二连接孔的内径尺寸，进而使所述定位板锁紧或释放所述连接杆。The pan/tilt head according to claim 15, wherein the positioning plate is provided with a locking hole, and the locking hole of the positioning plate penetrates from a side of the positioning plate to two opposite sides of the corresponding notch. a side surface, the connecting block further includes a locking member, the locking member passes through the locking hole and can be screwed or loosened relative to the positioning plate to change an inner diameter of the second connecting hole, thereby enabling the The positioning plate locks or releases the connecting rod.
  17. 如权利要求10所述的云台，其特征在于：滑动板的数量为两个，所述连接块设置有两对所述第一连接孔，所述定位板平行于所述基板延伸，所述基板开设有对正所述第二连接孔的通孔，所述定位板位于两个所述滑动板之间，所述第二连接孔及所述通孔位于两对所述第一连接孔之间。The pan/tilt head according to claim 10, wherein the number of the sliding plates is two, the connecting block is provided with two pairs of the first connecting holes, and the positioning plate extends parallel to the substrate, The substrate is provided with a through hole for aligning the second connecting hole, the positioning plate is located between the two sliding plates, and the second connecting hole and the through hole are located between the two pairs of the first connecting holes between.
  18. 如权利要求1所述的云台，其特征在于：所述支架包括依次连接的第一支架、第二支架及第三支架，所述第一支架能够转动地连接于支撑机构，所述第二支架能够转动地连接所述第一支架，所述第三支架能够转动地连接所述第二支架，所述连接杆与所述第三支架相连。The pan/tilt head according to claim 1, wherein the bracket comprises a first bracket, a second bracket and a third bracket connected in series, the first bracket being rotatably coupled to the support mechanism, the second The bracket is rotatably coupled to the first bracket, the third bracket is rotatably coupled to the second bracket, and the connecting rod is coupled to the third bracket.
  19. 如权利要求18所述的云台，其特征在于：所述第三支架能够沿连接杆的长度方向相对于所述连接杆滑动，且所述第三支架能够固定于所述连接杆沿长度方向的不同位置。 The platform according to claim 18, wherein said third bracket is slidable relative to said connecting rod along a length direction of said connecting rod, and said third bracket is fixable to said connecting rod along a length direction Different locations.
  20. 如权利要求19所述的云台，其特征在于：所述第三支架包括导杆，所述导杆大致平行所述第三支架的转动轴，所述连接杆连接于所述导杆上。A platform according to claim 19, wherein said third bracket comprises a guide rod, said guide rod being substantially parallel to a rotation axis of said third bracket, said connecting rod being coupled to said guide rod.
  21. 如权利要求20所述的云台，其特征在于：所述第三支架还包括两个旋转块，两个所述旋转块分别连接于所述导杆的两端并能够带动所述导杆绕所述第三支架的转动轴转动。The pan/tilt head according to claim 20, wherein the third bracket further comprises two rotating blocks, and the two rotating blocks are respectively connected to two ends of the guiding rod and can drive the guiding rod to be wound The rotation axis of the third bracket rotates.
  22. 一种拍摄装置，其特征在于：所述拍摄装置包括如权利要求1-21任意一项所述的云台及成像设备，所述成像设备安装于所述连接杆的连接端。A photographing apparatus, comprising: the pan/tilt head and the image forming apparatus according to any one of claims 1 to 21, wherein the image forming apparatus is attached to a joint end of the connecting rod.
  23. 如权利要求22所述的拍摄装置，其特征在于：所述成像设备包括朝向不同方向的多个摄像镜头；及/或The photographing apparatus according to claim 22, wherein said image forming apparatus includes a plurality of image pickup lenses oriented in different directions; and/or
    所述成像设备包括多个麦克风，所述麦克风用于从不同方向捕捉声音。The imaging device includes a plurality of microphones for capturing sound from different directions.
  24. 如权利要求23所述的拍摄装置，其特征在于：所述成像设备设置为球状或多面体形状，A photographing apparatus according to claim 23, wherein said image forming apparatus is provided in a spherical or polyhedral shape,
  25. 如权利要求22所述的拍摄装置，其特征在于：所述成像设备还包括连接部，所述成像设备通过所述连接部与所述连接端连接。The photographing apparatus according to claim 22, wherein said image forming apparatus further comprises a connecting portion, and said image forming apparatus is connected to said connecting end through said connecting portion.
  26. 如权利要求22所述的拍摄装置，其特征在于：所述拍摄装置用于安装于无人机。 The photographing apparatus according to claim 22, wherein said photographing means is for mounting on a drone.
PCT/CN2016/102722 2016-05-31 2016-10-20 Pan-tilt and photographing apparatus comprising pan-tilt WO2017206424A1 (en)

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