CN107110422A - Mobile device and the capture apparatus for having the mobile device - Google Patents
Mobile device and the capture apparatus for having the mobile device Download PDFInfo
- Publication number
- CN107110422A CN107110422A CN201680004524.5A CN201680004524A CN107110422A CN 107110422 A CN107110422 A CN 107110422A CN 201680004524 A CN201680004524 A CN 201680004524A CN 107110422 A CN107110422 A CN 107110422A
- Authority
- CN
- China
- Prior art keywords
- runing rest
- actuator
- mobile device
- rocking arm
- capture apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000725 suspension Substances 0.000 claims description 21
- 239000006096 absorbing agent Substances 0.000 claims description 19
- 230000035939 shock Effects 0.000 claims description 19
- 238000013016 damping Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- 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
-
- 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
- F16M11/2057—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and rolling
-
- 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
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Manipulator (AREA)
Abstract
A kind of mobile device (100), it includes mobile platform (10) and the rocker arm assembly (30) including being movably arranged on the mobile platform (10), the rocker arm assembly (30) includes runing rest (32, 33), actuator (31, and rocking arm (35) 34), the runing rest (32, 33) it is arranged on the mobile platform (10), the actuator (31, 34) it is used to drive the runing rest to rotate, the rocking arm (35) is installed in the runing rest (32, 33) on, the rocking arm (35) is used to carry filming apparatus (70).The present invention also provides a kind of capture apparatus (300) with the mobile device (100).
Description
Technical field
The present invention relates to shoot clothing arts, more particularly to a kind of mobile device and the capture apparatus for having the mobile device.
Background technology
Mobile device, shooting car, the service robot of the filming apparatus such as carrying video camera, digital camera are commonly used
In the mobile device of the occasions such as ground search and rescue, ground exploration, movies-making, sports, so existing carrying filming apparatus, it is more difficult to
Enter the larger shooting of line range, such as shoot high angle or situation about need to vacantly be shot.
The content of the invention
In view of this, it is necessary to provide and a kind of avoid the mobile device of above mentioned problem and the shooting for having the mobile device from setting
It is standby.
A kind of mobile device, it includes mobile platform and the rocker arm assembly being movably arranged on the mobile platform, described
Rocker arm assembly includes runing rest, actuator and rocking arm, and the runing rest is arranged on the mobile platform, the actuator
For driving the runing rest to rotate, the rocking arm is installed on the runing rest, and the rocking arm, which is used to carry, shoots dress
Put.
A kind of capture apparatus, it includes mobile device and filming apparatus, and the mobile device includes mobile platform and activity
The rocker arm assembly on the mobile platform is installed in, the rocker arm assembly includes runing rest, actuator and rocking arm, the rotation
Support is arranged on the mobile platform, and the actuator is used to drive the runing rest to rotate, and the rocking arm is installed in institute
State on runing rest, the filming apparatus is equipped on the rocking arm.
The mobile device and capture apparatus provided relative to prior art, the present invention, because increase is there is provided can be around axle
The rocking arm of rotation, and then scope of activities is increased, so as to be readily accomplished high angle and hanging shooting.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the capture apparatus for the preferred embodiment that the present invention is provided.
Fig. 2 is another visual angle schematic diagram of the capture apparatus shown in Fig. 1.
Main element symbol description
Capture apparatus 300
Mobile device 100
Filming apparatus 70
Mobile platform 10
Chassis 110
First support frame 113
First end 1131
The second end 1133
Second support frame 115
Wheel 120
Wheel hub 121
Roller 123
Suspension 130
Support 131
Bolster 132
Shock absorber 1321
Helical spring 1322
Wheel actuator 140
Rocker arm assembly 30
First actuator 31
First runing rest 32
Second runing rest 33
Second actuator 34
Rocking arm 35
Balancing weight 36
Connecting seat 321
Cantilever 323
First connecting portion 326
Second connecting portion 327
Pedestal 331
Lid 335
Install groove 337
Through hole 351
Installation portion 353
Electrokinetic cell 50
Filming apparatus 70
Increase steady component 80
Installed part 81
Cushion socket 83
Shock-absorbing ball 831
Head 85
Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Refer to shown in Fig. 1 and Fig. 2, an embodiment of the present invention provides a kind of moveable capture apparatus 300, and it includes
Mobile device 100 and the carrier arrangement for being installed in the mobile device 100.The carrier arrangement is used to carry filming apparatus 70,
To be shot.Certainly, the capture apparatus 300 can include some necessary or attached structures, and such as sensor is
Save space, will not be described here.
Mobile device 100 includes mobile platform 10, the rocker arm assembly 30 being movably arranged on the mobile platform 10 and moved
Power battery 50.Mobile platform 10 can be to automatically move platform or manually promote platform, specifically in the illustrated embodiment, with distant
Illustrated exemplified by control chassis vehicle.
The mobile platform 10 includes chassis 110, multiple wheels 120, multiple suspensions 130 corresponding to the wheel 120
And multiple wheel actuators 140 corresponding to the wheel 120.
The chassis 110 is the primary load bearing structure of the mobile device 100, and it connects the wheel 120 and can held
Various types of loads and/or functional module are carried, for example, controller, wireless communication unit, circuit board, power circuit etc..It is described
Chassis 110 includes the second support frame 115 on the first support frame 113 and setting first support frame 113.First support
Frame 113 has opposite first end 1131 and the second end 1133.
The multiple wheel 120 rotates with first support frame 113 be connected respectively, for driving the mobile device
100 advance, retreat and/or turn to.In present embodiment, the quantity of the wheel 120 is four, and two of which wheel 120 is set
The first end 1131 of first support frame 113 is placed in, two other wheel 120 is arranged at first support frame 113
The second end 1133.The wheel 120 is omni-directional wheel, can carry out all-around mobile.The wheel 120 include wheel hub 121 and
Multiple rollers 123 on the periphery of wheel hub 121, the pivot center of the pivot center of the roller 123 and the wheel hub 121
Tilt predetermined angle and enable the omnidirectional moving of wheel 120.
The suspension 130 is used to the wheel 120 being connected with the chassis 110, and buffers the vibrations of the wheel 120
Influence to the chassis 110, with protect load that the chassis 110 carried and/or functional module from or few shaken
Dynamic influence.In present embodiment, the suspension 130 is independent suspension system, and each wheel 120 passes through a suspension 130 and institute
State chassis 110 to connect, each wheel 120 is connected independently of one another with the chassis 110, and then rushed in single wheel 120
, can be by hanging 130 own absorption impulsive forces, without involving opposite side wheel 120 when hitting, vibrating.130 correspondences of the suspension
The quantity of the wheel 120 is four, and is one group of first end 1131 for being respectively arranged on first support frame 113 with two
And the second end 1133.
Each suspension 130 includes the support 131 that can be deformed and the bolster 132 being arranged on the support 131.Institute
Support 131 is stated to be connected between the wheel hub 121 and the chassis 110.The elastic force of the bolster 132 can resist described
The deformation of support 131, so as to buffering the vibrations that the wheel 120 is subject to.In present embodiment, the quantity of the bolster 132
For two, two bolsters 132 are almost parallel to be spaced.Each described bolster 132 include shock absorber 1321 with
And it is sheathed on the helical spring 1322 on the shock absorber 1321.The shock absorber 1321 is installed on the support 131.It is described
The two ends of helical spring 1322 are held in the two ends of the shock absorber 1321 respectively.The shock absorber 1321 is shaft-like to stretch, its
Including the Multi section bar being mutually socketed, relative it can be slided between the Multi section bar, it is long with the totality for changing the shock absorber 1321
Degree.
The bolster 132 can include the parts such as damping piece, elastic component.Damping piece such as liquid damper, air-pressure damping
Device, magnetic resistance damper.Elastic component such as extension spring, compression spring, elastic rubber etc..
It is appreciated that the quantity of the bolster 132 can do any appropriate change according to actual demand, for example, according to
According to the difference for the damping requirement moved to the mobile device 100 on different surfaces, the quantity of bolster 132 can be one
It is individual, three, four, five or more.
It is appreciated that the suspension 130 can be the suspension of other suitable types, for example wish-bone arm type suspension, trailing arm type hang
Hang, multi link formula is hung, the suspension of candle formula or McPherson are hung.
One wheel 120 of each correspondence of wheel actuator 140 is installed on first support frame 113, with independent driving
Corresponding wheel 120.In present embodiment, the wheel actuator 140 drives the wheel 120 to transport by toothed belt transmission mode
It is dynamic.Specifically, the wheel actuator 140 can be brushless electric machine, brush motor or other kinds of motor.
It is appreciated that the number of the quantity of the wheel 120 and its corresponding described suspension 130 and wheel actuator 140
Amount can make any appropriate change according to actual conditions, however it is not limited to the description of embodiment of above, such as described wheel group
The quantity of part 20 and the quantity of its 130 wheel actuator 140 of corresponding suspension can be two, three, five, six
It is individual, seven, eight, ten or more.In other embodiment, multiple wheels can be driven using a wheel actuator 140
120 mode.
It is appreciated that the suspension 130 can be omitted, and the wheel 120 is directly connected with the chassis 110.
It is appreciated that in other embodiments, the mobile platform 10 can also be moved by track.
The rocker arm assembly 30 can be rotatably arranged on second support frame 115 and carry filming apparatus 70.Institute
Stating rocker arm assembly 30 includes the first actuator 31, the first runing rest 32, the second runing rest 33, the second actuator 34, rocking arm
35 and balancing weight 36.
First actuator 31 is arranged at the side that second support frame 115 deviates from first support frame 113.
First runing rest 32 is installed on first actuator 31, with the driving of first actuator 31
Under can be rotated around first axle.First runing rest 32 includes connecting seat 321 and is connected to the outstanding of the connecting seat 321
Arm 323.One end of the connecting seat 321 is connected with first actuator 31.The quantity of the cantilever 323 is two.Two
Cantilever 323 is almost parallel to be arranged at intervals on the connecting seat 321.The cantilever 323 connects including first connecting portion 326 and second
Socket part 327.One end of the first connecting portion 326 is connected by the connecting seat 321 with the mobile platform 10, and towards remote
The direction of the first axle tilts upward extension.The second connecting portion 327 is by the first connecting portion 326 away from the company
One end of joint chair 321 is bent to form, and tilts upward extension towards direction where the first axle.The second connecting portion 327
One end be connected with the other end of the first connecting portion 326 away from the connecting seat 321, make the second connecting portion 327
Other end is located at the top position of first actuator 31.The first connecting portion 326 connects with the second connecting portion 327
The place of connecing forms the tip of the V-shaped, and the tip of the V-shaped is set away from the first axle.It is described in present embodiment
Angle is formed between first connecting portion 326 and the second connecting portion 327, the angle is less than 90 degree.
Second runing rest 33 is rotationally connected between two cantilevers 323.Second runing rest 33 includes
Pedestal 331 and lid 335.Installing groove 337 is formed on the pedestal 331.The lid 335 is covered on the installing groove 337
Top.
Second actuator 34 is installed on a wherein cantilever 323 and is connected with second runing rest 33, is used to
Second runing rest 33 is driven to be rotated around second axis.In present embodiment, the first axle and the second axis
It is generally perpendicular to each other, the first axle is course (yaw) axle, the second axis is pitching (pitch) axle.It is appreciated that
The first axle can also be roll (roll) or pitching (pitch) axle, the second axis can for roll (roll) or
Course (yaw) axle.
First actuator 31 and second actuator 34 can be brushless electric machine, brush motor or other types
Motor.
The setting of first actuator 31 and first runing rest 32 is not limited to diagram of the present invention, for example, described
First actuator 31 can be arranged at the sidepiece of first runing rest 32.First actuator 31 can directly drive institute
State the first runing rest 32, it would however also be possible to employ the kind of drive such as gear, belt drives first runing rest 32.
Second actuator 34, which is not limited, to be arranged on first runing rest 32, and it can also be arranged at the bottom
On disk 110, second actuator 34 can directly drive second runing rest 33, it would however also be possible to employ gear, belt etc.
The kind of drive drives second runing rest 33.
The rocking arm 35 is in substantially strip, and it is arranged in second runing rest 33.The rocking arm 35 is along its length
Direction forms through hole 351.Described one end of rocking arm 35 is formed with installation portion 353.In present embodiment, the installation portion 353 is groove
Shape structure.
In present embodiment, the rocking arm 35 can adjustably be arranged in the installing groove 337 and positioned at the lid 335
Lower section.One contact site of contact position formation of second runing rest 33 and the rocking arm 35, adjusts the rocking arm
Length between 35 two ends and the contact site, can effectively adjust the capture apparatus.
It is appreciated that the position of first actuator 31 may be disposed at the other positions of second support frame 115, such as
The sidepiece of second support frame 115, first runing rest 32, second runing rest 33 and second actuator
34 are respectively positioned on the sidepiece of second support frame 115.
It is appreciated that the mobile device 100 also includes rocking arm actuator, the rocking arm 35 can be relative to described second
Length direction of the runing rest 33 along the rocking arm 35 is slided, and the rocking arm actuator is used to drive the rocking arm 35 relative to institute
State the second runing rest 33 to slide, to automatically adjust distance of the filming apparatus 70 relative to second runing rest 33.
The balancing weight 36 can releasably be installed on one end of the rocking arm 35 and be set away from the installation portion 353.
The quantity of the balancing weight 36 is provided as multiple and weight and differed, with according to the filming apparatus installed on the installation portion 353
Contact position between 70 weight and/or the rocking arm 35 and second runing rest 33 is adjusted.
It is appreciated that the mobile device 100 also includes balancing weight actuator, the balancing weight 36 is along the rocking arm 35
Slidably, the balancing weight actuator is used to drive the balancing weight 36 to slide on the rocking arm 35 length direction, with automatic
Balance the filming apparatus.
It is appreciated that the rocker arm assembly 30 can be an axle rotational structure, i.e. the rocker arm assembly 30 includes first and driven
Moving part 31, the first runing rest 32 and rocking arm 35, first actuator 31 are arranged on the mobile platform 10, and described first
Runing rest 32 is connected with first actuator 31, and first actuator 31 is used to drive 32 turns of first runing rest
Dynamic, the rocking arm 35 is installed on first runing rest 32.For another example the rocker arm assembly 30 also includes the 3rd rotation branch
Frame and the 3rd actuator, the 3rd actuator are installed on second runing rest 33, the 3rd runing rest and institute
The connection of the 3rd actuator is stated, to be rotated under the driving of the 3rd actuator around roll (roll) axle.The rocker arm assembly 30
Many axle construction such as four axles, five axles can also be designed to as needed.
It is appreciated that the runing rest is not limited to the first runing rest 32 and the second rotation branch in present embodiment
Frame 33, the rocker arm assembly 30 includes runing rest, actuator and rocking arm 35, and the runing rest is set and the mobile platform
On 10, the actuator is used to drive the runing rest to rotate, and the rocking arm 35 is installed on the runing rest, described to shake
Arm 35 is used to carry the filming apparatus 70.
The electrokinetic cell 50 is arranged on the mobile platform, and electricity is provided for the propulsion plant to the mobile platform
Energy.Specifically, electrokinetic cell 50 is arranged at the approximate mid-section position of first support frame 113 and positioned at second support frame
115 lower section, for providing electric energy for wheel actuator 140, the first actuator 31 and the second actuator 34.Present embodiment
In, mobile device 100 is equipped with the electrokinetic cell of two pieces of 5700mAh electricity, can provide continuation of the journey work in two hours.
The motion of the mobile device 100 can be by remote control control, can also autonomous control.
The carrier arrangement includes increasing steady component 80.It is described to increase steady component 80 for supporting the filming apparatus 70 and being institute
The shooting for stating filming apparatus 70 provides increasing steady function.In present embodiment, the steady component 80 of increasing includes installed part 81, cushion socket
83 and head 85.Two side walls that the installation portion 353 and the installation portion 353 are stretched into one end of the installed part 81 are fixed
Connection.The other end of the installed part 81 is fixedly connected with the cushion socket 83.Shock-absorbing ball is provided with the cushion socket 83
831, the shock-absorbing ball 831 is rubber shock-absorbing ball, the shock-absorbing ball 831 be arranged at the cushion socket 83 and the head 85 it
Between, it can be effectively less or eliminates influence of the low-frequency vibration to the filming apparatus 70.The head 85 can compensate for described
The skew in target/direction caused by the vibration of filming apparatus 70 in a rotational direction, and/or the head 85 can be according to control
The acquisition parameters such as posture, the direction of the instruction adjustment filming apparatus 70.In present embodiment, the head 85 is three axle clouds
Platform, the head 85 can be around filming apparatus described in course (Yaw) axle, roll (Roll) axle and pitching (Pitch) axial adjustment
70, it will be understood that in other embodiments, the head 85 can also be twin shaft head or single shaft head.
The filming apparatus 70 can have the electronics of image shooting-recording function for camera, video camera, mobile phone, tablet personal computer etc.
In product, present embodiment, the filming apparatus 70 is video camera.
Mobile device 100 and capture apparatus 300 that the present invention is provided, because increase is there is provided can be around course (Yaw) axle
And the rocking arm 35 rotated around pitching (Pitch) axle, and then scope of activities is increased, and high angle and hanging bat can be readily accomplished
Take the photograph.Further, being capable of flexible modulation scope of activities by adjusting the rocking arm 35 to the length of contact site.Two axle movement
Rocking arm 35 and three-axis moving head 85, using the teaching of the invention it is possible to provide 70 5 frees degree of filming apparatus motion, convenient adjustment shoots dress
Put 70 work.
It is understood that those skilled in the art can also do other changes etc. in spirit of the invention is used in the present invention's
Design, without departing from the technique effect of the present invention.These changes done according to present invention spirit, should all be included in
Within scope of the present invention.
Claims (48)
1. a kind of mobile device, it includes mobile platform, it is characterised in that：The mobile platform is also described including being movably arranged on
Rocker arm assembly on mobile platform, the rocker arm assembly includes runing rest, actuator and rocking arm, and the runing rest is arranged at
On the mobile platform, the actuator is used to drive the runing rest to rotate, and the rocking arm is installed in the runing rest
On, the rocking arm is used to carry filming apparatus.
2. mobile device as claimed in claim 1, it is characterised in that：The actuator includes the first actuator, the rotation
Support includes the first runing rest, and first actuator is installed on the mobile platform, first runing rest and institute
The connection of the first actuator is stated, first actuator is used to drive first runing rest to rotate, and first actuator drives
Move first runing rest to rotate around first axle, the rocking arm is connected with first runing rest.
3. mobile device as claimed in claim 2, it is characterised in that：The rocker arm assembly also includes the second actuator and second
Runing rest, second runing rest is rotationally connected with first runing rest, and second actuator is installed in described
First runing rest, the rocking arm is connected by second runing rest with first runing rest, second driving
Part drives second runing rest to be rotated around second axis.
4. mobile device as claimed in claim 3, it is characterised in that：The first axle mutually hangs down with the second axis
Directly；
And/or, the first axle is course axle；
And/or, the second axis is pitch axis.
5. mobile device as claimed in claim 2, it is characterised in that：First runing rest is in the shape of the letter V, the V-shaped
Tip away from the first axle set.
6. mobile device as claimed in claim 2, it is characterised in that：First runing rest includes connecting seat and cantilever,
The connecting seat is connected between first actuator and the cantilever.
7. mobile device as claimed in claim 6, it is characterised in that：The cantilever includes first connecting portion and the second connection
Portion, one end of the first connecting portion is connected by the connecting seat with the mobile platform, one end of the second connecting portion
It is connected with the other end of the first connecting portion away from the connecting seat, makes the other end of the second connecting portion positioned at described
The top position of first actuator.
8. mobile device as claimed in claim 7, it is characterised in that：Between the first connecting portion and the second connecting portion
Angle is formed, the angle is less than 90 degree.
9. mobile device as claimed in claim 6, it is characterised in that：The quantity of the cantilever is two, two cantilevers and institute
Connecting seat is stated to connect and be set in distance.
10. mobile device as claimed in claim 3, it is characterised in that：The rocking arm can adjustably be arranged in described second
Runing rest.
11. mobile device as claimed in claim 10, it is characterised in that：Second runing rest includes pedestal and lid,
Installing groove is formed on the pedestal, the cover cap is arranged in the installing groove located at the top of the installing groove, the rocking arm
And positioned at the lower section of the lid；
And/or, the mobile device also includes rocking arm actuator, and the rocking arm can be relative to second runing rest along institute
The length direction for stating rocking arm is slided, and the rocking arm actuator is used to drive the rocking arm to slide relative to second runing rest
It is dynamic, to automatically adjust distance of the filming apparatus relative to second runing rest.
12. mobile device as claimed in claim 1, it is characterised in that：The rocker arm assembly also includes being installed in the rocking arm
The balancing weight of one end, to balance the filming apparatus.
13. mobile device as claimed in claim 12, it is characterised in that：The mobile device also includes balancing weight actuator,
Slidably, the balancing weight actuator is used to drive the balancing weight described length direction of the balancing weight along the rocking arm
Slided on rocking arm, with filming apparatus described in autobalance.
14. mobile device as claimed in claim 1, it is characterised in that：The mobile platform includes chassis, turned with the chassis
Multiple wheels of dynamic connection, the suspension set corresponding to the multiple wheel, each suspension are arranged at a wheel and the chassis
Between.
15. mobile device as claimed in claim 14, it is characterised in that：Each suspension includes the support that can be deformed and set
The bolster being placed on the support, the support is connected between the wheel hub and the chassis.
16. mobile device as claimed in claim 15, it is characterised in that：The bolster includes shock absorber and is sheathed on institute
The helical spring on shock absorber is stated, the shock absorber is installed on the support, and the two ends of the helical spring are held in respectively
The two ends of the shock absorber.
17. mobile device as claimed in claim 16, it is characterised in that：The shock absorber is flexible shaft-like, and it includes mutually
Relative it can be slided between the Multi section bar of socket, the Multi section bar, to change the overall length of the shock absorber.
18. mobile device as claimed in claim 15, it is characterised in that：The bolster is damping piece.
19. mobile device as claimed in claim 18, it is characterised in that：The damping piece is liquid damper, air-pressure damping
One kind in device, magnetic resistance damper.
20. mobile device as claimed in claim 14, it is characterised in that：The mobile platform also includes on the chassis
Wheel actuator, the wheel actuator and the multiple wheel are connected to drive the wheel.
21. mobile device as claimed in claim 20, it is characterised in that：The quantity correspondence wheel of the wheel actuator
Quantity, drive each wheel with independent.
22. a kind of capture apparatus, it includes mobile device and the load in the mobile device, for carrying filming apparatus
Body device, the mobile device includes mobile platform, it is characterised in that：The mobile platform also includes being movably arranged on the shifting
Rocker arm assembly on moving platform, the rocker arm assembly includes runing rest, actuator and rocking arm, and the runing rest is arranged at institute
State on mobile platform, the actuator is used to drive the runing rest to rotate, and the rocking arm is installed on the runing rest,
The filming apparatus is equipped on the rocking arm.
23. capture apparatus as claimed in claim 22, it is characterised in that：The actuator includes the first actuator, the rotation
Turn support including the first runing rest, first actuator is installed on the mobile platform, first runing rest with
The first actuator connection, first actuator is used to drive first runing rest to rotate, first actuator
First runing rest is driven to be rotated around first axle, the rocking arm is connected with first runing rest.
24. capture apparatus as claimed in claim 23, it is characterised in that：The rocker arm assembly also includes the second actuator and the
Two runing rests, second runing rest is rotationally connected with first runing rest, and second actuator is installed in institute
The first runing rest is stated, the rocking arm is connected by second runing rest with first runing rest, described second drives
Moving part drives second runing rest to be rotated around second axis.
25. capture apparatus as claimed in claim 24, it is characterised in that：The first axle mutually hangs down with the second axis
Directly；
And/or, the first axle is course axle；
And/or, the second axis is pitch axis.
26. capture apparatus as claimed in claim 23, it is characterised in that：First runing rest is in the shape of the letter V, the V words
The tip of shape is set away from the first axle.
27. capture apparatus as claimed in claim 23, it is characterised in that：First runing rest includes connecting seat and outstanding
Arm, the connecting seat is connected between first actuator and the cantilever.
28. capture apparatus as claimed in claim 27, it is characterised in that：The cantilever includes first connecting portion and the second connection
Portion, one end of the first connecting portion is connected by the connecting seat with the mobile platform, one end of the second connecting portion
It is connected with the other end of the first connecting portion away from the connecting seat, makes the other end of the second connecting portion positioned at described
The top position of first actuator.
29. capture apparatus as claimed in claim 28, it is characterised in that：The first connecting portion and the second connecting portion it
Between form angle, the angle is less than 90 degree.
30. capture apparatus as claimed in claim 27, it is characterised in that：The quantity of the cantilever is two, two cantilevers with
The connecting seat is connected and is set in distance.
31. capture apparatus as claimed in claim 24, it is characterised in that：The rocking arm can adjustably be arranged in described second
Runing rest.
32. capture apparatus as claimed in claim 31, it is characterised in that：Second runing rest includes pedestal and lid,
Installing groove is formed on the pedestal, the cover cap is arranged in the installing groove located at the top of the installing groove, the rocking arm
And positioned at the lower section of the lid；
And/or, the mobile device also includes rocking arm actuator, and the rocking arm can be relative to second runing rest along institute
The length direction for stating rocking arm is slided, and the rocking arm actuator is used to drive the rocking arm to slide relative to second runing rest
It is dynamic, to automatically adjust distance of the filming apparatus relative to second runing rest.
33. capture apparatus as claimed in claim 22, it is characterised in that：The rocker arm assembly also includes being installed in the rocking arm
The balancing weight of one end, to balance the filming apparatus.
34. capture apparatus as claimed in claim 33, it is characterised in that：The mobile device also includes balancing weight actuator,
Slidably, the balancing weight actuator is used to drive the balancing weight described length direction of the balancing weight along the rocking arm
Slided on rocking arm, with filming apparatus described in autobalance.
35. capture apparatus as claimed in claim 22, it is characterised in that：The mobile platform includes chassis and the chassis
The multiple wheels for rotating connection, the suspension set corresponding to the multiple wheel, each suspension are arranged at a wheel and the bottom
Between disk.
36. capture apparatus as claimed in claim 35, it is characterised in that：Each suspension includes the support that can be deformed and set
The bolster being placed on the support, the support is connected between the wheel hub and the chassis.
37. capture apparatus as claimed in claim 36, it is characterised in that：The bolster includes shock absorber and is sheathed on institute
The helical spring on shock absorber is stated, the shock absorber is installed on the support, and the two ends of the helical spring are held in respectively
The two ends of the shock absorber.
38. capture apparatus as claimed in claim 37, it is characterised in that：The shock absorber is flexible shaft-like, and it includes mutually
Relative it can be slided between the Multi section bar of socket, the Multi section bar, to change the overall length of the shock absorber.
39. capture apparatus as claimed in claim 37, it is characterised in that：The bolster is damping piece.
40. capture apparatus as claimed in claim 39, it is characterised in that：The damping piece is liquid damper, air-pressure damping
One kind in device, magnetic resistance damper.
41. capture apparatus as claimed in claim 35, it is characterised in that：The mobile platform also includes on the chassis
Wheel actuator, the wheel actuator and the multiple wheel are connected to drive the wheel.
42. mobile device as claimed in claim 41, it is characterised in that：The quantity correspondence wheel of the wheel actuator
Quantity, drive each wheel with independent.
43. capture apparatus as claimed in claim 22, it is characterised in that：The carrier arrangement includes increasing steady component, the increasing
Steady component is installed in one end of the rocking arm, and the filming apparatus is installed on described increase on steady component.
44. capture apparatus as claimed in claim 43, it is characterised in that：The steady component of increasing includes cushion socket and head,
The cushion socket is connected between the head and the rocking arm, and the filming apparatus is installed on the head.
45. capture apparatus as claimed in claim 44, it is characterised in that：Shock-absorbing ball is provided with the cushion socket.
46. capture apparatus as claimed in claim 45, it is characterised in that：The shock-absorbing ball is rubber shock-absorbing ball.
47. capture apparatus as claimed in claim 46, it is characterised in that：The shock-absorbing ball be arranged at the cushion socket with it is described
Between head；
And/or, the head is three axle heads.
48. capture apparatus as claimed in claim 22, it is characterised in that：The mobile device also includes electrokinetic cell, described
Electrokinetic cell is arranged on the mobile platform.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092073 WO2018018504A1 (en) | 2016-07-28 | 2016-07-28 | Mobile device and photographic apparatus having mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107110422A true CN107110422A (en) | 2017-08-29 |
| CN107110422B CN107110422B (en) | 2019-03-08 |
Family
ID=59676411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004524.5A Expired - Fee Related CN107110422B (en) | 2016-07-28 | 2016-07-28 | Mobile device and the capture apparatus for having the mobile device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107110422B (en) |
| WO (1) | WO2018018504A1 (en) |
Cited By (6)
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| CN109557744A (en) * | 2018-02-09 | 2019-04-02 | 林子华 | Holder camera |
| CN110155357A (en) * | 2019-04-19 | 2019-08-23 | 同济大学 | A self-balancing ground monitoring system |
| WO2020052444A1 (en) * | 2018-09-11 | 2020-03-19 | 真善美创新科技有限公司 | System and method for controlling image capturing apparatus |
| CN111561651A (en) * | 2020-06-01 | 2020-08-21 | 深圳市赛为智能股份有限公司 | Inspection robot and working method thereof |
| CN112050054A (en) * | 2020-09-25 | 2020-12-08 | 科森传动设备常州有限公司 | A remote control camera surveillance vehicle with a deceleration structure and its control method |
| CN114263820A (en) * | 2021-12-31 | 2022-04-01 | 沈阳体育学院 | A live broadcast camera mobile shooting mechanism for martial arts competitions |
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| CN108502040B (en) * | 2018-05-30 | 2023-09-08 | 深圳市优必选科技有限公司 | Robot and chassis and suspension system thereof |
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| CN111315600A (en) * | 2018-12-21 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Suspension mechanism, lifting device and vehicle |
| CN110228548A (en) * | 2019-06-21 | 2019-09-13 | 上海灵至科技有限公司 | A kind of robot with doube bridge suspension |
| CN111853496A (en) * | 2020-08-26 | 2020-10-30 | 珠海市智影电子科技有限公司 | A dual-axis drive photography trolley that can work stably |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107110422B (en) | 2019-03-08 |
| WO2018018504A1 (en) | 2018-02-01 |
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