CN108259735A - Hand-held holder with three spindle balance assembling structures - Google Patents

Abstract

The invention relates to the technical field of photography, and discloses a handheld pan-tilt with a three-axis balanced assembly structure. The stability of the shooting device can be kept more effectively. In the present invention, it includes: a rotatable handle mechanism and a base. The rotatable handle mechanism includes a rotatable handle mechanism housing and a horizontal motor arranged inside the rotatable handle mechanism housing. The top of the horizontal motor is fixed with a rotating shaft. A roll motor is fixed on the top of the base, and a pitch motor and a rotation mechanism are provided inside the base. The rotation mechanism includes a first transmission gear ring and a second transmission gear ring whose axes are perpendicular to each other; the roll motor meshes with the first transmission gear through gears. The gear ring is connected; the pitch motor is connected with the second transmission gear ring through gear meshing; the top of the rotating shaft is rotatably connected with the rotating mechanism at the same time.

Description

Handheld gimbal with three-axis balanced assembly structure

technical field

The invention relates to the technical field of photography, in particular to the hand-held pan-tilt technology.

Background technique

As the performance of digital products continues to enrich, portable digital products such as smart phones have begun to be widely used for taking pictures and taking pictures. Generally, users use hand-held smartphones to shoot, but the hand shakes easily, resulting in blurred images. Especially when shooting night scenes, a long exposure time is required, and a slight shake will lead to blurred images. If it is on a moving vehicle, such as a car or a train, the problem of shaking is particularly serious.

In order to make it easier for users to use a smartphone or other shooting device to take pictures, for example, take pictures at a certain height or distance from the self-timer, and avoid shaking, a selfie stick has appeared.

The selfie stick is mainly composed of a selfie stick, a fixed bracket, a Bluetooth remote control self-timer or a button at the bottom. The fixed bracket can hold a mobile phone, a camera, or even a tablet computer. The freely adjustable telescopic pole brings a wider shooting angle. Through the bottom of the pole The Bluetooth button can control the operation.

However, selfie sticks also have some disadvantages that need to be addressed. For example, the selfie stick cannot be stabilized well, and when the operator moves or shakes the hand, it often affects the shooting effect.

Therefore, there is an urgent need for a better carrying device in the market, which is used to more effectively maintain the stability of shooting devices such as smart phones, reduce the impact of the operator's hand shake, and ensure the shooting effect.

Contents of the invention

The purpose of the present invention is to provide a hand-held pan-tilt with a three-axis balanced assembly structure, which can more effectively keep the shooting device stable.

In order to solve the above technical problems, the embodiment of the present invention discloses a hand-held pan-tilt with a three-axis balanced assembly structure, including:

Turnable handle mechanism and base,

The rotatable handle mechanism includes a rotatable handle mechanism housing and a horizontal motor arranged inside the rotatable handle mechanism housing. The top of the horizontal motor is fixed with a rotating shaft, and the top of the rotating shaft is fixed with a rolling motor.

A pitching motor and a rotating mechanism are provided inside the base, and the rotating mechanism includes a first transmission gear ring and a second transmission gear ring whose axes are perpendicular to each other;

The rolling motor is connected with the first transmission gear ring through gear meshing;

The pitch motor is connected with the second transmission gear ring through gear meshing;

The top of the rotating shaft is rotatably connected with the rotating mechanism at the same time.

In another preferred example, the first and second transmission gear rings are sector gear rings.

In another preferred example, the central angle of the sector of the first transmission gear ring is between 120 and 150 degrees, and the central angle of the sector of the second transmission gear ring is between 30 and 60 degrees.

In another preferred example, there is a preset installation angle between the roll motor and the horizontal motor, and the installation angle is between 10 degrees and 25 degrees.

In another preferred example, the top of the rotating shaft is a head with a cavity, the roll motor is fixed inside the cavity, and the head is rotatably connected to the rotating mechanism.

In another preferred example, the shafts of the roll motor and the pitch motor are provided with transmission pinions;

The rolling motor achieves gear meshing with the first transmission gear ring through the transmission pinion;

The pitch motor realizes gear meshing with the second transmission gear ring through the transmission pinion.

In another preferred example, it further includes a position adjustment mechanism arranged on the upper surface of the base, used for fixing the photographing device and adjusting the relative position of the photographing position and the base.

In another preferred example, a counterweight is also included, which is arranged under the rotatable handle mechanism and connected to the base through a connecting rod, and the counterweight is used to adjust the center of gravity of the base.

In another preferred example, it also includes:

Inertial measurement unit for measuring three-axis attitude angle and acceleration;

The control circuit is electrically connected with the inertial measurement unit, generates three control electrical signals according to the three-axis attitude angle and acceleration output by the inertial measurement unit, and outputs them to the horizontal motor, roll motor, and pitch motor respectively.

In another preferred embodiment, the inertial measurement unit includes a gyroscope and an accelerometer.

Compared with the prior art, the embodiments of the present invention have at least the following differences and effects:

Three motors can be used to effectively adjust the angle in three mutually perpendicular directions so as to achieve three-axis balance. The horizontal direction can be rotated at any angle, and the angle of the fan-shaped transmission gear ring can be set in the other two directions as required, so as to control the rotatable angle within a certain range and reduce the risk of falling mobile phones and other equipment on the gimbal.

The invention can more effectively keep the shooting device stable, avoid the influence of the operator's movement or hand shake on the shooting quality, improve the shooting quality, and have very broad application prospects.

It can be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described in the following (such as embodiments and examples) can be combined with each other to form new or preferred technical solutions . Due to space limitations, we will not repeat them here.

Description of drawings

Fig. 1 is the structural representation of the hand-held platform in the first embodiment of the present invention;

Fig. 2 is the perspective view of the handheld platform in the first embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a rotatable handle mechanism 200 in an embodiment of the present invention;

Figure 4 and Figure 5 are structural schematic diagrams of different directions of the head of the rotating shaft mechanism in an embodiment of the present invention;

Fig. 6 is a structural schematic diagram of a rotating shaft mechanism in an embodiment of the present invention;

Fig. 7 is an exploded view of the assembly of the horizontal motor and the shaft fixing mechanism in one embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a base in an embodiment of the present invention;

FIG. 9A is an assembly diagram of the motor bracket 1121 and the pitch motor 115 in the embodiment shown in FIG. 8;

FIG. 9B is a schematic structural view of the rotating mechanism 113 in the embodiment shown in FIG. 8;

FIG. 10 is an assembly diagram of the rotating mechanism 113 , the rotatable handle mechanism 200 and the pitch motor 115 in the embodiment shown in FIG. 8 .

FIG. 11 is a schematic structural diagram of a position adjustment mechanism 300 in an embodiment of the present invention;

Fig. 12 is a schematic structural view of the fixed platform 315 in the embodiment shown in Fig. 11;

FIG. 13 is a schematic diagram of the clamping member 318 being assembled to the device abutting plate 316 in the embodiment shown in FIG. 11;

FIG. 14 is a schematic structural diagram of the connection mechanism 400 shown in FIG. 1;

Figure 15 is an exploded view of the rotating shaft mechanism 413 in one embodiment of the present invention;

Fig. 16 is a schematic diagram of the storage state of the handheld pan/tilt in one embodiment of the present invention;

Figure 17 is an exploded view of a counterweight 500 in an embodiment of the present invention;

Fig. 18 is a schematic diagram of the assembly relationship between the weight adjusting mechanism and the weight in the counterweight in one embodiment of the present invention.

Below are the main reference signs involved in the accompanying drawings of the present invention:

100 base

200 Turnable handle mechanism (referred to as "handle")

300 position adjustment mechanism

400 connection mechanism

500 counterweight

201 Handle housing

211 Rotation shaft

212 head

213 opening

214 Tablets

2120 head defined cavity

2121～2124 The wall of the head

215 Roll motor

216 Drive pinion

217 holes

218 Fixed reinforcement

219 cylindrical bearing

221 Gasket

222 Motor cover

223 horizontal motor

224 shaft fixed structure

2241 Bushing

2242 fastening stud

2243 Nut

111 Support surface

112 Gimbal shell

1121 small motor bracket

11211 connection hole

11212 Storage box

11213 Expansion bracket

113 Turning mechanism

1131 First drive gear ring

1132 Second drive gear ring

1133 1134 Gear support frame

1135 Extension Wall

1136 shaft hole

114 power system

115 Pitch motor

311 Knob Slot

312 tracks

313 Fixed bracket

314 length readable area

315 fixed table

3151 base

3152 Connection bump

3153 Fixing hole

3154 Inclined Boss

316 device support plate

318 clips

3181 Hook

3182 Support

319 spring connector

3191 connecting rod

3192 Spring

321 card slot

322 knob

411 connecting rod

4111 Second connecting rod

4112 First connecting rod

402 upper connecting piece

401 Intermediate connecting piece

403 lower connecting piece

412 Stabilizer

413 Turning axis mechanism

4131 Connectable components

41311 elastic piece

41312 Ring with recess

41313 Ring with raised part

511 weights

512 Weight housing

5121 Bearing shell

5122 Enclosure

51221 upper fixing slot

51222 Lower fixed plate

51223 track

5131 Adjusting knob

5132 Adjustment lever

5133 Adjustment block

Detailed ways

In the following description, many technical details are proposed in order to enable readers to better understand the application. However, those skilled in the art can understand that the technical solutions claimed in this application can be realized even without these technical details and various changes and modifications based on the following implementation modes.

In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the implementation of the present invention in detail in conjunction with the accompanying drawings.

In the following embodiments, the overall structure of the entire handheld pan/tilt will be described first, and then each component will be described separately.

the whole frame

1 to 2 are schematic structural views of the handheld pan/tilt in the first embodiment of the present invention. As shown in Figure 1~2,

The handheld platform includes a base 100, a rotatable handle mechanism 200, a position adjustment mechanism 300, a connecting mechanism 400 and a counterweight 500; wherein,

The rotatable handle mechanism 200 includes a handle housing 201 and a rotating shaft 211 partially inserted into the handle housing 201 (as shown in FIG. 3 ), and the rotatable handle mechanism 200 is located below the base 100 and supports the base 100 through the rotating shaft 211 ; As shown in FIG. 8 , the base 100 includes a supporting surface 111, a pan-tilt housing 112 and a circuit system arranged inside the pan-tilt housing 112; the position adjustment mechanism 300 is arranged on the supporting surface 111 for fixing the shooting device And adjust the relative position of the shooting device and the support surface 111; the counterweight 500 is arranged under the rotatable handle mechanism 200 and connected with the base 100 through the connection mechanism 400, and the counterweight 500 is used to adjust the center of gravity of the base 100.

The counterweight 500 is arranged under the rotatable handle mechanism 200, and is connected with the base 100 through the connection mechanism 400, which can greatly reduce the center of gravity of the entire handheld platform, making the handheld platform more stable, and can be equipped with The weight and the position adjustment mechanism can further fine-tune the center of gravity of the whole handheld gimbal, and reduce the torque and power consumption of the automatic balance motor servo system in a balanced state.

The components of the handheld platform of the present invention will be further described below with reference to the accompanying drawings. Each component is described in order from near to far away from the hand, firstly explain the details of the rotatable handle mechanism 200, then explain the details of the base 100, then explain the details of the position adjustment mechanism 300, and then explain the details of the connecting mechanism 400, The details of the counterweight 500 will be described again. Details of important subcomponents are placed in the description of the main component they belong to.

Turnable handle mechanism 200

Fig. 3 is a schematic structural diagram of a rotatable handle mechanism 200 in an embodiment of the present invention. As shown in Figure 3, the rotatable handle mechanism 200 includes a handle housing 201, a motor arranged in the handle housing 201 and a rotating shaft mechanism partially inserted into the handle housing 201, as shown in Figure 2, the rotatable handle mechanism 200 is It is installed under the base 100 and connected with the base 100 through a rotating shaft mechanism. The components of the rotatable handle mechanism will be further described below.

As shown in Figure 3, the rotating shaft mechanism includes: a rotating shaft 212, a pressing piece 214, a head 211 with a cavity, a roll motor 215 arranged in the cavity, and a transmission sleeved on the output shaft of the roll motor 215. Pinion 216. The rotating shaft 212 is partially inserted and fixed inside the handle housing 201, the head 211 has a hollow cavity to accommodate the roll motor 215, and the head 211 also has an assembly hole 217, which passes through the hollow cavity, which can For further fastening assembly.

4 and 5 are structural schematic diagrams of the head of the rotating shaft mechanism in an embodiment of the present invention. Specifically, the head 211 is provided at one end of the rotation shaft 212 . The head 211 is approximately a cuboid and has two pairs of substantially parallel walls 2121 and 2123, as well as a wall 2122 and a wall 2124. The walls 2121-2124 define a head cavity for placing the roll motor. The head cavity Approximately cylindrical. Wherein, the walls 2121-2124 all have a predetermined thickness, and the wall 2121 and the wall 2123 are provided with symmetrical circular through holes, that is, the axes of the two circular through holes coincide, and the circular through holes are used for further assembly. The pressing piece 214 is arranged on the wall surface perpendicular to one of the pair of parallel walls. In this embodiment, the pressing piece 214 is embedded into the wall surface 2122, and the wall surface 2122 has an opening consistent with the shape of the pressing piece 214 for placing the pressing piece 214 , in order to fix the pressing piece 214, the pressing piece 214 can be attached to the opening and fixed on the wall 2122 with fixing screws. The pressing piece 214 is equivalent to the inlet and outlet of the rolling motor 215 for loading and unloading.

Fig. 6 is a structural schematic diagram of a rotating shaft mechanism in an embodiment of the present invention. In addition to the components of the rotating shaft mechanism shown in Figures 3 to 5, Fig. 6 further includes a connecting piece for connecting the handle housing 201 and the rotating shaft mechanism, and a connecting piece connected to the rotating shaft. The motor system 220 arranged on and inside the handle housing. Specifically, the connector includes a fixed reinforcement 218 and a cylindrical bearing 219, wherein the cylindrical bearing 219 is sleeved on the rotating shaft 211, and the fixed reinforcement 218 is respectively clamped on both ends of the cylindrical bearing 219, and the fixed reinforcement 218 Used to determine and fix the position of the cylindrical bearing 219. Cylindrical bearing 219 has multi-layered regular protrusions, and handle housing 201 is provided with multi-layered grooves consistent with the shape of the protrusions, so the handle housing is engaged with the protrusions of the cylindrical bearing through multi-layered grooves, thereby partially The rotating shaft mechanism is packaged inside the handle housing 201 .

As shown in FIG. 6 , the motor system 220 includes a motor cover 222 , a horizontal motor 223 and a shaft fixing mechanism 224 . The motor cover 222 is used to connect the rotating shaft 211 and the horizontal motor 223 , and then transmit the mechanical energy generated by the horizontal motor 223 to the rotating shaft 211 mechanism, so the tail of the horizontal motor 223 is partially sleeved in the motor cover 222 . Specifically, the motor cover 222 is about a stepped cylinder, having a small cylinder with an inner diameter of D1 and a large cylinder with an inner diameter of D2 and the small cylinder and the large cylinder are coaxial, and the small cylinder and the large cylinder can be integrally formed Wherein, the afterbody of horizontal motor 223 is socketed into big cylinder and can be interference fit, and rotating shaft 211 is socketed to small cylinder and also is provided with spacer 221 between the upper surface of small cylinder and cylindrical bearing 219, with In order to reduce the vibration between the rotating shaft 211 and the horizontal motor 223 . The horizontal motor 223 is arranged at the bottom of the rotating shaft 211 to control the rotation of the base 100 in the horizontal direction.

Fig. 7 is an exploded view of the assembly of the horizontal motor and the shaft fixing mechanism in one embodiment of the present invention. As shown in FIG. 7 , the shaft fixing mechanism includes: a shaft sleeve 2241 , a fastening stud 2242 and a nut 2243 ; the first part of the fastening stud 2242 is in the shape of a truncated cone and does not have a threaded area, and is used to be sleeved on the shaft sleeve 2241 Among them, the second part of the fastening stud 2242 is a threaded stud for connecting with the nut 2243 . The shaft of the horizontal motor 223 is connected to the shaft sleeve 2241 by being sleeved on the first part of the fastening stud 2242, and the shaft of the horizontal motor 223 is covered by the nut 2243, thereby preventing the shaft of the horizontal motor 223 from being damaged.

Base 100

The overall structure of the handheld platform shown in Figure 1, the base 100 is located above the rotatable handle mechanism 200 (referred to as "handle"), the handle is used to support the base 100 and the handle can rotate > 360 degrees around the base 100 angle. The base 100 is used to support the photographing device, and the shooting angle of the photographing device can be changed through the angles of the pan/tilt in the horizontal, left and right, front and rear directions.

Fig. 8 is a schematic structural diagram of a base in an embodiment of the present invention. The base 100 includes a supporting surface 111 , a pan-tilt housing 112 , a rotating mechanism 113 , a pitch motor 115 and a power supply system 114 installed in the pan-tilt housing 112 . As shown in the figure, the rotating mechanism 113 and the power supply system 114 are fixed on the support surface 111 and facing the pan-tilt shell 112, and the pan-tilt shell 112 is also provided with a cylindrical cavity 1121, which can be used to cover the rotatable handle mechanism The head 212 of the 200 and the roll motor 215 placed on the head 212, the pitch motor 115 and the rotation mechanism 113 cooperate with each other to control the rotation angle of the support surface 111 in the pitch direction. The specific cooperation relationship is described below.

The pitch motor 115 is fixed inside the pan/tilt housing 112 through a motor bracket 1121 . FIG. 9A is an assembly diagram of the motor bracket 1121 and the pitch motor 115 in the embodiment shown in FIG. 8 . As shown in FIG. 9A , the motor bracket 1121 includes a connection hole 11211 , a storage frame 11212 and an extension bracket 11213 . The fixing strip (such as a screw or screw) passes through the connection hole and engages with the socket on the inner surface of the pan/tilt housing to fix the motor bracket. The storage frame is cylindrical and has a volume slightly larger than the pitch motor 115, and the pitch motor 115 is placed in the storage frame 11212. In a preferred example, the axis of the connection hole 11211 and the axis of the storage frame 11212 are designed to be perpendicular to each other.

The rotating mechanism 113 includes a transmission gear ring set, a gear fixing part and a pitch motor connecting part. FIG. 9B is a schematic structural diagram of the rotating mechanism 113 in the embodiment shown in FIG. 8 . Specifically, the transmission gear ring set includes a first transmission gear ring 1131 and a second transmission gear ring 1132 whose axes are perpendicular to each other. The shaft of the pitch motor 115 is also sleeved with a transmission pinion, which can mesh with the first transmission gear ring 1131, and the axis of the pitch motor 115 and the axis of the first transmission gear ring 1131 are parallel to each other when installed. The meshing of the transmission pinion and the ring gear 1131 changes the direction of force transmission.

Further, the first transmission gear ring 1131 is fixedly placed on the gear fixing part. As shown in FIG. 9B, the gear fixing part includes gear support frames 1133 and 1134, and an extension frame 1135, wherein the extension frame 1135 is approximately rectangular frame, the four walls of the frame are provided with shaft holes 1136, the shaft holes 1136 are used to connect the rotatable shaft to the head 212, specifically, the rotatable shaft can be supported by the shaft hole 1136 Covering a part of the four wall surfaces 2121-2124 of the head 212, the gear support frame 1133 is provided with grooves to assemble the first transmission gear ring 1131, and the gear support frame 1134 is also provided with grooves to assemble the second transmission gear ring 1132, and The respective base surfaces of the gear support frames 1133 and 1134 are perpendicular to each other. The first transmission gear ring 1131 and the second transmission gear ring 1132 are fixed on the gear fixing part and can rotate together with the gear fixing part. Wherein, the end surface of the second transmission gear ring 1132 and the end surface of the first transmission gear ring 1131 are also arranged to be perpendicular to each other.

FIG. 10 is an assembly diagram of the rotating mechanism 113 , the rotatable handle mechanism 200 and the pitch motor 115 in the embodiment shown in FIG. 8 .

The rotating mechanism 113 supports the head 212 through a rotatable shaft, thereby being mutually fixed with the rotatable handle mechanism 200, and the rolling motor 215 placed in the cavity of the head 212 is connected to the second driving gear ring 1132 through the transmission pinion. Engage with each other, so that the gear holder can rotate around the head 212 in the space defined by the expansion frame 1135; in addition, the rotating mechanism 113 engages with the transmission pinion on the shaft of the pitch motor 215 through the first transmission gear ring 1131, thereby pitching The electric motor 215 is able to transmit force to the rotary mechanism 113 . Further, the motor bracket 1121 can be fixed on the supporting surface 111 by using screws or fixing shafts through the connecting holes 11211 .

In a preferred example, the first transmission gear ring 1131 is fan-shaped and its central angle may be 135 degrees, and the second transmission gear ring 1132 is also fan-shaped and its central angle may be 45 degrees. In other embodiments, the central angle of the first transmission gear ring 1131 may be a value between 120 and 150 degrees, and the central angle of the second transmission gear ring 1132 may be a value between 30 and 60 degrees. The advantage of doing this is that the base 100 can only move limitedly in the two directions of pitch and roll. In other examples, the first and second transmission gear rings may also be complete gears, or sector gear rings with other angles.

The three-axis balance assembly structure composed of the above-mentioned rotating mechanism, three motors and other related structures can effectively adjust the angles in three mutually perpendicular directions through the three motors, so as to realize three-axis balance. The horizontal direction can be rotated at any angle, and the angle of the fan-shaped transmission gear ring can be set in the other two directions as required, so as to control the rotatable angle within a certain range and reduce the risk of falling mobile phones and other equipment on the gimbal.

The power supply system 114 in the embodiment shown in FIG. 8 may include: a spacer set, a power supply space defined by the spacers, a power supply bearing surface and a pressure piece. The spacer set at least includes a button spacer, a power head spacer and a power tail spacer. The spacer at the head of the power supply and the spacer at the tail of the power supply are placed in parallel and define the space for placing the power supply. The thickness of the pressing piece is greater than any one of the spacers in the spacer group and is arranged between the key spacer and the spacer at the power supply head , used to reduce the concentrated stress externally applied to the spacer of the power supply head. The button group includes main buttons and auxiliary buttons. The main button and the auxiliary button are used to turn on the power system to provide electric energy to the small motor of the rotating mechanism, and the main button is designed to be able to be assembled on the button spacer, when the main button is pressed by external force, the main button pushes the button spacer Squeeze the pressing piece, because the thickness of the button spacer is much smaller than the pressing piece, so the pressing piece can absorb the concentrated stress applied to the pressing piece itself, and then the pressing piece squeezes the power supply head spacer, and the power supply is controlled by the power supply tail spacer. The resisting function makes the spacer of the power supply head turn on the power supply and thus turn on the circuit of the power supply system. Further, in order to package the power system inside the pan/tilt housing, the power carrying surface is used to cover the power system. Specifically, the power bearing surface is arranged in parallel with the supporting surface of the base, and is interlocked with the pan/tilt shell through buckles to form a detachable integrated structure with the pan/tilt shell, and the power supply system is placed on the power supply bearing surface. The auxiliary button is used to help the main button to turn on the power system and is set on the same side as the main button.

As shown in FIG. 8 , the supporting surface 111 can be used to support the shooting device, and can be engaged with the pan-tilt casing 112 and form an overall appearance with the pan-tilt casing 112 , that is, a base. The shape of the supporting surface 111 is a streamlined rectangular surface. Specifically, the side of the support surface 111 facing the pan/tilt housing 112 is used to fix the motor bracket 1121 and the power system 114 with each other, and the fixing method can be screw connection or keyway engagement.

A circuit system is also provided in the base, and the circuit system includes an inertial measurement unit (IMU for short) and a control circuit. The IMU is used to measure the three-axis attitude angle (or angular rate) and acceleration of the object. Gyroscopes and accelerometers are the main components of an IMU. According to the output of the IMU, the control circuit sends control electrical signals to the three motors (horizontal motor, roll motor, and pitch motor), so that the three motors output corresponding electric torques to keep the base in a state of horizontal balance and stable attitude. When the hand holding the handle housing shakes, the control circuit sends control electrical signals to the three motors according to the output of the IMU to compensate for the shaking of the hand accordingly. The three-axis balance algorithm on which the control circuit is based has been implemented in various ways in the prior art, and will not be described in detail here.

Position adjustment mechanism 300

The supporting surface 111 is provided with a position adjustment mechanism 300 for fixing the photographing device. FIG. 11 is a schematic structural diagram of a position adjustment mechanism 300 in an embodiment of the present invention.

Specifically, the position adjustment structure 300 includes a fixed platform 315, a device abutting plate 316 and a knob 322. In order to fix the position adjustment mechanism 300 on the support surface 111, the tail of the support surface 111 is provided with a knob groove 311 and a fixed stopper 313. and track 312. As shown in Figure 11, the support surface 111 has an approximately rectangular outer surface, and the knob groove 311 is arranged at the tail of the support surface for assembling the knob 322. The knob groove is a rectangular cavity protruding vertically along the outer surface of the support surface. The groove is set at the center of the tail of the support surface and is symmetrical about the long axis of symmetry of the support surface; there are two rails 312, which are respectively located near the knob groove and are symmetrical about the knob groove, for assembling the fixed table 315 and Limit the moving track of the fixed platform 315, as shown in Figure 11, also be provided with between the rails 312 about the knob groove symmetry parallel fixed catch 313, this fixed catch 313 protrudes upwards perpendicular to the supporting surface 111, for Further, it is assembled with the fixed platform 315 , so the bottom plate of the fixed platform 315 is also provided with a groove consistent with the shape of the fixed blocking piece 313 . In a preferred example, the fixed block 313 can be provided with an anti-off plate, which can be snapped into the groove of the bottom plate of the fixed platform 315 and hooked on the bottom plate of the fixed platform 315 to prevent the fixed platform 315 from the support surface 111. fall off.

Furthermore, a readable length area 314 is provided on the area of the support surface between the fixed stoppers 315 for reading the position of the fixed structure of the device and further adjusting the balance of the base according to the position.

Therefore, the fixing platform 315 can be fixed on the support surface 111 through the rail 312 and the fixing stop piece 313 .

Further, FIG. 12 is a schematic structural diagram of the fixing platform 315 in the embodiment shown in FIG. 11 . The fixed platform 315 includes a base 3151, a fixing hole 3153, a connecting protrusion 3152 and an inclined boss 3154, wherein the base is approximately rectangular and has an inclined boss 3154 symmetrical to the minor axis of the base in the middle, and the inclined boss 3154 is perpendicular to the base The upper surface extends upwards and the surface of the inclined boss 3154 is not parallel to the upper surface of the base 3151. Further, there is a groove under the inclined boss 3154 that matches the fixed stopper 313 on the supporting surface 111, which is used to form the device against The moving track of the holding plate; the fixing holes 3153 are respectively arranged at both ends of the base and are symmetrical about the short axis of the base. The fixing holes 3153 are used to connect the base 3151 and the device against the plate 316. Specifically, the fixing holes are perpendicular to the upper surface of the base The hole extending upwards; the connecting projection 3152 is rectangular and has a screw hole in the center, which is used to cooperate with the knob 322 and the knob groove 311 at the end of the supporting surface.

As shown in FIG. 11 , the device resisting plate 316 is assembled on the fixing platform 315 perpendicular to the supporting surface 111 for resisting a photographing device, such as a mobile phone. The device resisting plate 316 is a rectangular plate with shaft holes on both sides of its lower end for matching with the fixing holes 3153 of the base 3151 to fix the relative position of the device resisting plate 316 and the fixed platform 315 . Further, the upper part of the device resisting plate 316 is also connected with a clip 318 , and the clip 318 includes a support portion 3182 and a hook portion 3181 disposed in the middle of the support portion 3182 . The clamping member 318 is used to clamp the photographing device against the fixed platform 315 , and rely on the device resisting plate 316 to further resist the photographing device.

FIG. 13 is a schematic diagram of the clamping member 318 being assembled to the device resisting plate 316 in the embodiment shown in FIG. 11 . The clamping member 318 is connected to the device resisting plate 316 through a spring connecting member 319, wherein the spring connecting members are respectively built in the long sides of the device resisting plate. In one embodiment, the spring connecting member includes a connecting rod and a spring, The connecting rod can be connected to both sides of the clamping piece, so the photographing device can be abutted against the upper surface of the base of the fixing platform by controlling the moving distance of the clamping piece.

As shown in Figure 13, when in use, one side of the shooting device is clamped on the hook 3181 by stretching the supporting part 3182 of the clamping part 318, and at the same time the spring connecting part 319 is elastically deformed, and then the clamping part 318 is released to allow the shooting Be stuck on the upper surface of the inclined boss 3154 of the fixed platform 315, and the photographing device can lean against the device abutting plate, meanwhile, because the surface of the inclined boss 3154 is not parallel to the upper surface of the base, it is more helpful to place the photographing device Against the fixed table and against the device against the plate.

Further, as shown in FIG. 11 , the outer surface of the support surface 111 is also provided with a slot 321 , which has a shape matching the hook portion 3181 of the snap-in member 318 , so that the hook portion 3181 can fit into the slot 321 match. In this case, when it needs to be accommodated, the device resisting plate 316 is rotated along the assembly axis between the fixing part and the connecting part by rotating the device resisting plate 316, so that the device resisting plate 316 is accommodated on the support surface 111, and the hook portion 3181 is engaged in the slot 321 to fix the device against the plate 316 . Therefore, in the stored state, the device supporting plate 316 is folded to be parallel to the supporting surface 111, and the engaging member 318 is locked in the engaging groove 321; The device resisting plate 316 can be folded to form a preset angle (such as about 90 degrees) with the supporting surface 111, and the photographing device is resisted on the device resisting plate 316 and is clamped between the clamping member 318 and the fixed platform 315 between.

Further, as shown in FIG. 11 , the supporting surface 111 includes a knob 322 , and the knob 322 includes a cap and a rotary rod engaged inside the cap. The hat is about a stepped cylinder, with two coaxial upper and lower cylinders, the outer surface of the lower cylinder is provided with uniform teeth along the axial direction, which is convenient for turning the knob, and the hat is provided with a central cavity. The rotary rod includes a clamping part and a threaded part, the clamping part is used to fit into the central cavity of the cap, and the threaded part is used to be screwed with the internal thread of the knob groove and the internal thread of the middle cylindrical cavity of the connection projection. When in use, the rotating rod is driven to rotate by twisting the cap, and the rotating rod is used to push the fixed platform to move along the track 312 of the supporting surface 111 by means of threaded connection, thereby changing the position of the shooting device relative to the supporting surface 111 and further adjusting the balance of the base 100 .

In the embodiment shown in FIG. 11 , when in use, when the shooting device is fixed to the position adjustment mechanism 300, the device resisting plate 316 can rotate around the rotation axis toward the support surface 111 or away from the support surface 111, thereby changing the viewing angle of the shooting device, and Cooperate with the fixing platform 315 to fasten the photographing device on the supporting surface 315 .

Further, in order to maintain the balance of the base, the center of gravity of the base 100 is changed by turning the knob 322 to control the front and rear positions of the fixing table 315 on the supporting surface 111 .

The position adjustment mechanism of the handheld pan/tilt of the present invention has the following advantages:

In the state of use, the shooting device can be firmly clamped; in the storage state, the card slot on the support surface can be clamped, and the device against the plate will not be unfolded due to unexpected external force.

The front and rear positions of the shooting device can be adjusted by adjusting the knob, so that the center of gravity of the entire handheld gimbal can be adjusted, and the three-axis balance of the handheld gimbal can be realized with a smaller motor force.

Connection mechanism 400

As shown in FIG. 1 , a connection mechanism 400 is provided at the tail of the base 100 , and the connection mechanism 400 is used to connect the counterweight 500 and the base 100 . In a preferred example, the connection mechanism 400 is arc-shaped and makes the counterweight 500 located directly under the rotatable handle mechanism 200 .

FIG. 14 is a schematic structural diagram of the connection mechanism 400 shown in FIG. 1 . As shown in FIG. 14 , the connecting mechanism 400 includes two connecting rods 411 and a stabilizer 412 connecting the two connecting rods 411 . The upper and lower ends of the connecting rods 411 are respectively provided with fittings for connecting with the base 100 and the counterweight 500 . mechanism. Each connecting rod 411 is arranged side by side and connected by a stabilizer 412, and the stabilizer 412 is arranged between the two connecting rods 411, which increases the rigidity of the connecting mechanism and makes it difficult to break.

Further, the connecting mechanism 400 also includes a rotating shaft mechanism 413 . The rotating shaft mechanism 413 mainly realizes the rotation of the connecting rod 411 relative to the stabilizer 412 so as to fold or unfold the connecting mechanism 400 . There are many ways to implement the rotating shaft mechanism 413, and a preferred embodiment is shown in FIG. 15 .

FIG. 15 is an exploded view of the rotating shaft mechanism 413 in one embodiment of the present invention. As shown in FIG. 15 , the rotating shaft mechanism 413 divides the connecting rod 411 into a first connecting rod 4111 and a second connecting rod 4112 , so that the connecting rods 4111 and 4112 can relatively rotate through the rotating shaft mechanism 413 .

As shown in Figure 15, the connecting rod 411 includes a first connecting rod 4111 and a second connecting rod 4112, one end of the first connecting rod 4111 is provided with an intermediate connecting piece 401, and one end of the second connecting rod 4112 is provided with upper and lower connecting pieces 402, 403. The upper connecting piece 402 , the middle connecting piece 401 and the lower connecting piece 403 can be axially connected together through a rotating shaft 404 in sequence. There are many ways of shaft connection, for example, screws can be used to realize shaft connection, and rivets or other methods may also be used to realize shaft connection. The rotating shaft mechanism 413 includes a locking component 4131 , and as shown in the figure, the locking component 4131 is respectively arranged between the upper connecting piece 402 and the middle connecting piece 401 , and between the middle connecting piece 401 and the lower connecting piece 403 .

Specifically, the locking component 4131 includes two ring-shaped pieces and an elastic piece; the elastic piece makes use of elasticity to closely match one side of the two ring-shaped pieces; One face includes a plurality of raised parts, the other face includes a plurality of recessed parts, the recessed part and the raised part are matched in shape; for the two faces where the two rings do not match, one face is fixedly connected to the intermediate connecting piece, The other side is fixedly connected to the upper connecting piece 402 or the lower connecting piece 403 . Each part of the clamping component 4131 is provided with a central hole, and can be fastened together with the upper, middle and lower connecting pieces by rotating shafts or screws according to the assembly sequence.

In a preferred example, the ring-shaped piece 41312 has four concave parts and uses a wear-resistant reinforcement, and the concave parts are fan-shaped grooves, and the ring-shaped piece 41313 has three convex parts and uses a wear-resistant reinforcement, in order to match the concave Matched, the raised portion is scalloped.

The elastic member 41311 can be a wave washer or an elastic rubber ring. In a preferred example, the elastic member is a wave washer and is directly assembled on both sides of the intermediate connecting piece 401. In another embodiment, the wave washer can also be Assembled between the upper connecting piece 402 and the ring-shaped piece 41313, and between the lower connecting piece 403 and the ring-shaped piece 41313.

In a preferred example, the second connecting rod 4112 is composed of two butt-engaged halves, one end of one half is provided with an upper connecting piece 402 , and one end of the other half is provided with a lower connecting piece 403 . Further, the rotating shaft 404 is composed of a screw and a nut, and the ring-shaped parts 41312 and 41313 are tightly matched with each other through the fastening of the screw and the nut and the elasticity of the wave washer 41311 .

Further, two decorative sheets are provided at both ends of the rotating shaft 404 for decorating the assembly relationship of the rotating shaft mechanism. In this embodiment, the upper connecting piece 402 and the lower connecting piece 403 form a cavity after the two halves of the second connecting rod 4112 are butted and combined, and are used for accommodating the locking component 4131 and the middle connecting piece 401 .

In a preferred example, the locking component 4131 is composed of a ring-shaped member 41313 , a ring-shaped member 41312 and an elastic member 41311 .

The above-mentioned folding part can realize that the two connecting rods can be in a stable state when they are rotated to a certain angle, and will be in a rotatable state again only when the external force is large enough to a certain extent. And there can be multiple angles that can be in a stable state.

After the assembly of the rotating shaft mechanism 413 is completed according to the assembly relationship in the embodiment shown in FIG. The shaft turns towards the base 100 . The number of protrusions and depressions is calculated according to the overall size of the handheld platform, so that the second connecting rod 4111 can be folded to a position against the base, and the second connecting rod 4111 is in a stable state at this position , will not be easily rotated by a small external force.

folded state

When the handheld platform is not in use, the handheld platform can be folded into the structure shown in Figure 16. Fig. 16 is a schematic diagram of a storage state of the handheld pan-tilt in a preferred example of the present invention. In the storage state, the second connecting rod 4111 can be folded to the front end of the base 100 around the rotating mechanism, and the handle 201 can be turned until it leans against the rear end of the pan/tilt 100 and the handle 201 is stored on the two folded connecting rods 411 In the limited space, the device resisting plate 316 can turn to the base 100 through the rotating shaft and be locked on the base 100 .

Specifically, the device resisting plate 316 is rotated along the direction of the rotating shaft to the support surface 111, and the hook is buckled into the slot 321 of the support surface 111, so when the handheld device is not in use, the folding lever can be used Store it to reduce its footprint and make it easy to carry.

The connecting rod can be folded, and after being folded, a cavity is formed at the bottom of the base to accommodate the handle folded to the bottom of the base, so that the bottom of the base can be stored in a small space.

The device support plate can be turned over to the upper surface of the base in the storage state, and is approximately parallel to the surface, and is clamped on the base through elastic components, so that the top of the base can be stored as a small space, And because it is locked, the device holding plate in the storage state is in a stable state, and it is not easy to be accidentally deployed due to external force.

The connecting rod is divided into upper and lower parts, and the middle is connected by a rotating mechanism. The rotating mechanism has a locking function at the angle of storage, so that the folded connecting rod and handle are in a stable state in the storage state, and it is not easy to be accidentally unfolded due to external force .

Counterweight 500

As shown in Figure 1, the counterweight 500 is set under the rotatable handle mechanism 200, and is connected to the base 100 through the connecting rod mechanism 400. Adjust the center of gravity of the overall structure of the handheld gimbal to ensure the balance of the handheld gimbal when in use and obtain a better photography experience.

Figure 17 is an exploded view of a counterweight 500 in one embodiment of the present invention. Fig. 18 is a schematic diagram of the assembly relationship between the weight adjusting mechanism and the weight in the counterweight in one embodiment of the present invention. As shown in FIGS. 17 and 18 , the counterweight includes a weight 511 , a weight housing 512 and a weight adjustment mechanism arranged inside the weight housing. The weight adjustment mechanism includes: an adjustment knob 5131 , an adjustment rod 5132 and an adjustment block 5133 . The adjustment knob 5131 can be an adjustment gear and extends partly from the surface of the counterweight housing through the opening. The adjustment rod 5132 is connected to the center of the adjustment knob and extends downward. The adjustment rod can be a non-fully threaded stud (i.e. threaded area and threaded area), the non-threaded area (screw) is clamped to the center of the adjusting knob, and the threaded area provides the moving distance of the adjusting block. The weight is a plurality of stacked disk-shaped magnetic blocks, the weight of which can be changed by increasing or decreasing the number of magnetic blocks, and the center of the bottom surface of the weight 511 is provided with a shaft, which can be connected with the shaft hole of the adjustment block 5133, thereby The weight 511 is fixed on the adjustment block 5133 .

Further, the weight housing 512 includes a bearing housing 5122 and a covering housing 5121 . The load-bearing housing has recesses of small depth. The load-bearing shell is approximately rectangular, with a long axis of symmetry and a short axis of symmetry. The track 51223 is set at the long axis of symmetry of the load-bearing shell and does not completely traverse the load-bearing shell. Moving channel; further, a fixing structure is provided in the groove of the carrying case, and the fixing structure is used to fix the weight adjustment mechanism, including an upper fixing slot 51221 and a lower fixing plate 51222 . The upper fixing groove 51221 is set at the upper end of the track and has a certain distance from the upper end of the track, and the upper fixing groove 51221 is perpendicular to the inner surface of the bearing shell and extends upward; the lower fixing plate 51222 is set at the lower end of the track 51223 and is aligned with the track 51223 The lower end has a certain distance, and the lower fixing plate 51222 is perpendicular to the inner surface of the bearing case and extends upward. The upper fixing groove 51221 has a bayonet. When assembling, the adjustment knob is placed on the top of the upper fixing groove. The non-threaded area of the adjustment rod matches the bayonet. After the adjustment block and the adjustment rod are assembled, they are fixed on the lower fixing plate. The weight adjustment mechanism is fixed inside the weight housing, and the weight is placed outside the weight housing.

Further, the covering shell 5121 has a deep groove, which can be used to cover the weight adjustment mechanism. Specifically, the cladding shell can be snapped to the carrying shell and form an appearance integral with the carrying shell. Further, screw holes are provided at the four corners of the bearing housing, and shaft holes are provided in the inner groove of the coating housing corresponding to the positions of the screw holes of the bearing housing. Therefore, during assembly, screws can be used to penetrate Through the screw hole until it engages with the internal thread of the shaft hole, so as to tighten the bearing shell and the cladding shell more tightly.

Furthermore, an identification sheet is also provided inside the counterweight housing to display the moving position of the adjustment block; a scale bar of the same shape is provided on the outer surface of the covering casing corresponding to the position of the track, and is matched with the identification sheet to display the position of the weight. raised position for balance adjustment of the base.

Further, the upper side of the load-bearing housing is also symmetrically provided with interfaces with respect to the long symmetry axis, which are used to clamp the connecting protrusions of the lower folding rod, so as to fix the counterweight at the lower end of the connecting mechanism, and to connect with the motor system. Cooperate to maintain the balance of the base.

The center of gravity of the entire configurator can be easily fine-tuned by turning the adjustment knob.

Because the weight is a stack of multiple disk-shaped magnets, the number of magnets can be easily increased or decreased according to the needs, so that the weight of the entire counterweight can be easily changed, and the hand-held pan/tilt where the counterweight is located can be easily adjusted. overall center of gravity.

It should be noted that in the application documents of this patent, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element. In the application documents of this patent, if it is mentioned that an action is performed according to a certain element, it means that the action is performed based on at least the element, which includes two situations: the action is only performed based on the element, and the action is performed based on the element and Other elements perform this behavior.

All documents mentioned in this application are incorporated by reference in this application as if each were individually incorporated by reference. In addition, it should be understood that after reading the above teaching content of the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope of protection claimed by the present application.

Claims (10)

1. A handheld cloud platform with a three-axis balanced assembly structure, characterized in that it comprises: Turnable handle mechanism and base, The rotatable handle mechanism includes a rotatable handle mechanism housing and a horizontal motor arranged inside the rotatable handle mechanism housing. The top of the horizontal motor is fixed with a rotating shaft, and the top of the rotating shaft is fixed with a rolling motor. A pitching motor and a rotating mechanism are provided inside the base, and the rotating mechanism includes a first transmission gear ring and a second transmission gear ring whose axes are perpendicular to each other; The roll motor is connected to the first transmission gear ring through gear meshing; The pitch motor is connected to the second transmission gear ring through gear meshing; The top of the rotating shaft is rotatably connected with the rotating mechanism at the same time. 2. The hand-held platform with a three-axis balanced assembly structure according to claim 1, wherein the first and second transmission gear rings are sector gear rings. 3. The hand-held platform with a three-axis balanced assembly structure according to claim 2, wherein the central angle of the sector of the first transmission gear ring is between 120 and 150 degrees, and the second transmission gear ring The central angle of the fan-shaped circle is between 30 and 60 degrees. 4. The hand-held gimbal with a three-axis balanced assembly structure according to claim 1, characterized in that there is a preset installation angle between the roll motor and the horizontal motor, and the installation angle is between 10 degrees and 25 degrees between. 5. The hand-held platform with a three-axis balanced assembly structure according to claim 1, wherein the top of the rotating shaft is a head with a cavity, and the rolling motor is fixed inside the cavity, The head is rotatably connected with the rotating mechanism. 6. The hand-held platform with three-axis balanced assembly structure according to claim 5, characterized in that, the shafts of the rolling motor and the pitching motor are all provided with transmission pinions; The roll motor achieves gear engagement with the first transmission gear ring through the transmission pinion; The pitch motor achieves gear engagement with the second transmission gear ring through a transmission pinion. 7. The hand-held platform with a three-axis balanced assembly structure according to any one of claims 1 to 6, further comprising a position adjustment mechanism arranged on the upper surface of the base for fixed shooting device and adjust the relative position of the shooting position and the base. 8. The hand-held platform with a three-axis balanced assembly structure according to any one of claims 1 to 6, further comprising a counterweight, which is arranged below the rotatable handle mechanism and passed through the connecting rod Connected with the base, the counterweight is used to adjust the center of gravity of the base. 9. The hand-held platform with a three-axis balanced assembly structure according to any one of claims 1 to 6, further comprising: Inertial measurement unit for measuring three-axis attitude angle and acceleration; The control circuit is electrically connected to the inertial measurement unit, generates three control electrical signals according to the three-axis attitude angle and acceleration output by the inertial measurement unit, and outputs them to the horizontal motor, roll motor, and pitch motor respectively. 10. The hand-held platform with a three-axis balanced assembly structure according to claim 9, wherein the inertial measurement unit includes a gyroscope and an accelerometer.