WO2018068173A1 - 三轴云台及三轴云台拍摄装置 - Google Patents

三轴云台及三轴云台拍摄装置 Download PDF

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Publication number
WO2018068173A1
WO2018068173A1 PCT/CN2016/101623 CN2016101623W WO2018068173A1 WO 2018068173 A1 WO2018068173 A1 WO 2018068173A1 CN 2016101623 W CN2016101623 W CN 2016101623W WO 2018068173 A1 WO2018068173 A1 WO 2018068173A1
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WO
WIPO (PCT)
Prior art keywords
axis
wire
arm
receiving cavity
tilt head
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.)
Ceased
Application number
PCT/CN2016/101623
Other languages
English (en)
French (fr)
Inventor
黄永结
郭善光
赵喜峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to KR1020197006472A priority Critical patent/KR102189176B1/ko
Priority to KR1020207034881A priority patent/KR102296565B1/ko
Priority to CN201680003328.6A priority patent/CN107076350B/zh
Priority to JP2019518951A priority patent/JP6773900B2/ja
Priority to EP16918473.6A priority patent/EP3492391B1/en
Priority to PCT/CN2016/101623 priority patent/WO2018068173A1/zh
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to EP21160506.8A priority patent/EP3848291A1/en
Publication of WO2018068173A1 publication Critical patent/WO2018068173A1/zh
Priority to US16/377,912 priority patent/US11281076B2/en
Priority to US16/378,069 priority patent/US11137667B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • 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
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/041—Allowing quick release of the apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G03B2205/0007—Movement of one or more optical elements for control of motion blur

Definitions

  • the present application relates to the field of cloud platforms, and more particularly to a three-axis pan/tilt head and a three-axis pan/tilt head camera.
  • connection bus of the pan/tilt is generally in the form of a flexible printed circuit board and wound around the outer surface of the motor shaft of the electromechanical coupling device.
  • the connection bus of the pan/tilt is arranged to be connected directly from the outer part of the motor to the control part without passing through the motor.
  • the flexible printed circuit board is exposed outside the support arm of the pan/tilt, and is connected to a device such as a camera.
  • the first method described above is wound on the surface of the motor shaft in the form of a flexible printed circuit board, requires a large winding space, increases the thickness of the large motor, and the flexible printed circuit board determines that it can only transmit signals with a low transmission rate due to the process. Transmit high rate signals.
  • the second method described above limits the number of connection buses and the angle of rotation of the gimbal, and is prone to problems such as winding or connecting bus scraping, and reduces the service life of the gimbal, especially on a multi-axis pan/tilt, which is more likely to occur. problem.
  • the application provides a three-axis pan/tilt and a three-axis pan/tilt camera.
  • a three-axis pan/tilt head for installation and shooting.
  • the assembly includes: a roll axis assembly and a pitch axis assembly; wherein the roll axis assembly includes a roll axis arm and a first electromechanical coupling device mounted to one end of the roll axis arm, the pitch axis assembly including a pitch axis arm And a second electromechanical coupling device mounted on one end of the pitch shaft arm, the first electromechanical coupling device includes a first hollow motor shaft, the first hollow motor shaft is provided with a first receiving cavity; and the horizontal roller arm is a horizontal roller arm receiving cavity is disposed, the first receiving cavity is electrically connected to the roll axis arm receiving cavity; the second electromechanical coupling device comprises a second hollow motor shaft, and the second hollow motor shaft is provided with a first a second receiving cavity; the pitching arm arm is provided with a pitching arm arm receiving cavity, the second receiving cavity is electrically connected to the pitching arm arm receiving cavity;
  • a three-axis gimbal comprising the described technical features of the three-axis pan/tilt described in the above embodiments, wherein the one wire and/or the second wire is a coaxial line .
  • a three-axis pan/tilt photographing apparatus including a body, a camera assembly, and the three-axis pan/tilt connected between the body and the camera assembly. It should be noted that the description about the three-axis pan/tilt in the embodiment described above is also applicable to the three-axis pan/tilt camera provided by the present application.
  • the technical solution provided by the embodiment of the present application may include the following beneficial effects: the wire of the three-axis pan/tilt head is disposed in the electromechanical coupling device, and the wire is also disposed in the support arm of the pan/tilt, so There will be problems such as winding or wire scraping, and the structure is more compact and reliable.
  • FIG. 1 is a perspective view of a three-axis pan/tilt head shown in an embodiment of the present application.
  • FIG. 2 is a front view of a three-axis pan/tilt head according to an embodiment of the present application.
  • FIG 3 is an A-A arrow view of a three-axis pan/tilt head shown in the embodiment of the present application.
  • FIG. 4 is a B-B arrow view of a three-axis pan/tilt head shown in the embodiment of the present application.
  • the present application provides a three-axis pan/tilt camera device including a body (not shown), a camera assembly 200 and a three-axis pan/tilt head 100 .
  • the three-axis pan/tilt head 100 is coupled between the body and the camera assembly 200.
  • the three-axis pan/tilt head 100 is used to mount a camera assembly 200.
  • the three-axis pan/tilt head 100 includes a roll axis assembly 1 and a pitch axis assembly 2.
  • the roll axle assembly 1 includes a cross roller arm 11 and a first electromechanical coupling device 12 mounted to one end of the roll axle arm 11.
  • the first electromechanical coupling device 12 is mounted to an upper end of the roll axle arm 11.
  • the pitch axis assembly 2 includes a pitch axis arm 21 and a second electromechanical coupling device 22 mounted at one end of the pitch axis arm 21.
  • the second electromechanical coupling device 22 is mounted to the end of the pitch arm 21 .
  • the first electromechanical coupling device 12 includes a first hollow motor shaft 121.
  • the first hollow motor shaft 121 is provided with a first receiving cavity 120.
  • the horizontal roller arm 11 is provided with a horizontal axis.
  • the roller arm receiving cavity 110 is electrically connected to the roll arm receiving cavity 110 for facilitating the arrangement of the wires.
  • the second electromechanical coupling device 22 includes a second hollow motor A shaft 221, a second receiving cavity 220 for wiring is disposed in the second hollow motor shaft 221.
  • the pitching arm arm 21 is provided with a pitching arm arm receiving cavity 210, and the second receiving cavity 220 is electrically connected to the pitching arm arm receiving cavity 210 for facilitating the arrangement of the wires.
  • the roll axis assembly 1 further includes a first wire 13 disposed in the first receiving cavity 120 and the roll arm receiving cavity 110.
  • the pitch axis assembly 2 further includes a second wire 23 disposed in the second receiving cavity 220 and the pitching arm arm receiving cavity 210.
  • the first wire 13 is electrically connected to the second wire 23, as shown in FIG. 3 and Figure 4 shows.
  • first hollow motor shaft 121 and the second hollow motor shaft 221 are respectively disposed in the first coupling device 12 and the second coupling device 22 of the three-axis pan/tilt head 100.
  • the first hollow motor shaft 121 and the second hollow motor shaft 221 respectively receive a first wire 13 and a second wire 23 therein.
  • the first wire 13 and the second wire 23 are respectively routed through the first hollow motor shaft 121 and the second hollow motor shaft 221, and are not required to be disposed on the motor shaft in a winding manner, thereby reducing the winding space.
  • the motor shaft thickness is reduced. Since the first wire 12 and the second wire 23 are arranged in a shaft, the pan/tilt bus is more compact and the assembly is simpler.
  • the first electromechanical coupling device 12 of the three-axis pan/tilt head 100 includes a first connector 122 that is coupled to the first wire 13.
  • the first connector 122 can be externally connected to other connectors, for example, to a connector on a three-axis pan-tilt camera or to an intermediate connector between the pan-tilt and a three-axis pan/tilt camera for control communication.
  • the first wire 13 is connected to the first connector 122 through the first receiving cavity 120 of the first hollow motor shaft 121; that is, the first wire 13 passes along the axis of the first receiving cavity 120.
  • the first hollow motor shaft 121 is wired to make full use of the space of the first hollow motor shaft 121.
  • the first wire 13 When the three-axis pan/tilt head 100 rotates, the first wire 13 is not rotated by the rotation of the first hollow motor shaft 121, and the first wire 13 is prevented from loosening and winding on the first hollow motor shaft 121.
  • the phenomenon avoids the disadvantage that the wire 13 is easily scratched by the wire.
  • the first electromechanical coupling device 12 is provided with a first motor housing 123 , and the first connector 122 is disposed on the first motor housing 123 .
  • the first wire 13 is electrically connected to the first connector 122.
  • the first motor housing 123 The first hollow motor shaft 121 is integrally formed with the first hollow motor shaft 121.
  • the first motor housing 123 and the first hollow motor shaft 121 may also be welded or other fixed connections.
  • the first connector 122 is a board-to-board connector.
  • the first wire 13 is used to transmit interaction data of the first coupling device 12 and the second coupling device 22.
  • the use of the board-to-board connector and the three-axis pan/tilt camera ensures the stability of the high-speed data transmission of the three-axis pan/tilt head 100 and the three-axis pan/tilt camera, and improves the operability of the three-axis pan/tilt camera. .
  • the second electromechanical coupling device 22 includes a second connector 223 connected to the second wire 23, and the second connector 223 is coupled to the photographing assembly 200.
  • the other end of the pitch arm 2 on which one end of the second electromechanical coupling device 22 is disposed is provided with a mounting end 24 for mounting the camera assembly 200, and the second wire 23 extends from the mounting end 24.
  • the mounting end 24 is provided with a third electromechanical coupling device (not shown) for mating with the camera assembly 200.
  • the present application provides two mounting ends 24 respectively located on opposite sides of the second electromechanical coupling device 22 and respectively connected to the camera assembly 200.
  • the second wire 23 is connected to the second connector 223 through the second hollow motor shaft 221, that is, from the end of the camera assembly 200 through the second wire 23 to the second connector 223 .
  • the second connector 223 is connected to the first connector 122 through the first wire 13, and realizes a data transmission path between the camera assembly 200 and the three-axis pan/tilt camera.
  • first wire 13 and the second wire 23 are directly connected; the first wire 13 and the second wire 23 may be integrally disposed, that is, the first wire 13 and the second wire 23 are disposed. a wire.
  • the second electromechanical coupling device 22 is provided with a second motor housing 222 , and the second connector 223 is disposed on the second motor housing 222 .
  • the second motor housing 222 The second hollow motor shaft 221 is integrally formed.
  • the second motor housing 222 and the second hollow motor shaft 221 may also be welded or other fixed connections.
  • the second connector 223 is fixedly disposed on the second motor housing 222, the first connector 122 is disposed on the first motor housing 123, the first connector 123 and the second connector
  • the 223 is a fixed setting, and can be connected or fixedly connected with the external connector for data communication, and is not easy to damage the internal circuit, for example, the first wire 13 and the second wire 23 are damaged.
  • the roll axis arm assembly 2 includes a first wire 13 connected to one end of the roll axis arm 11 connected to the second electromechanical coupling device 22.
  • Intermediate connector (not shown). That is, the intermediate connector is disposed between the first connector 122 and the second connector 223, and two ends of the first wire 13 are respectively connected to the first connector 122 and the intermediate connector; The intermediate connector is coupled to the second connector 223.
  • the second connector 223 and the intermediate connector are mutually mating board-to-board connectors, and the first connector 122 is connected to the intermediate connector by a first wire 13, the intermediate connection
  • the device is paired with the second connector 223 for data transmission.
  • the use of the board-to-board connector ensures the stability of the high-speed data transmission of the control portion of the three-axis pan/tilt head 100 and the three-axis pan/tilt head camera, and improves the operability of the three-axis pan/tilt head camera.
  • the board-to-board connection of the intermediate connector and the second connector 223 is the same as or similar to the controller connection of the first connector 122 and the three-axis pan/tilt camera.
  • the one wire 13 and/or the second wire 14 of the three-axis pan/tilt head 100 are coaxial lines.
  • the portion of the coaxial line located in the roll axis housing cavity 110 and/or the pitch axis arm receiving cavity 210 is tiled, that is, the first wire 13 is located.
  • the roll shaft receiving cavity 110 is tiling, and is placed on the surface of the arm arm in the axial arm section of the first roll axis arm 11.
  • a portion of the second wire 14 located in the pitch arm arm receiving cavity 210 is tiling, and is disposed on the surface of the arm arm in the axial arm segment of the pitch axis arm 21.
  • the portion of the first receiving cavity 120 and/or the second receiving cavity in the second receiving cavity 220 is in a dispersed state without a package and is in a free state.
  • the wire of the three-axis pan/tilt head is disposed in the electromechanical coupling device, and the wire is also disposed in the support arm of the pan/tilt head, so there is no problem such as winding or wire scraping.
  • the structure is more compact and reliable.
  • the first connector and the second connector adopt a board-to-board connector, and the coaxial line can overcome the disadvantage that the flexible printed circuit board is easy to be wound, which not only facilitates the electrical connection, but also improves the pan/tilt signal bandwidth and the transmission rate.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Processing Of Terminals (AREA)

Abstract

一种三轴云台(100)及三轴云台拍摄装置，其中三轴云台(100)的第一机电耦合装置(12)包括第一空心电机轴(121)，所述第一空心电机轴(121)内设有第一收容腔(120)；所述第二机电耦合装置(22)包括第二空心电机轴(221)，所述第二空心电机轴(221)内设有第二收容腔(220)；所述俯仰轴臂(21)内设有俯仰轴臂收容腔(210)；所述横滚轴组件(1)还包括设置于第一收容腔(120)和横滚轴臂收容腔(110)内的第一导线(13)，所述俯仰轴组件(2)还包括设置于所述第二收容腔(220)与俯仰轴臂收容腔(210)内的第二导线(23)，所述第一导线(13)与第二导线(23)电连接。

Description

三轴云台及三轴云台拍摄装置 技术领域
本申请涉及云台领域，尤其是一种三轴云台及三轴云台拍摄装置。
背景技术
现有技术中，云台的连接总线一般采用柔性印刷电路板的形式，并绕在机电耦合装置的电机轴外表面。在这种情况下，机电耦合装置的旋转体在一方向转动时，柔性电路板的一端部跟随旋转体旋转，柔性电路板的连接部在旋转体上松弛，反之在另一方向转动时柔性电路板在旋转体上绕紧。现有技术中另外一种解决方案是，所述云台的连接总线设置为不经过电机，直接从电机外头跟控制部分连接。其次，所述柔性印刷电路板裸露在云台的支撑臂的外部，与拍摄器等设备连接。
上述第一种方式采用柔性印刷电路板的形式绕在电机轴表面，需要较大绕线空间，增加大电机厚度，且柔性印刷电路板由于工艺决定了其只能传输速率较低的信号，无法传输高速率信号。上述第二种方式限制了连接总线的数量和云台转动的角度，容易发生绕线或连接总线刮破等问题，降低了云台使用寿命，尤其应用在多轴云台上，更加容易产生上述问题。
发明内容
本申请提供一种三轴云台及三轴云台拍摄装置。
根据本申请实施例的第一方面，提供一种三轴云台，用以安装拍摄 器组件，包括：横滚轴组件以及俯仰轴组件；其中所述横滚轴组件包括横滚轴臂以及安装于横滚轴臂一端的第一机电耦合装置，所述俯仰轴组件包括俯仰轴臂以及安装于俯仰轴臂一端的第二机电耦合装置，所述第一机电耦合装置包括第一空心电机轴，所述第一空心电机轴内设有第一收容腔；所述横滚轴臂内设有横滚轴臂收容腔，所述第一收容腔与横滚轴臂收容腔导通；所述第二机电耦合装置包括第二空心电机轴，所述第二空心电机轴内设有第二收容腔；所述俯仰轴臂内设有俯仰轴臂收容腔，所述第二收容腔与俯仰轴臂收容腔导通；所述横滚轴组件还包括设置于第一收容腔和横滚轴臂收容腔内的第一导线，所述俯仰轴组件还包括设置于所述第二收容腔与俯仰轴臂收容腔内的第二导线，所述第一导线与第二导线电连接。
根据本申请实施例的第二方面，提供一种三轴云台，包括上述实施例中所述的三轴云台的描述技术特征，其中所述一导线和/或第二导线是同轴线。
根据本申请实施例的第三方面，提供一种三轴云台拍摄装置，包括机身、拍摄器组件以及连接在所述机身和拍摄器组件之间的所述三轴云台。需要说明的是，在如上所述的实施例中关于所述三轴云台的描述同样适用于本申请提供的三轴云台拍摄装置。
本申请的实施例提供的技术方案可以包括以下有益效果：所述三轴云台的导线在机电耦合装置内采用穿轴设置，且所述导线同时也设置在云台的支撑臂内，因此不会存在绕线或导线刮破等问题，同时使得结构更加紧凑、可靠。
附图说明
图1是本申请实施例示出的一种三轴云台的轴测图。
图2是本申请实施例示出的一种三轴云台的主视图。
图3是图2中本申请实施例示出的一种三轴云台的A-A向视图。
图4是图2中本申请实施例示出的一种三轴云台的B-B向视图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1至图4，本申请提供一种三轴云台拍摄装置，包括机身(未图示)、拍摄器组件200和三轴云台100。所述三轴云台100连接在所述机身和所述拍摄器组件200之间。
所述三轴云台100用以安装拍摄器组件200，所述三轴云台100包括：横滚轴组件1以及俯仰轴组件2。其中所述横滚轴组件1包括横滚轴臂11以及安装于横滚轴臂11一端的第一机电耦合装置12。所述第一机电耦合装置12安装于所述横滚轴臂11的上端。所述俯仰轴组件2包括俯仰轴臂21以及安装于俯仰轴臂21一端的第二机电耦合装置22。所述第二机电耦合装置22安装于所述俯仰轴臂21端部。
如图3所示，所述第一机电耦合装置12包括第一空心电机轴121，所述第一空心电机轴121内设有第一收容腔120；所述横滚轴臂11内设有横滚轴臂收容腔110，所述第一收容腔120与横滚轴臂收容腔110导通，便于布置导线。如图4所示，所述第二机电耦合装置22包括第二空心电机 轴221，所述第二空心电机轴221内设有用于布线的第二收容腔220。所述俯仰轴臂21内设有俯仰轴臂收容腔210，所述第二收容腔220与俯仰轴臂收容腔210导通，便于布置导线。所述横滚轴组件1还包括设置于第一收容腔120和横滚轴臂收容腔110内的第一导线13。所述俯仰轴组件2还包括设置于所述第二收容腔220与俯仰轴臂收容腔210内的第二导线23，所述第一导线13与第二导线23电连接，具体如图3和图4所示。
本实施例中，所述三轴云台100的第一耦合装置12和第二耦合装置22内分别设置第一空心电机轴121和第二空心电机轴221。所述第一空心电机轴121和所述第二空心电机轴221内分别收容有第一导线13和第二导线23。所述第一导线13和第二导线23分别穿过所述第一空心电机轴121和第二空心电机轴221布线，无需以绕线形式设置在电机轴上，从而减少了绕线空间，使电机轴厚度减小。由于所述第一导线12和第二导线23穿轴设置使得云台总线更加简洁，装配更加简单。
如图3所示，在一实施例中，所述三轴云台100的第一机电耦合装置12包括与所述第一导线13连接的第一连接器122。所述第一连接器122可以外接其他连接器连接，例如与三轴云台拍摄装置上的连接器连接或与设置在云台与三轴云台拍摄装置之间的中间连接器连接进行控制通讯。所述第一导线13穿过所述第一空心电机轴121的第一收容腔120与该第一连接器122连接；即所述第一导线13沿所述第一收容腔120的轴线穿过所述第一空心电机轴121布线，充分利用了所述第一空心电机轴121的空间。在三轴云台100转动时所述第一导线13不受所述第一空心电机轴121的转动跟随其转动，避免了所述第一导线13在第一空心电机轴121上松弛与绕紧的现象，同时避免了所述导线13绕线易划伤的缺点。
进一步地，如图2和图3所示，所述第一机电耦合装置12设有第一电机壳123，所述第一连接器122设置于第一电机壳123上。所述第一导线13与所述第一连接器122电连接。在一实施例中，所述第一电机壳123 和第一空心电机轴121一体成型，当然所述第一电机壳123和第一空心电机轴121也可以是焊接或其他固定连接。所述第一连接器122是板对板连接器。当所述第一连接器122与三轴云台拍摄装置的外接连接器(连接控制器，外接连接器是与所述第一连接器122相适配的板对板连接器)连接时，所述第一导线13用于传输第一耦合装置12和第二耦合装置22的交互数据。采用板对板连接器与三轴云台拍摄装置连接，保证了三轴云台100与三轴云台拍摄装置高速率数据传输的稳定性，同时提高了三轴云台拍摄装置的可操作性。
进一步地，如图4所示，所述第二机电耦合装置22包括与所述第二导线23连接的第二连接器223，该所述第二连接器223与拍摄组件200连接。在一实施例中，所述俯仰轴臂2上设置第二机电耦合装置22一端的另一端设有用以安装拍摄器组件200的安装端24，所述第二导线23从该安装端24伸出与所述拍摄组件200连接。所述安装端24设有第三机电耦合装置(未图示)，用以与所述拍摄器组件200配合。本申请设置两个安装端24分别位于所述第二机电耦合装置22的两侧并分别与所述拍摄器组件200连接。
所述第二导线23穿过所述第二空心电机轴221与该第二连接器223连接，即从所述拍摄器组件200端通过所述第二导线23连接至所述第二连接器223。所述第二连接器223通过所述第一导线13连接至第一连接器122，实现了所述拍摄器组件200与三轴云台拍摄装置之间的数据传输通路。
在上述实施例中所述第一导线13与第二导线23直接连接；也可以使得所述第一导线13与第二导线23一体设置，即设置所述第一导线13和第二导线23为一根导线。
进一步地，如图4所示，所述第二机电耦合装置22设有第二电机壳222，所述第二连接器223设置于第二电机壳222上。所述第二电机壳222 和第二空心电机轴221一体成型，当然所述第二电机壳222和第二空心电机轴221也可以是焊接或其他固定连接。所述第二连接器223固定设置在所述第二电机壳体222上，所述第一连接器122设置于第一电机壳123上，所述第一连接器123和第二连接器223均为固定设置，可与外接连接器卡接或固定连接实现数据通讯，不易损坏内部线路，例如防护第一导线13和第二导线23损坏。
如图4所示，在一实施例中，所述横滚轴臂组件2包括设置在所述横滚轴臂11与第二机电耦合装置22连接的一端上的与所述第一导线13连接的中间连接器(未图示)。即所述中间连接器设置在所述第一连接器122和第二连接器223之间，所述第一导线13的两端分别连接在第一连接器122和所述中间连接器上；使所述中间连接器与第二连接器223连接。在该实施例中所述第二连接器223和中间连接器是相互配对的板对板连接器，所述第一连接器122通过第一导线13与所述中间连接器连接，所述中间连接器与所述第二连接器223配对连接进行数据传输。使用板对板连接器保证了三轴云台100与三轴云台拍摄装置的控制部分高速率数据传输的稳定性，同时提高了三轴云台拍摄装置的可操作性。所述中间连接器与第二连接器223的板对板连接与所述第一连接器122与所述三轴云台拍摄装置的控制器连接相同或相似。
在一实施例中，所述的三轴云台100的所述一导线13和/或第二导线14是同轴线。如图3和图4所示，所述同轴线位于所述横滚轴收容腔110和/或所述俯仰轴臂收容腔210内的部分为平铺设置，即所述第一导线13位于所述横滚轴收容腔110为平铺设置，位于所述第一横滚轴臂11的轴臂段内贴在轴臂表面走线。所述第二导线14位于所述俯仰轴臂收容腔210内的部分为平铺设置，位于所述俯仰轴臂21的轴臂段内贴在所述轴臂表面走线。所述第一收容腔120和/或第二收容腔第二收容腔220内的部分为分散无封装设置，呈自由状态。
综上所述，所述三轴云台的导线在机电耦合装置内采用穿轴设置，且所述导线同时也设置在云台的支撑臂内，因此不会存在绕线或导线刮破等问题，同时使得结构更加紧凑、可靠。第一连接器和第二连接器采用板对板连接器，且采用同轴线可以克服柔性印刷电路板容易绕线等不足，不仅利于电连接，而且提高了云台信号带宽和传输速率。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。
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Claims (32)

  1. 一种三轴云台，用以安装拍摄器组件，包括：横滚轴组件以及俯仰轴组件；其中所述横滚轴组件包括横滚轴臂以及安装于横滚轴臂一端的第一机电耦合装置，所述俯仰轴组件包括俯仰轴臂以及安装于俯仰轴臂一端的第二机电耦合装置，其特征在于：所述第一机电耦合装置包括第一空心电机轴，所述第一空心电机轴内设有第一收容腔；所述横滚轴臂内设有横滚轴臂收容腔，所述第一收容腔与横滚轴臂收容腔导通；所述第二机电耦合装置包括第二空心电机轴，所述第二空心电机轴内设有第二收容腔；所述俯仰轴臂内设有俯仰轴臂收容腔，所述第二收容腔与俯仰轴臂收容腔导通；所述横滚轴组件还包括设置于第一收容腔和横滚轴臂收容腔内的第一导线，所述俯仰轴组件还包括设置于所述第二收容腔与俯仰轴臂收容腔内的第二导线，所述第一导线与第二导线电连接。
  2. 如权利要求1所述的三轴云台，其特征在于：所述第一机电耦合装置包括与所述第一导线连接的第一连接器，所述第一导线穿过所述第一空心电机轴的第一收容腔与该第一连接器连接。
  3. 如权利要求2所述的三轴云台，其特征在于：所述第一机电耦合装置设有第一电机壳，该第一连接器设置于第一电机壳上。
  4. 如权利要求3所述的三轴云台，其特征在于：所述第一连接器是板对板连接器。
  5. 如权利要求3所述的三轴云台，其特征在于：所述第一电机壳和第一空心电机轴一体成型。
  6. 如权利要求1所述的三轴云台，其特征在于：所述第二机电耦合装置包括与所述第二导线连接的第二连接器，所述第二导线穿过所述第二空心电机轴与该第二连接器连接。
  7. 如权利要求6所述的三轴云台，其特征在于：所述第二机电耦合装置设有第二电机壳，该第二连接器设置于第二电机壳上。
  8. 如权利要求7所述的三轴云台，其特征在于：所述第二电机壳和第二空心电机轴一体成型。
  9. 如权利要求7所述的三轴云台，其特征在于：所述横滚轴臂组件包括设置在所述横滚轴臂与第二机电耦合装置连接的一端上的与所述第一导线连接的中间连接器；所述中间连接器与第二连接器连接。
  10. 如权利要求9所述的三轴云台，其特征在于：所述第二连接器和中间连接器是相互配对的板对板连接器。
  11. 如权利要求1所述的三轴云台，其特征在于：所述第一导线与第二导线直接连接。
  12. 如权利要求1所述的三轴云台，其特征在于：所述第一导线与第二导线一体设置。
  13. 如权利要求1所述的三轴云台，其特征在于：所述俯仰轴臂上设置第二机电耦合装置一端的另一端设有用以安装拍摄器组件的安装端，所述第二导线从该安装端伸出。
  14. 如权利要求13所述的三轴云台，其特征在于：所述安装端设有第三机电耦合装置，用以与所述拍摄器组件配合。
  15. 如权利要求1所述的三轴云台，其特征在于：所述一导线和/或第二导线是同轴线。
  16. 如权利要求15所述的三轴云台，其特征在于：所述同轴线位于所述横滚轴收容腔和/或所述俯仰轴臂收容腔内的部分为平铺设置，位于第一收容腔和/或第二收容腔内的部分为分散无封装设置。
  17. 一种三轴云台拍摄装置，包括机身、拍摄器组件以及连接在所述机身和拍摄器组件之间的三轴云台，所述三轴云台包括：横滚轴组件以及俯仰轴组件；其中所述横滚轴组件包括横滚轴臂以及安装于横滚轴臂一端的第一机电耦合装置，所述俯仰轴组件包括俯仰轴臂以及安装于俯仰轴臂一端的第二机电耦合装置，其特征在于：所述第一机电耦合装置包括第一空心电机轴，所述第一空心电机轴内设有第一收容腔；所述横滚轴臂内设 有横滚轴臂收容腔，所述第一收容腔与横滚轴臂收容腔导通；所述第二机电耦合装置包括第二空心电机轴，所述第二空心电机轴内设有第二收容腔；所述俯仰轴臂内设有俯仰轴臂收容腔，所述第二收容腔与俯仰轴臂收容腔导通；所述横滚轴组件还包括设置于第一收容腔和横滚轴臂收容腔内的第一导线，所述俯仰轴组件还包括设置于所述第二收容腔与俯仰轴臂收容腔内的第二导线，所述第一导线与第二导线电连接。
  18. 如权利要求17所述的三轴云台，其特征在于：所述第一机电耦合装置包括与所述第一导线连接的第一连接器，所述第一导线穿过所述第一空心电机轴的第一收容腔与该第一连接器连接。
  19. 如权利要求18所述的三轴云台，其特征在于：所述第一机电耦合装置设有第一电机壳，该第一连接器设置于第一电机壳上。
  20. 如权利要求19所述的三轴云台，其特征在于：所述第一连接器是板对板连接器。
  21. 如权利要求20所述的三轴云台，其特征在于：所述第一电机壳和第一空心电机轴一体成型。
  22. 如权利要求17所述的三轴云台，其特征在于：所述第二机电耦合装置包括与所述第二导线连接的第二连接器，所述第二导线穿过所述第二空心电机轴与该第二连接器连接。
  23. 如权利要求22所述的三轴云台，其特征在于：所述第二机电耦合装置设有第二电机壳，该第二连接器设置于第二电机壳上。
  24. 如权利要求23所述的三轴云台，其特征在于：所述第二电机壳和第二空心电机轴一体成型。
  25. 如权利要求23所述的三轴云台，其特征在于：所述横滚轴臂组件包括设置在所述横滚轴臂与第二机电耦合装置连接的一端上的与所述第一导线连接的中间连接器；所述中间连接器与第二连接器连接。
  26. 如权利要求25所述的三轴云台，其特征在于：所述第二连接器和中间连接器是相互配对的板对板连接器。
  27. 如权利要求17所述的三轴云台，其特征在于：所述第一导线与第二导线直接连接。
  28. 如权利要求17所述的三轴云台，其特征在于：所述第一导线与第二导线一体设置。
  29. 如权利要求17所述的三轴云台，其特征在于：所述俯仰轴臂上设置第二机电耦合装置一端的另一端设有用以安装拍摄器组件的安装端，所述第二导线从该安装端伸出。
  30. 如权利要求29所述的三轴云台，其特征在于：所述安装端设有第三机电耦合装置，用以与所述拍摄器组件配合。
  31. 如权利要求17所述的三轴云台，其特征在于：所述一导线和/或第二导线是同轴线。
  32. 如权利要求31所述的三轴云台，其特征在于：所述同轴线位于所述横滚轴收容腔和/或所述俯仰轴臂收容腔内的部分为平铺设置，位于第一收容腔和/或第二收容腔内的部分为分散无封装设置。
PCT/CN2016/101623 2016-10-10 2016-10-10 三轴云台及三轴云台拍摄装置 Ceased WO2018068173A1 (zh)

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CN201680003328.6A CN107076350B (zh) 2016-10-10 2016-10-10 三轴云台及三轴云台拍摄装置
JP2019518951A JP6773900B2 (ja) 2016-10-10 2016-10-10 ３軸雲台および３軸雲台撮影装置
EP16918473.6A EP3492391B1 (en) 2016-10-10 2016-10-10 Three-axis pan-tilt base, and three-axis pan-tilt camera device
PCT/CN2016/101623 WO2018068173A1 (zh) 2016-10-10 2016-10-10 三轴云台及三轴云台拍摄装置
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EP21160506.8A EP3848291A1 (en) 2016-10-10 2016-10-10 Three-axis pan-tilt base, and three-axis pan-tilt camera device
US16/377,912 US11281076B2 (en) 2016-10-10 2019-04-08 Three-axis gimbal and three-axis gimbal photographing apparatus
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