TWI592601B - Gimbals - Google Patents

Description

Yuntai organization

The present invention relates to a pan/tilt mechanism, and more particularly to a pan/tilt mechanism having three axial adjustment directions.

In order to meet different shooting needs and precisely control the shooting angle and direction of the camera, the PTZ mechanism is an indispensable important accessory in shooting operations. Among them, the pan/tilt mechanism that can rotate in three dimensions with three axial motors is popular because of its high accuracy and high stability.

Referring to FIG. 1 , a three-axis conventional pan/tilt mechanism 9 is disclosed. The pan-tilt mechanism 9 includes a first support arm 91 , a second support arm 92 and a carrier 93 , and a first motor M1 . The second motor M2 is coupled between the second support arm 92 and the carrier 93, and a third motor M3 is disposed between the first support arm 91 and the second support arm 92. The frame 93 is provided for combining a camera C. Thereby, the pan/tilt mechanism 9 can provide three axial steering operations through the first motor M1, the second motor M2 and the third motor M3 to be fixed at one end of the first support arm 91. In this case, the photographing angle and the photographing direction of the image pickup device C on the carrier 93 are further changed. For a similar structure, refer to the Patent No. M492992 of the Republic of China.

However, since the pan-tilt mechanism 9 is formed by combining a plurality of support arms, when the camera C is placed on the carrier 93, the stress generated by the weight of the camera C will be concentrated on the first support arm. 91 and the second support arm 92 can easily cause the first support arm 91 and the second support arm 92 to be broken. The above situation highlights the problem that the conventional pan/tilt mechanism 9 has poor structural strength. question.

In addition, since the first motor M1 is coupled between the first support arm 91 and the second support arm 92, when the first support arm 91 and the second support arm 92 are driven by the first motor M1, When rotating, the pan/tilt mechanism 9 as a whole has a large radius of rotation, which in turn causes the pan/tilt mechanism 9 to reserve more installation space. The above situation highlights the problem that the conventional pan-tilt mechanism 9 has a space for installation.

In view of this, 遂 provides a cloud platform mechanism to solve the problems of poor structural strength and costly installation space of the conventional cloud platform.

The object of the present invention is to provide a pan/tilt mechanism that embeds a shaft assembly in an outer frame body, thereby avoiding the weight of the entire pan/tilt mechanism being concentrated on a specific structure and having the effect of improving structural strength.

Another object of the present invention is to provide a pan/tilt mechanism that is coupled to an outer frame body and an inner member thereof, which can reduce the radius of rotation of the pan/tilt mechanism during rotation, and save space for installation. Effect.

In order to achieve the foregoing object, the pan/tilt mechanism of the present invention comprises: a first frame body having a first receiving space; a first shaft connecting component, one end of the first shaft connecting component forming a The second frame body has a second accommodating space, and the second frame body is disposed on the first frame body. The second frame body has a second accommodating space, and the second frame body is disposed on the first frame body. In the first accommodating space; a second splicing assembly, the two ends of the second splicing assembly are respectively coupled to the first frame and the second frame; and a mounting seat, the mounting has an accommodating The second mounting member is disposed in the second receiving space of the second frame; and a third shafting assembly, the two ends of the third shafting assembly are respectively coupled to the second frame and the mounting seat; Wherein the first shaft assembly has a first axial direction, the second shaft assembly has a second axial direction, and the third shaft assembly has a third axial direction, the first axial direction, the second Any two of the axial direction and the third axial direction are perpendicular to each other, wherein The first housing has a shaft space, the first housing space and the shaft space are located on opposite sides of the first frame, and the first shaft assembly forms one end of the joint protruding from the shaft Space, the other end of the first shaft assembly extends into the shaft joint space to join the first frame. Therefore, the pan/tilt mechanism of the present invention can be disposed without any support arm, except that the weight of the whole gimbal mechanism can be prevented from being concentrated outside the support arm, and the installation space required for maintaining the normal rotation of the support arm is not required. It has the effects of increasing structural strength and saving installation space.

The two ends of the second shaft assembly are located in the first accommodating space of the first frame. Therefore, the pan/tilt mechanism of the present invention can be disposed without any support arm, except that the weight of the whole gimbal mechanism can be prevented from being concentrated outside the support arm, and the installation space required for maintaining the normal rotation of the support arm is not required. It has the effects of increasing structural strength and saving installation space.

The two ends of the third shaft assembly are located in the second accommodating space of the second frame. Therefore, the pan/tilt mechanism of the present invention can be disposed without any support arm, except that the weight of the whole gimbal mechanism can be prevented from being concentrated outside the support arm, and the installation space required for maintaining the normal rotation of the support arm is not required. It has the effects of increasing structural strength and saving installation space.

Wherein, the base further has a base coupled to the joint portion of the first shaft joint assembly. Thereby, the base can be combined with a suspended device, so that the pan/tilt mechanism of the present invention can be easily combined with the suspended device, and the effect of improving the setting convenience is enhanced.

The pedestal has a first substrate, a suspension component and a second substrate, the first substrate is coupled to the joint portion of the first shaft assembly, and the suspension component is disposed on the first substrate and Between the second substrates. Thereby, the suspension assembly can reduce the vibration transmitted from the suspended device to the pan/tilt mechanism body, so that the pan/tilt mechanism of the present invention can perform the photographing operation in a more stable manner, and has the effect of maintaining the stability of the photographing operation.

The second frame has a spherical frame and a cover plate, and the spherical frame and the cover plate are combined to form the second receiving space. With the above arrangement, the second frame can be smoothly rotated in the first frame, and the effect of maintaining the normal operation of the pan/tilt mechanism can be achieved.

The cover has an opening that is aligned with the receiving portion of the mounting seat. Thereby, an image pickup apparatus can perform a photographing operation through the opening, and has an effect of maintaining normal operation of the photographing operation.

The accommodating portion of the mounting base is for combining an imaging device. This has the effect of performing a shooting job.

The first shaft assembly, the second shaft assembly and the third shaft assembly each have a motor. This has the effect of rotating the mount in three dimensions.

〔this invention〕

1‧‧‧ first frame

11‧‧‧First accommodation space

12‧‧‧Axis space

2‧‧‧First shaft assembly

21‧‧‧Combination Department

3‧‧‧ second frame

31‧‧‧Ball frame

32‧‧‧ Cover

321‧‧‧ openings

33‧‧‧Second accommodation space

4‧‧‧Second shaft assembly

5‧‧‧ Mounting

51‧‧‧ 容部

6‧‧‧ Third shaft assembly

7‧‧‧Base

71‧‧‧First substrate

72‧‧‧Shock components

73‧‧‧second substrate

C‧‧‧ camera

D‧‧‧Hanging device

X‧‧‧first axial direction

Y‧‧‧second axial

Z‧‧‧third axial

[study]

9‧‧‧PTZ institutions

91‧‧‧First support arm

92‧‧‧second support arm

93‧‧‧ Carrier

M1‧‧‧first motor

M2‧‧‧second motor

M3‧‧‧ third motor

C‧‧‧ camera

Figure 1: A combination of the traditional cloud platform.

Figure 2: An exploded view of the gimbal mechanism of the present invention.

Figure 3: Combination diagram of the gimbal mechanism of the present invention.

Fig. 4 is a schematic view showing the rotation of the pan/tilt mechanism of the present invention with the first shaft joint assembly.

Fig. 5 is a schematic view showing the rotation of the second platform assembly by the pan/tilt mechanism of the present invention.

Fig. 6 is a schematic view showing the combination of an external device of the gimbal mechanism of the present invention.

Figure 7 is a schematic view showing the rotation of the pan/tilt mechanism of the present invention with the third shaft joint assembly.

The above and other objects, features and advantages of the present invention will become more <RTIgt; The pan/tilt mechanism of the present invention comprises: a first frame body 1, a first shaft joint assembly 2, a second frame body 3, a second shaft joint assembly 4, a mounting base 5 and a third shaft joint assembly 6. The first shaft assembly 2 is coupled to the first frame body 1 , and the second frame body 3 is coupled to the first frame body 1 by the second shaft assembly 4 , and the mounting base 5 is connected to the third shaft assembly 6 . The second frame 3 is combined.

The first frame body 1 has a first receiving space 11 and a shaft receiving space 12, The first accommodating space 11 and the axial space 12 are located on opposite sides of the first frame 1 . The structure of the first frame 1 is not limited herein. In the embodiment, the first frame 1 is a truss frame, and the truss frame has two ears. The first accommodating space forms the first accommodating space 11 between the two ear portions of the first frame body 1 , and the 框-shaped frame body of the first frame body 1 faces away from the two One side of the ear is recessed to form the shaft space 12.

One end of the first shaft assembly 2 forms a joint portion 21, and the other end of the first shaft joint assembly 2 is coupled to the first frame body 1. In this embodiment, the first shaft joint assembly 2 forms one end of the joint portion 21 to protrude from the shaft joint space 12, and the other end of the first shaft joint assembly 2 extends into the shaft joint space 12 to combine the first A frame 1. Thereby, most of the structure of the first shaft joint assembly 2 can be accommodated in the first frame body 1 without additionally connecting a support arm, except that the stress generated by the weight of the entire pan/tilt mechanism can be avoided. Outside the support arm, it is not necessary to reserve the installation space required to maintain the normal rotation of the support arm, which has the effects of improving structural strength and saving installation space.

The second frame 3 is disposed in the first accommodating space 11 of the first frame 1 , and the arrangement of the third frame 3 in the first frame 1 is not limited herein. In the present embodiment, the first frame 1 is coupled to the second frame 3 by two opposite ears of the 框-shaped frame. The second frame body 3 has a ball frame 31, a cover plate 32 and a second accommodating space 33. The ball frame 31 and the cover plate 32 are combined to form the second accommodating space 33, and the cover The plate 32 has an opening 321 which is aligned with the mount 5. By the arrangement of the spherical frame 31 and the cover 32, the second frame 3 can be smoothly rotated in the first frame 1, and the effect of maintaining the normal operation of the pan/tilt mechanism can be achieved.

The two ends of the second shaft assembly 4 are respectively coupled to the first frame 1 and the second frame 3. In this embodiment, the two ends of the second shaft assembly 4 are located in the first accommodating space 11 of the first frame body 1, and the two ends of the second shaft assembly 4 are respectively combined with the first The frame 1 and the second frame 3 face the wall surface of the first housing space 11 (that is, the inner wall surface of the first housing 1 and the outer wall surface of the second housing 3). Thereby, the second shaft joint assembly 4 can be completely buried in the first The inside of the frame 1 is accommodated between the first frame 1 and the second frame 3, and no additional support arm is required, except that the stress generated by the weight of the pan/tilt mechanism can be avoided. Outside the support arm, it is not necessary to reserve the installation space required to maintain the normal rotation of the support arm, which has the effects of improving structural strength and saving installation space.

The mounting seat 5 has a receiving portion 51 disposed in the second receiving space 33 of the second frame 3 . The accommodating portion 51 of the mounting base 5 is coupled to a camera device C, wherein the opening 321 of the cover 32 of the second frame 3 is aligned with the accommodating portion 51 of the mounting seat 5, and the opening The 321 may also or may not be provided with a transparent lens to prevent the second frame 3 from shielding the camera C, so that the lens of the camera C can perform the shooting operation through the opening 321, and maintain the normal operation of the shooting operation. effect.

The two ends of the third shaft joint assembly 6 are respectively coupled to the second frame body 3 and the mounting base 5. In this embodiment, the two ends of the third shaft assembly 6 are located in the second accommodating space 33 of the second frame 3, and the two ends of the third shaft assembly 6 respectively combine the first The two frames 3 and the mounting seat 5 face the wall surface of the second accommodating space 33 (that is, the inner wall surface of the second frame 3 and one side of the mounting seat 5). Thereby, the third shaft joint assembly 6 can be completely embedded in the second frame body 3 and accommodated between the second frame body 3 and the mounting seat 5 without additional support for a support arm. The stress generated by the overall weight of the gimbal mechanism can be avoided from being concentrated outside the support arm, and the installation space required for maintaining the normal rotation of the support arm is not required, and the structure strength and the installation space are saved.

The first shaft assembly 2, the second shaft assembly 4, and the third shaft assembly 6 can be formed by any rotating structure and driving device, such as the first shaft assembly 2 and the second shaft assembly. 4 and the third shaft assembly 6 respectively have a motor, and the first shaft assembly 2 has a first axial direction X, and the second shaft assembly 4 has a second portion, driven by the respective motors. In the axial direction Y, the third shaft joint assembly 6 has a third axial direction Z, and any two of the first axial direction X, the second axial direction Y and the third axial direction Z are perpendicular to each other. Thereby, the pan/tilt machine of the present invention The first axial joint assembly 2, the second axial joint assembly 4 and the third joint assembly 6 can provide three axial steering operations with the effect of rotating the mount 5 in three dimensions. .

Referring to FIGS. 2 and 3 at the same time, the pan/tilt mechanism of the present invention may further have a base 7 which is coupled to the joint portion 21 of the first shaft joint assembly 2. In more detail, the pedestal 7 has a first substrate 71, a suspension component 72 and a second substrate 73. The first substrate 71 is coupled to the joint portion 21 of the first shaft assembly 2, The vibration unit 72 is disposed between the first substrate 71 and the second substrate 73. The suspension assembly 72 can be a plurality of suspension balls. Thereby, when one end of the base 7 is coupled to the joint portion 21 of the first shaft assembly 2, the other end of the base 7 can be combined with a suspended device (for example, an unmanned reconnaissance machine, etc.). The pan/tilt mechanism of the invention can be easily combined with the suspended device, and has the effect of improving the convenience of installation. In addition, when the base 7 is provided with the suspension assembly 72, the suspension assembly 72 can reduce the vibration transmitted by the suspension device to the pan/tilt mechanism body. When the pan/tilt mechanism of the present invention is combined with the camera device C, When the shooting operation is performed, the shooting operation can be performed in a smoother manner, which has the effect of maintaining the stability of the shooting operation.

Referring to FIG. 4, in the actual operation of the pan/tilt mechanism of the present invention, the base 7 and the first frame 1 can be rotated by the first shaft assembly 2, and the first The frame 1 can drive the second frame 3 to rotate synchronously, and adjust the horizontal direction of the opening 321 of the second frame 3 in the first axial direction X (in terms of the drawing), thereby improving the convenience of shooting. Effect.

Referring to FIG. 5, in the actual operation of the pan/tilt mechanism of the present invention, the first frame body 1 and the second frame body 3 can be rotated by the second shaft assembly 4 to be relatively rotated. In the second axial direction Y, the pitch angle of the opening 321 of the second frame 3 is adjusted (in terms of the drawing), and the effect of improving the photographing convenience is enhanced.

Please refer to FIGS. 6 and 7 at the same time, in the actual operation of the pan/tilt mechanism of the present invention, the base 7 can be coupled with a suspended device D, and when the suspended device D is as shown in FIG. When the tilting is performed, the second frame body 3 and the mounting base 5 can be rotated by the third shaft joint assembly 6 to adjust the rotation angle of the mounting seat 5 in the third axial direction Z ( According to the drawing, the imaging device C provided on the mount 5 can stably perform a photographing operation, and has an effect of improving photographing convenience.

In summary, the pan/tilt mechanism of the present invention allows a plurality of shaft joint assemblies to be embedded in the first frame body 1 without any support arm, and the above arrangement can avoid the weight of the entire pan/tilt mechanism being concentrated. The support arm is not required to reserve the installation space required for the normal rotation of the support arm, and has the effects of improving structural strength and saving installation space.

While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.

1‧‧‧ first frame

11‧‧‧First accommodation space

12‧‧‧Axis space

2‧‧‧First shaft assembly

21‧‧‧Combination Department

3‧‧‧ second frame

31‧‧‧Ball frame

32‧‧‧ Cover

321‧‧‧ openings

33‧‧‧Second accommodation space

4‧‧‧Second shaft assembly

5‧‧‧ Mounting

51‧‧‧ 容部

6‧‧‧ Third shaft assembly

7‧‧‧Base

71‧‧‧First substrate

72‧‧‧Shock components

73‧‧‧second substrate

C‧‧‧ camera

X‧‧‧first axial direction

Y‧‧‧second axial

Z‧‧‧third axial

Claims (9)

A pan/tilt mechanism includes: a first frame body having a first receiving space; a first shaft connecting component, one end of the first shaft connecting component forming a joint portion, the first shaft The other end of the first frame is coupled to the first frame; the second frame has a second receiving space, and the second frame is disposed in the first receiving space of the first frame a second shafting assembly, the two ends of the second shafting assembly are respectively coupled to the first frame body and the second frame body; a mounting seat, the mounting seat has a receiving portion, the mounting seat is disposed at The second housing of the second frame; and a third shaft assembly, the two ends of the third shaft assembly are respectively coupled to the second frame and the mounting; wherein the first shaft is connected The assembly has a first axial direction, the second axial joint assembly has a second axial direction, and the third axial joint assembly has a third axial direction, the first axial direction, the second axial direction and the third axial axis Any two of the two are perpendicular to each other, wherein the first housing has a shaft space, and the first housing space and the shaft space are located An opposite end of the frame, the first shaft assembly forming one end of the joint protrudes from the shaft joint space, and the other end of the first shaft joint assembly extends into the shaft joint space to join the first frame body . The pan/tilt mechanism of claim 1, wherein the two ends of the second shaft assembly are located in the first accommodating space of the first frame. The pan/tilt mechanism of claim 1, wherein the two ends of the third pivoting component are located in the second accommodating space of the second frame. The pan/tilt mechanism of claim 1, further comprising a base coupled to the joint of the first pivot assembly. The pan/tilt mechanism of claim 4, wherein the base has a first substrate, a suspension component and a second substrate, the first substrate being coupled to the joint of the first pivot assembly The suspension component is disposed between the first substrate and the second substrate. The pan/tilt mechanism of claim 1, wherein the second frame has a spherical frame and a cover, and the spherical frame and the cover are combined to form the second receiving space. The pan/tilt mechanism of claim 6, wherein the cover has an opening that is aligned with the receiving portion of the mount. The pan/tilt head mechanism of claim 1, wherein the accommodating portion of the mount is for combining an image pickup device. The pan/tilt mechanism of claim 1, wherein the first shaft assembly, the second shaft assembly, and the third shaft assembly each have a motor.