CN108332023B

CN108332023B - Two-axis and three-axis pan-tilt and shooting equipment thereof

Info

Publication number: CN108332023B
Application number: CN201710043798.1A
Authority: CN
Inventors: 付欣; 谢张涛; 杨建军
Original assignee: Beijing Yuandu Internet Technology Co ltd
Current assignee: Beijing Yuandu Internet Technology Co.,Ltd.
Priority date: 2017-01-19
Filing date: 2017-01-19
Publication date: 2021-04-30
Anticipated expiration: 2037-01-19
Also published as: CN108332023A

Abstract

The invention relates to a cloud deck structure and the application field thereof, aims to solve the problem of large volume of a cloud deck in the prior art, and provides a two-axis cloud deck for driving a load device. Which includes a first motor and a second motor. The first motor and the second motor are both swing angle voice coil motors. The first motor comprises a first stator and a first rotor which are matched with each other. The second motor comprises a second stator and a second rotor which are matched with each other. The first rotor is connected with the second stator in a matching mode and used for driving the second motor to move, and the rotating axis of the first motor is not parallel to the rotating axis of the second motor. The load device is connected to the second mover. The invention also provides a three-axis holder with the two-axis holder, two-axis shooting equipment and three-axis shooting equipment. The invention has the advantages of compact structure, reasonable space planning and small volume.

Description

Two-axis and three-axis pan-tilt and shooting equipment thereof

Technical Field

The invention relates to a holder structure and the application field thereof. In particular to a two-axis tripod head. The invention further relates to two-axis shooting equipment based on the two-axis holder. The invention also relates to a three-axis holder based on the two-axis holder and three-axis shooting equipment based on the three-axis holder.

Background

A pan/tilt head is a support table for mounting a load device, and is generally used for mounting an imaging device such as a video camera or a still camera. When the imaging device is fixed on the holder, the position and the angle of the imaging device can be changed by driving the imaging device to move through the holder, so that the shot target can be actively tracked and positioned. The movement of the cradle head driving the imaging device can also be used for compensating the influence of environmental disturbance (such as bad vibration) on the pose of the imaging device, and the imaging device is ensured to be in a stable working state.

Due to the reasons of structural design, space planning and the like, the existing cradle head is large in size and difficult to break through the bottleneck to realize further miniaturization.

Disclosure of Invention

The invention aims to provide a two-axis tripod head to solve the problem that the tripod head in the prior art is large in size.

The second purpose of the invention is to provide a two-axis shooting device based on the two-axis tripod head.

The third purpose of the invention is to provide a three-axis tripod head based on the two-axis tripod head.

The fourth purpose of the invention is to provide a triaxial shooting device based on the triaxial holder.

The fifth purpose of the invention is to provide another triaxial shooting device based on the triaxial holder.

The embodiment of the invention is realized by the following steps:

a two-axis pan-tilt is used for driving a load device. Which includes a first motor and a second motor. The first motor and the second motor are both swing angle voice coil motors. The first motor comprises a first stator and a first rotor which are matched with each other. The second motor comprises a second stator and a second rotor which are matched with each other. The first rotor is connected with the second stator in a matching mode and used for driving the second motor to move, and the rotating axis of the first motor is not parallel to the rotating axis of the second motor. The load device is connected to the second mover.

The second stator in this embodiment is cooperatively coupled to the first mover such that the first motor and the second motor are coupled together in series. The two-shaft holder in the embodiment breaks through the bottleneck that a load device supported by the holder in the prior art is fixedly connected with the motor rotor along the axial direction of the motor to further miniaturize the holder, and is connected in a series connection mode through two swing angle voice coil motors (a first motor and a second motor), so that the whole occupied space of the first motor and the second motor can be greatly reduced, the whole integration level of the two-shaft holder is improved, and the whole volume is reduced.

A two-axis shooting device comprises a carrier device, a load device and the two-axis cloud deck. The load device is fixedly connected to the carrier device through the two-axis cradle head. The load device is an image forming device.

The two-axis shooting equipment in the embodiment also has the beneficial effects due to the two-axis holder.

The utility model provides a three-axis cloud platform, its includes aforementioned two-axis cloud platform, still includes the third motor, and the third motor is the rotating electrical machines who constitutes by normal running fit's fixed part and rotation portion. The rotating part of the third motor is relatively fixedly connected with the first stator.

The three-axis pan-tilt in the embodiment has the beneficial effects due to the two-axis pan-tilt.

A three-axis holder comprises the two-axis holder and a third motor. The load device is connected to the second mover through a third motor. The third motor is a rotating motor composed of a fixed part and a rotating part which are in rotating fit. The fixed part of the third motor is fixedly connected to the second rotor, and the rotating part of the third motor is used for being connected with a load device.

The triaxial shooting device in the embodiment has the beneficial effects due to the two-axis holder.

A triaxial shooting device comprises a carrier device, a load device and the triaxial holder. The load device is fixedly connected to the carrier device through the three-axis holder. The load device is an image forming device.

The triaxial shooting equipment in the embodiment also has the beneficial effects due to the triaxial holder.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a two-axis pan-tilt according to a first embodiment of the present invention;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is a schematic view of the two-axis tripod head of FIG. 1 rotated 45 degrees around the first rotation axis;

FIG. 4 is a schematic structural view of the two-axis tripod head of FIG. 1 after rotating 45 degrees around the second rotation axis;

FIG. 5 is a schematic view of the two-axis tripod head of FIG. 1 rotated 45 degrees about the first rotation axis and 45 degrees about the second rotation axis;

FIG. 6 is an exploded view of the first movable portion of FIG. 2;

fig. 7 is a schematic structural diagram of a three-axis pan-tilt according to a second embodiment of the present invention;

fig. 8 is a schematic structural diagram of a three-axis pan-tilt according to a second embodiment of the present invention;

fig. 9 is a schematic structural view of a biaxial photographing apparatus in the fourth embodiment of the present invention;

fig. 10 is a schematic structural diagram of a triaxial apparatus according to a fifth embodiment of the present invention;

fig. 11 is a schematic structural diagram of a triaxial apparatus according to a sixth embodiment of the present invention.

Icon: 001-two-axis photographing device; 002-triaxial shooting equipment; 003-three-axis shooting equipment; 010-two-axis pan-tilt; 020-three-axis pan-tilt; 030-three-axis pan/tilt; 100-a first electric machine; 110-a first stator; 120-a first mover; 121-a first coil; 200-a second motor; 210-a second stator; 211-end engaging lugs; 212-side engaging lug; 220-a second mover; 300-a base; 310-a substrate; 320-a socket type seat; 330-support column; 331-a first pin hole; 400-rotating the seat; a 410-U-shaped frame; 420-a cross bar; 430-a first pin; 440-a second pin hole; 500-load connection seat; 510-a second pin; 600-a third motor; 610-a fixed part; 620-rotation part; b0-base; b1 — first moving part; b101-a matching groove; b11-counterpart; b2-second moving part; f0-carrier device; f1 — a load device; q1-first intersection; z1-first shaft; z2-second hinge; z3-third shaft; a1 — first direction; a 2-second direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Example one

Fig. 1 is a schematic structural diagram of a biaxial holder 010 according to a first embodiment of the present invention. Fig. 2 is an exploded view of fig. 1. In order to show the usage state, fig. 1 and 2 additionally show the structure of the load device F1 connected to the biaxial holder 010 in use in this embodiment by broken lines.

Referring to fig. 1, the two-axis tripod head 010 of the present embodiment includes a first motor 100 and a second motor 200, a base 300 and a rotating base 400 for supporting or connecting the first motor 100 and the second motor 200, and a load connecting base 500 for mounting a load device F1. The first motor 100 and the second motor 200 are both swing angle voice coil motors.

Referring to fig. 2 (see fig. 1 in a matching manner), the first motor 100 includes a first stator 110 and a first mover 120 that are matched with each other. The second motor 200 includes a second stator 210 and a second mover 220 that are coupled to each other. The second stator 210 is fixedly coupled to the first mover 120. The second stator 210 is coupled to the first mover 120 in a fitting manner such that the first motor 100 and the second motor 200 are coupled together in series. The two-axis cradle head 010 in the embodiment breaks through the bottleneck that the load device F1 supported by the cradle head in the prior art needs to be fixedly connected with the motor rotor along the axial direction of the motor to further miniaturize the cradle head, and is connected in a series connection mode through two swing angle voice coil motors (the first motor 100 and the second motor 200), so that the whole occupied space of the first motor 100 and the second motor 200 can be greatly reduced, the whole integration level of the two-axis cradle head 010 is improved, and the whole volume is reduced.

In the present embodiment, referring to fig. 2, as a whole, the first motor 100 is larger than the second motor 200, and the second motor 200 is located in the space defined by the first stator 110. Through the cooperation connected mode of first motor 100 and second motor 200 of this structure, the space that first stator 110 of make full use of was injectd further reduces the whole shared space of first motor 100 and second motor 200, has improved the whole integrated level of two-axis cloud platform 010, reduces whole volume.

In this embodiment, preferably, the second stator 210 is fixedly connected to a side of the rotating base 400 close to the first stator 110, and is located in a space defined by the rotating base 400 and the first stator 110. Thus, the second motor 200 is basically located in the space defined by the first stator 110, and the space defined by the first stator 110 is fully utilized, so that the structure is compact, and the further miniaturization of the two-axis tripod head 010 in the embodiment is facilitated.

With continued reference to fig. 2 (see also fig. 1), the first stator 110 is integrally fixed to the base 300 to form a base B0; the first rotor 120, the second stator 210 and the rotating base 400 are fixedly connected into a whole to form a first rotor part B1; the second mover 220 is fixedly connected to the load coupling socket 500 to form a second mover portion B2. The first moving part B1 is rotationally fitted to the base part B0 and is capable of rotating about the rotational axis of the first motor 100 under the drive of the first motor 100. The second moving part B2 is rotationally fitted to the first moving part B1 and can be rotated about the rotational axis of the second motor 200 by the driving of the second motor 200.

The rotational axis of the first motor 100 and the rotational axis of the second motor 200 are not parallel to each other. The rotation axis of the first motor 100 and the rotation axis of the second motor 200 are not parallel to each other, i.e., the rotation axes may be in a position relationship of being out of plane with each other or in a position relationship of being obliquely or perpendicularly intersected. Preferably, the rotational axis of the first motor 100 and the rotational axis of the second motor 200 perpendicularly intersect at a first intersection point Q1. For convenience of description, the rotation axis of the first motor 100 will be named as a first rotation axis Z1, and the rotation axis of the second motor 200 will be named as a second rotation axis Z2.

When in use, the load device F1 is connected to the second mover 220 through the load connection seat 500 fixedly connected to the second mover 220, and can rotate around the first rotation axis Z1 along with the second moving part B2 relative to the first moving part B1 under the driving of the second motor 200; and rotates around the second rotating shaft Z2 together with the first moving part B1 and the second moving part B2 under the driving of the first motor 100. The movement of the load device F1 is a superposition of its rotation about the first rotation axis Z1 and its rotation about the second rotation axis Z2, i.e. the load device F1 can be driven by the first motor 100 and the second motor 200 to realize a spherical rotation about the first intersection point Q1. Of course, the rotational range of the load device F1 is limited by the rotational strokes of the first motor 100 and the second motor 200.

Fig. 3, 4, and 5 respectively show schematic structural diagrams of the two-axis tripod head 010 in fig. 1 in three other poses. Wherein fig. 3 shows a schematic view of a state after the first motor 100 of fig. 1 is rotated by 45 ° (i.e., rotated by 45 ° in the first direction a1 of fig. 1), and fig. 4 shows a schematic view of a state after the second motor 200 of fig. 1 is rotated by 45 ° (i.e., rotated by 45 ° in the second direction a2 of fig. 1); fig. 5 shows a schematic view of the first and

second motors

100 and 200 of fig. 1 after they have been rotated by 45 ° respectively (i.e. rotated by 45 ° in the direction of fig. 1 and the second direction a2 respectively).

Fig. 6 is an exploded view of the first moving part B1 in fig. 2. Referring to fig. 6 (see fig. 2 in a matching manner), as mentioned above, the first mover 120, the second stator 210 and the rotating base 400 are fixedly connected to form the first moving portion B1. The second stator 210 is coupled to the rotary base 400, and the first mover 120 is coupled to the second stator 210. Specifically, the two ends of the second stator 210 are respectively connected to the end connection lugs 211, and the second stator 210 is fixedly connected to the rotation base 400 through the end connection lugs 211. The first mover 120 includes two first coils 121, and the two first coils 121 are respectively fixedly connected to two sides of the second stator 210. Specifically, side engaging lugs 212 are respectively disposed at both sides of the second stator 210, and the two first coils 121 are respectively connected to both sides of the second stator 210 through the corresponding side engaging lugs 212. The first motor 100 needs to additionally bear the weight of the entire second motor 200, as opposed to the second motor 200 which only needs to bear the load connecting socket 500 and the load device F1. Here, by providing the second mover 220 as two first coils 121, a sufficiently large driving force can be obtained. Correspondingly, two sides of the second stator 210 are respectively provided with a side connection lug 212, and the two first coils 121 are respectively and correspondingly fixedly connected to the two side connection lugs 212. Preferably, the two-axis head 010 further includes a fitting member B11 detachably attached to the side engaging lug 212, and the fitting member B11 is provided with a fitting groove B101 for fitting the first coil 121. During installation, the two first coils 121 may be respectively connected to the matching grooves B101 of the matching elements B11, and then the matching elements B11 may be fixedly connected to the corresponding side connection lugs 212, so as to achieve the matching connection between the second stator 210 and the first mover 120.

The first mover B1 in this embodiment may also be configured in such a manner that the first mover 120 and the second stator 210 are respectively connected to the rotary base 400 or in other manners, and only need to keep the three relatively fixed and move together.

The rotary base 400 in this embodiment may be provided in various structures. For example, referring to fig. 2, the rotary base 400 has a frame structure penetrating through the middle, preferably a rectangular frame structure. A set of opposite sides of the rotating base 400 are fixedly connected with a first pin shaft 430 extending to the outer side of the rotating base 400, respectively. The first stator 110 has two support posts 330 attached. The two supporting columns 330 are opposite to each other at intervals and respectively located at two sides of the first stator 110. The supporting column 330 is provided with a first pin hole 331 for supporting and rotatably matching the two first pins 430. And the relative rotation axes of the first pin shaft 430 and the first pin hole 331 coincide with the first rotation axis Z1. The other pair of opposite sides of the rotating base 400 are respectively provided with a second pin hole 440. Two sides of the second mover 220 are respectively and fixedly connected with a second pin 510. The two second pins 510 are correspondingly and rotatably engaged with the two second pin holes 440. And the relative rotation axes of the second pin shaft 510 and the second pin hole 440 coincide with the second rotation shaft Z2. To facilitate the assembly and disassembly of the structure connected thereto, the rotary base 400 is configured to be a structure mainly composed of a frame 410 of a U-shaped frame and a cross bar 420 detachably connected to an opening of the frame 410 of the U-shaped frame. Preferably, the rotating seat 400 is recessed inward where the second pin hole 440 is provided, so that it can accommodate the smaller first stator 110; the rotary base 400 is provided with the first pin 430 recessed inward so that the distance between the two support columns 330 can be set smaller. This arrangement can further reduce the overall outer dimension of the biaxial holder 010 in the present embodiment.

In this embodiment, it should be noted that the rotating base 400 may be omitted, and the second mover 220 may be directly rotatably supported by the second stator 210. Of course, to achieve this fit, a certain design of the structure of the second stator 210 is required.

As described above, the second mover 220 is fixedly coupled to the load coupling socket 500, forming the second mover portion B2. Wherein, the load connecting seat 500 is used for supporting and connecting the load device F1. Referring to fig. 2, the load connecting seat 500 in the present embodiment is a semi-cylindrical structure, and the axis thereof is parallel to the second rotating shaft Z2. The load connection socket 500 is located within a space defined by the second stator 210. With the space that make full use of second stator 210 limited, improve the compact structure nature of two axle cloud platform 010 in this embodiment, effectively reduce this two axle cloud platform 010's overall size, be favorable to two axle cloud platform 010's miniaturization. The load coupling seat 500 and the second mover 220 may be coupled by forming a hole in the load coupling seat 500, fitting the second mover 220 in the hole, and fastening the second mover to the second mover 220 by a screw.

It should be noted that, the aforementioned load connection seat 500 may be omitted, and the load device F1 may be directly and fixedly connected to the second mover 220.

The base 300 in this embodiment is mainly used for supporting and connecting the first stator 110. With continued reference to fig. 2, the base 300 of the present embodiment includes a groove-shaped seat 320 with an opening facing the same direction as the first stator 110, and the first stator 110 is supported inside the groove-shaped seat 320. The base 300 further includes supporting pillars 330 respectively fixed to two sides of the first stator 110, and the second stator 210 is rotatably connected between the two supporting pillars 330. Preferably, the base 300 in this embodiment further includes a base plate 310, the base plate 310 is in a cross shape, and two vertical edges of the slot-shaped base 320 and two supporting columns 330 are respectively located at one end point of the cross-shaped base plate 310.

It should be noted that the base 300 may be omitted, and the second stator 210 may be directly rotatably supported on the first stator 110. Of course, to achieve this fit, a certain design of the structure of the first stator 110 is required.

In summary, the two-axis pan/tilt head 010 in this embodiment utilizes the space defined by the first stator 110 by the two serially connected voice coil motors, so as to greatly reduce the space occupied by the first motor 100 and the second motor 200, improve the overall integration of the two-axis pan/tilt head 010, reduce the overall size, and break through the bottleneck that the load device F1 supported by the pan/tilt head in the prior art needs to be fixedly connected with the motor rotor along the axial direction of the motor to further miniaturize the pan/tilt head.

Example two

Fig. 7 is a schematic structural diagram of a three-axis pan-tilt head 020 according to a second embodiment of the present invention. In order to show the usage state, fig. 7 additionally shows the structure of the load device F1 connected to the three-axis pan tilt head 020 in the present embodiment in use by a dotted line.

Referring to fig. 7, the three-axis pan/tilt head 020 in the embodiment includes a third motor 600 and a two-axis pan/tilt head 010 in the first embodiment. The third motor 600 is a rotating motor including a fixed portion 610 and a rotating portion 620 that are rotatably coupled to each other. The rotating part 620 of the third motor 600 is relatively fixedly connected to the first stator 110. Preferably, the rotation axes of the first rotation shaft Z1, the second rotation shaft Z2 and the third motor 600 are perpendicular to each other and intersect at a point. The rotation axis of the third motor 600 will be named third rotation shaft Z3.

Alternatively, the first axis of rotation Z1 is set as the heading axis, the second axis of rotation Z2 is set as the pitch axis, and the third axis of rotation Z3 is set as the roll axis.

EXAMPLE III

Fig. 8 is a schematic structural diagram of a three-axis pan-tilt 030 according to a third embodiment of the present invention. To show the usage state, fig. 8 additionally shows the structure of the load device F1 connected to the triaxial head 030 in the present embodiment in use by a dotted line.

The three-axis pan/tilt unit 030 in this embodiment includes a third motor 600 and the two-axis pan/tilt unit 010 in the first embodiment.

The third motor 600 is a rotating motor including a fixed portion 610 and a rotating portion 620 that are rotatably coupled to each other. The fixed portion 610 of the third motor 600 is fixedly connected to the second mover 220, and the rotating portion 620 of the third motor 600 is used for connecting the load device F1. Preferably, the rotation axes of the first rotation shaft Z1, the second rotation shaft Z2 and the third motor 600 are perpendicular to each other and intersect at a point. The axis of rotation of the third motor 600 is designated as the third axis of rotation Z3.

Alternatively, the first axis of rotation Z1 is set as the pitch axis, the second axis of rotation Z2 is set as the yaw axis, and the third axis of rotation Z3 is set as the roll axis.

Example four

Fig. 9 is a schematic structural diagram of the biaxial imaging device 001 in the fourth embodiment of the present invention. Referring to fig. 9, the biaxial photographing apparatus 001 of the present embodiment includes a carrier device F0, a load device F1, and a biaxial holder 010 of the first embodiment. The load device F1 is fixedly connected to the carrier device F0 by means of a two-axis pan-tilt 010. The load device F1 is an image forming device. Specifically, please refer to fig. 1, the load device F1 is connected to the load connection seat 500 of the two-axis tripod head 010, and the base 300 of the two-axis tripod head 010 is connected to the carrier device F0.

The carrier device F0 in this embodiment may be a handheld structure, a drone, a robot, a manned aircraft, or the like. For example, when the carrier device F0 is a handheld structure, the two-axis photographing apparatus 001 in the present embodiment is a handheld photographing apparatus of a two-axis form; when the carrier device F0 is an unmanned aerial vehicle, the biaxial photographing apparatus 001 in this embodiment is a biaxial aerial photographing device; when the carrier device F0 is the other device, the corresponding two-axis photographing apparatus 001 can be obtained by analogy.

The biaxial shooting equipment 001 in the embodiment is provided with the biaxial holder 010 in the first embodiment, so that the load device F1 can be conveniently driven to rotate relative to the carrier device F0 to change the posture of the load device F1, and the effect of adjusting the posture of the load device F1 or compensating the influence of disturbances such as vibration of the carrier device F0 on the work of the load device F1 is achieved.

Further, since the biaxial holder 010 of the first embodiment is provided, the biaxial imaging device 001 of the present embodiment can also be set to a small size.

EXAMPLE five

Fig. 10 is a schematic structural diagram of the triaxial imaging apparatus 002 according to the fifth embodiment of the present invention. Referring to fig. 10, the triaxial photographing apparatus 002 in the present embodiment includes a carrier device F0, a load device F1, and a triaxial holder 020 in the second embodiment. The load device F1 is fixedly connected to the carrier device F0 by means of a three-axis pan-tilt head 020. The load device F1 is an image forming device. Specifically, referring to fig. 7, the load device F1 is connected to the load connecting seat 500 of the three-axis pan-tilt head 020, and the fixing portion 610 of the third motor 600 is connected to the carrier device F0.

The carrier device F0 in this embodiment may be a handheld structure, a drone, a robot, a manned aircraft, or the like. For example, when the carrier device F0 is a handheld structure, the three-axis photographing apparatus 002 in the present embodiment is a handheld photographing apparatus of a three-axis form; when the carrier device F0 is an unmanned aerial vehicle, the triaxial imaging device 002 in this embodiment is a triaxial aerial camera; when the carrier device F0 is the other device, the same can be said to be the same, and the corresponding triaxial photographing apparatus 002 can be obtained.

The triaxial shooting equipment 002 in this embodiment is provided with the triaxial holder 020 in the second embodiment, and can conveniently drive the load device F1 to rotate relative to the carrier device F0 thereof so as to change the pose of the load device F1, thereby achieving the purpose of adjusting the pose of the load device F1 or compensating the influence of disturbances such as vibration of the carrier device F0 on the work of the load device F1.

Moreover, since the three-axis pan-tilt head 020 in the second embodiment is provided, the three-axis imaging device 002 in the present embodiment can be also set to a small size.

EXAMPLE six

Fig. 11 is a schematic structural diagram of a triaxial apparatus 003 according to a sixth embodiment of the present invention. Referring to fig. 11, the triaxial photographing apparatus 003 in the present embodiment includes a carrier device F0, a load device F1, and a triaxial holder 030 in the third embodiment. The load device F1 is fixedly connected to the carrier device F0 by a three-axis pan-tilt 030. The load device F1 is an image forming device. Specifically, referring to fig. 1 and 8, the load device F1 is connected to the rotating portion 620 of the third motor 600, and the carrier device F0 is connected to the base 300 of the three-axis pan-tilt 030.

The carrier device F0 in this embodiment may be a handheld structure, a drone, a robot, a manned aircraft, or the like. For example, when the carrier device F0 is a handheld structure, the triaxial photographing apparatus 003 in the present embodiment is a handheld photographing apparatus in a triaxial form; when the carrier device F0 is an unmanned aerial vehicle, the triaxial shooting device 003 in this embodiment is a triaxial aerial camera; when the carrier device F0 is the other device, the corresponding triaxial photographing apparatus 003 can be obtained by analogy.

The triaxial shooting equipment 003 in the present embodiment is provided with the triaxial holder 030 in the third embodiment, and can conveniently drive the load device F1 to rotate relative to the carrier device F0 thereof to change the attitude of the load device F1, so as to adjust the attitude of the load device F1 or compensate the influence of disturbances such as vibration of the carrier device F0 on the operation of the load device F1.

Moreover, since the triaxial holder 030 of the third embodiment is provided, the triaxial imaging device 003 of the present embodiment can be also set to a smaller size.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A two-axis pan-tilt head is used for driving a load device, and is characterized in that:

the two-axis tripod head comprises a first motor, a second motor and a rotating seat; the first motor and the second motor are both swing angle voice coil motors;

the first motor comprises a first stator and a first rotor which are matched with each other; the second motor comprises a second stator and a second rotor which are matched with each other;

the rotating seat is of a rectangular frame structure with a through middle part;

a group of opposite sides of the rotating seat are fixedly connected with first pin shafts extending towards the outer side of the rotating seat respectively; the first stator is fixedly connected with two supporting columns; the two support columns are opposite at intervals and are respectively positioned on two sides of the first stator; the support column is provided with a first pin hole which supports and is in running fit with the two first pin shafts;

the first rotor, the second stator and the rotating seat are fixedly connected into a whole; the first rotor is connected with the second stator in a matching manner and used for driving the second motor to move; the second stator is relatively rotationally matched with the first stator and can rotate around the rotation axis of the first motor under the driving of the first motor; the rotation axis of the first motor and the rotation axis of the second motor are not parallel to each other;

the load device is connected to the second mover.

2. A two-axis head according to claim 1, wherein:

the first rotor comprises two first coils which are fixedly connected to two sides of the second stator respectively.

3. A two-axis head according to claim 2, wherein:

the two sides of the second stator are respectively provided with a side connection lug, and the two first coils are respectively and correspondingly fixedly connected with the two side connection lugs.

4. A two-axis head according to claim 3, wherein:

the two-axis tripod head further comprises a fitting piece detachably connected to the side connecting lug, and the fitting piece is provided with a fitting groove used for fitting the first coil.

5. A two-axis head according to claim 1, wherein:

the rotation axis of the first motor is perpendicular to the rotation axis of the second motor.

6. A two-axis head according to claim 1, wherein:

the axis of rotation of the first motor intersects the axis of rotation of the second motor.

7. A two-axis head according to claim 1, wherein:

the relative rotating axis of the first pin shaft and the first pin hole is superposed with the rotating axis of the first motor;

the other pair of paired edges of the rotating seat are respectively provided with a second pin hole; two sides of the second rotor are fixedly connected with a second pin shaft respectively; the two second pin shafts are correspondingly matched with the two second pin holes in a rotating way; and the relative rotation axis of the second pin shaft and the second pin hole is superposed with the rotation axis of the second motor.

8. A two-axis head according to claim 7, wherein:

the rotating seat comprises a U-shaped frame and a cross rod detachably connected to an opening of the U-shaped frame.

9. A two-axis head according to claim 1, wherein:

the second stator is fixedly connected to one side, close to the first stator, of the rotating seat and is located in a space defined by the rotating seat and the first stator.

10. A two-axis head according to claim 1, wherein:

and two ends of the second stator are respectively connected with an end connecting lug, and the second stator is fixedly connected with the rotating seat through the end connecting lugs.

11. A two-axis head according to claim 1, wherein:

the two-axis tripod head also comprises a base which is connected with the first stator in a supporting way;

the base comprises a groove-shaped seat with an opening facing the same direction as the first stator, and the first stator is supported on the inner side of the groove-shaped seat.

12. A two-axis head according to claim 11, wherein:

the base comprises support columns which are fixedly arranged on two sides of the first stator respectively, and the second stator is rotatably connected between the two support columns.

13. A two-axis head according to claim 12, wherein:

the base still includes the base plate, the base plate is the cross, two perpendicular limits and two of slot type seat the support column is located the cross respectively an endpoint department of base plate.

14. A two-axis head according to claim 1, wherein:

the two-axis tripod head further comprises a load connecting seat, and the load connecting seat is fixedly connected to the second rotor and used for installing the load device.

15. A two-axis head according to claim 14, wherein:

the load connecting seat is of a semi-cylindrical structure, and the axis of the load connecting seat is parallel to the rotation axis of the second motor; the load connecting seat is positioned in a space defined by the second stator.

16. A two-axis head according to claim 1, wherein:

the second motor is located within a space defined by the first stator.

17. A three-axis pan-tilt head is characterized in that:

the three-axis pan-tilt head comprises the two-axis pan-tilt head as claimed in any one of claims 1 to 16, and further comprises a third motor, wherein the third motor is a rotating motor formed by a fixed part and a rotating part which are in rotating fit;

and the rotating part of the third motor is relatively and fixedly connected with the first stator.

18. The tri-axial pan-tilt head of claim 17, wherein:

the rotating axis of the first motor, the rotating axis of the second motor and the rotating axis of the third motor are perpendicular to each other in pairs, and the rotating axes of the first motor, the second motor and the third motor are intersected at one point.

19. A three-axis pan-tilt head is characterized in that:

the three-axis head comprising a two-axis head according to any of claims 1 to 16, further comprising a third motor, the load device being coupled to the second mover via the third motor;

the third motor is a rotating motor consisting of a fixed part and a rotating part which are in rotating fit; and the fixed part of the third motor is fixedly connected with the second rotor, and the rotating part of the third motor is used for connecting the load device.

20. The tri-axial pan-tilt head of claim 19, wherein:

the rotating axis of the first motor, the rotating axis of the second motor and the rotating axis of the third motor are perpendicular to each other in pairs and intersect at one point.

21. The utility model provides a two-axis shooting equipment which characterized in that:

the two-axis shooting device comprises a carrier device, a load device and the two-axis holder of any one of claims 1 to 16;

the load device is fixedly connected to the carrier device through the two-axis cradle head; the load device is an imaging device.

22. The photographing apparatus according to claim 21, wherein:

the carrier device is a handheld structure or an unmanned aerial vehicle or a robot or a manned airplane.

23. A triaxial equipment of shooing which characterized in that:

the triaxial photographing apparatus comprises a carrier device, a load device and the triaxial holder of any one of claims 17 to 20;

the load device is fixedly connected to the carrier device through the three-axis pan-tilt;

the load device is an imaging device.

24. The photographing apparatus according to claim 23, wherein: