A two-legged shooting stabilizing gimbal

Abstract

This utility model discloses a bipedal shooting stabilization gimbal, relating to the field of shooting gimbal technology, including a bipedal robot and a shooting gimbal. The bipedal robot includes a torso and legs located on both sides of the bottom of the torso. The legs include thighs and calves. A first leg motor is fixedly mounted on both sides of the bottom of the torso. A second leg motor is fixedly mounted on the output shaft of the first leg motor. The output shaft of the second leg motor is connected to the thigh. A third leg motor is fixedly mounted on the thigh. The output shaft of the third leg motor is connected to the calves via a connecting rod. A gimbal mounting base is fixedly mounted on the top of the torso, and the shooting gimbal is fixedly mounted on the gimbal mounting base. The shooting gimbal includes a fixed base, a translation axis motor, an L-shaped bracket, a U-shaped bracket, and a pitch axis motor. The translation axis motor is fixed to the fixed base, and shooting mounting brackets are fixed to the output shafts of the two pitch axis motors. This utility model can achieve stable shooting in complex terrain and is applicable to a wider range of scenarios.

Description

Technical Field

[0001] This utility model relates to the field of shooting gimbal technology, and in particular to a bipedal shooting stabilization gimbal. Background Technology

[0002] Current pan-tilt head (PTZ) devices are generally handheld or fixed. During shooting, the camera is fixed to the PTG head, and the operator holds the PTG head, or the PTG head is fixed to a robotic arm. The camera is moved by the operator's movement or the movement of the robotic arm. However, when shooting in complex terrain, operator movement alone is insufficient, and robotic arms typically require rails and related drive mechanisms, making them less suitable for complex environments. Therefore, we propose a bipedal shooting stabilization PTG to address the problems of the existing technologies. Utility Model Content

[0003] The purpose of this invention is to provide a bipedal shooting stabilizer gimbal to solve the problems existing in the prior art, enabling stable shooting on complex terrain and making it applicable to a wider range of scenarios.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] This utility model provides a bipedal shooting stabilizer gimbal, including a bipedal robot and a shooting gimbal;

[0006] The bipedal robot includes a torso and legs located on both sides of the bottom of the torso. Each leg includes a thigh and a lower leg, which are hinged together. A first leg motor is fixedly mounted on both sides of the bottom of the torso. A second leg motor is fixed to the output shaft of the first leg motor, and the output shaft of the second leg motor is perpendicular to the output shaft of the first leg motor. The output shaft of the second leg motor is connected to the thigh. A third leg motor is fixed to the thigh, and the output shaft of the third leg motor is connected to the lower leg via a connecting rod, for driving the lower leg to move relative to the thigh.

[0007] A gimbal mounting base is fixedly provided on the top of the torso, and the shooting gimbal is fixedly installed on the gimbal mounting base;

[0008] The shooting gimbal includes a fixed base, a translation axis motor, an L-shaped bracket, a U-shaped bracket, and a pitch axis motor. The fixed base is fixedly mounted on the gimbal mounting base. The translation axis motor is fixed to the fixed base. One end of the L-shaped bracket is fixed to the output shaft of the translation axis motor, and the other end of the L-shaped bracket is fixedly connected to the middle of the U-shaped bracket. Each of the two free ends of the U-shaped bracket is fixed with a pitch axis motor. The two pitch axis motors are arranged opposite to each other, and a shooting mounting bracket is fixed on the output shaft of the two pitch axis motors.

[0009] Preferably, the back of the torso is provided with an external battery interface, and an external battery is installed in the external battery interface.

[0010] Preferably, a wireless transceiver module and a controller are fixedly installed inside the torso, and the wireless transceiver module, the first leg motor, the second leg motor, and the third leg motor are all electrically connected to the controller.

[0011] Preferably, a gyroscope is installed on both the translation axis motor and the pitch axis motor to capture the motion information of the output axis of the translation axis motor and the pitch axis motor, respectively. Each of the gyroscopes, the translation axis motor and the pitch axis motor are electrically connected to the controller.

[0012] Preferably, a foot assembly is detachably connected to the bottom of the lower leg. The foot assembly includes a connecting rod and a foot connected to the connecting rod. The connecting rod is fixedly connected to the lower leg by bolts.

[0013] Preferably, the foot is a point foot, a wheel foot, or a flat-bottomed foot. The point foot is a foot structure with a spherical supporting bottom surface and is fixed to the bottom of the connecting rod. The wheel foot is a foot structure with a supporting roller, the supporting roller is an electrically driven roller and is fixed to the bottom of the connecting rod. The flat-bottomed foot is a foot structure with a planar supporting bottom surface and is fixed to the bottom of the connecting rod.

[0014] Preferably, the support roller is a flat roller or a track roller.

[0015] Preferably, the external battery interface is a pluggable interface, and the external battery is a pluggable battery that mates with the pluggable interface.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] The bipedal shooting stabilizer provided by this utility model integrates the shooting gimbal onto a bipedal robot. Through the coordinated control of the first, second, and third leg motors of the bipedal robot, the bipedal robot can move on complex terrain. While the bipedal robot is moving, the translation axis motor and pitch axis motor of the shooting gimbal compensate for the changes in posture during the movement, thereby ensuring the stability of the shooting equipment on the shooting mount and achieving stable shooting on complex terrain, making it applicable to a wider range of scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a side view of the bipedal shooting stabilization gimbal in an embodiment of the present invention.

[0020] Figure 2 This is a front view schematic diagram of the bipedal shooting stabilization gimbal in an embodiment of this utility model;

[0021] Figure 3 This is a top view of the L-shaped bracket, U-shaped bracket, and pitch axis motor connection structure in an embodiment of the present invention.

[0022] Figure 4 This is a cross-sectional view of the connection structure between the gimbal mounting base and the fixed chassis in an embodiment of this utility model.

[0023] Figure 5 This is a schematic diagram of the foot component in an embodiment of the present invention being a wheel-like foot;

[0024] Figure 6 This is a schematic diagram of a flat-bottomed foot component in an embodiment of the present invention.

[0025] Figure 7 This is a front view schematic diagram of the shooting equipment mounted on the shooting mounting frame in an embodiment of this utility model.

[0026] In the diagram: 1-Bipedal robot, 2-Camera gimbal, 3-Torso, 4-Legs, 5-Thigh, 6-Lower leg, 7-First leg motor, 8-Second leg motor, 9-Third leg motor, 10-Gimbal mounting base, 11-Fixed chassis, 12-Translation axis motor, 13-L-shaped bracket, 14-U-shaped bracket, 15-Pitch axis motor, 16-Camera mounting frame, 17-External battery interface, 18-External battery, 19-Leg assembly, 20-Connecting rod, 21-Point foot, 22-Wheel foot, 23-Flat-bottomed foot, 24-Mounting hole, 25-Annular groove, 26-Protruding ring, 27-Fixed axis, 28-Locking nut, 29-Camera equipment. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] The purpose of this invention is to provide a bipedal shooting stabilizer gimbal to solve the problems existing in the prior art, enabling stable shooting on complex terrain and making it applicable to a wider range of scenarios.

[0029] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1-4 As shown, this embodiment provides a bipedal shooting stabilization gimbal, including a bipedal robot 1 and a shooting gimbal 2;

[0031] The bipedal robot 1 includes a torso 3 and legs 4 located on both sides of the bottom of the torso 3. The legs 4 include thighs 5 and lower legs 6, which are hinged together. A first leg motor 7 is fixedly provided on both sides of the bottom of the torso 3. A second leg motor 8 is fixed to the output shaft of the first leg motor 7, and the output shaft of the second leg motor 8 is perpendicular to the output shaft of the first leg motor 7. The output shaft of the second leg motor 8 is connected to the thigh 5. A third leg motor 9 is fixed on the thigh 5. The output shaft of the third leg motor 9 is connected to the lower leg 6 through a connecting rod, which is used to drive the lower leg 6 to move relative to the thigh 5.

[0032] A gimbal mount 10 is fixedly installed on the top of the torso 3, and the shooting gimbal 2 is fixedly installed on the gimbal mount 10.

[0033] The shooting gimbal 2 includes a fixed base 11, a translation axis motor 12, an L-shaped bracket 13, a U-shaped bracket 14, and a pitch axis motor 15. The fixed base 11 is fixedly installed on the gimbal mounting base 10. The translation axis motor 12 is fixed on the fixed base 11. One end of the L-shaped bracket 13 is fixed to the output shaft of the translation axis motor 12, and the other end of the L-shaped bracket 13 is fixedly connected to the middle of the U-shaped bracket 14. A pitch axis motor 15 is fixed to each of the two free ends of the U-shaped bracket 14. The two pitch axis motors 15 are arranged opposite to each other, and a shooting mounting bracket 16 is fixed to the output shaft of the two pitch axis motors 15.

[0034] In use, the shooting device 29 (such as a camera) is fixedly mounted on the shooting mounting bracket 16. Figure 7 As shown, through the coordinated control of the first leg motor 7, the second leg motor 8, and the third leg motor 9 of the bipedal robot 1, the bipedal robot 1 can move on complex terrain. While the bipedal robot 1 moves, the translation axis motor 12 and the pitch axis motor 15 of the shooting gimbal 2 compensate for the changes in posture during the movement, thereby ensuring the stability of the shooting device 29 on the shooting mounting frame 16 and achieving stable shooting on complex terrain. By integrating the shooting gimbal 2 onto the bipedal robot 1 and utilizing the multi-scene adaptability of the bipedal robot 1, the shooting application scenarios become more comprehensive and diverse.

[0035] The gimbal mounting base 10 has a mounting hole 24 in the middle and an annular groove 25 on its upper surface. The lower surface of the fixed base 11 has a protruding ring 26 that is embedded in the annular groove 25. A fixed shaft 27 is fixedly mounted in the middle of the lower surface of the fixed base 11. The fixed shaft 27 passes through the mounting hole 24 and is threadedly connected to the locking nut 28. In use, the fixed base 11 can be rotated to adjust its position. After adjustment, the locking nut 28 is tightened to fix the fixed base 11 to the gimbal mounting base 10, which facilitates the installation and angle adjustment of the gimbal 2.

[0036] In this embodiment, an external battery interface 17 is provided on the back of the torso 3, and an external battery 18 is installed inside the external battery interface 17. The external battery 18 provides power to the entire device, and it is easy to remove and replace the battery when the power is low.

[0037] In this embodiment, a wireless transceiver module and a controller are fixedly installed inside the torso 3. The wireless transceiver module, the first leg motor 7, the second leg motor 8, and the third leg motor 9 are all electrically connected to the controller. The bipedal robot 1 can be remotely controlled via the wireless transceiver module, enabling remote control of the filming process.

[0038] In this embodiment, gyroscopes are installed on both the translation axis motor 12 and the pitch axis motor 15 to capture the motion information of the output axes of the translation axis motor 12 and the pitch axis motor 15, respectively. Each gyroscope, translation axis motor 12, and pitch axis motor 15 are electrically connected to the controller. Each gyroscope is responsible for monitoring the rotation angle and speed changes of the corresponding motor axis. When the bipedal robot 1 moves the camera gimbal 2, different gyroscopes quickly capture the motion information of their respective axes and then transmit the data to the controller. After analysis and calculation, the controller sends commands to the corresponding motors to drive them to perform reverse compensation rotation, thereby maintaining the stability of the camera device 29.

[0039] In this embodiment, a foot assembly 19 is detachably connected to the bottom of the lower leg 6. The foot assembly 19 includes a connecting rod 20 and a foot connected to the connecting rod 20. The connecting rod 20 is fixedly connected to the lower leg 6 by bolts.

[0040] In this embodiment, the foot is a point foot 21, which is a foot structure with a spherical supporting bottom surface, and the point foot 21 is fixed to the bottom of the connecting rod 20. In other embodiments, the foot may also be a wheel foot 22. Figure 5 (as shown) or flat-bottomed feet 23 ( Figure 6 (As shown). The wheel foot 22 is a foot structure with supporting rollers, which are electrically driven and fixed to the bottom of the connecting rod 20. The flat-bottomed foot 23 is a foot structure with a flat supporting bottom surface and is fixed to the bottom of the connecting rod 20. Different foot components 19 can be installed according to the usage scenario to meet the needs of multi-scene mobile shooting. The supporting rollers can be flat wheels or track wheels, which can be flexibly selected according to the usage scenario.

[0041] In this embodiment, the external battery interface 17 is a pluggable interface, and the external battery 18 is a pluggable battery that cooperates with the pluggable interface, making installation convenient and quick.

[0042] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A bipedal shooting stabilization gimbal, characterized in that: Including bipedal robots and camera gimbals; The bipedal robot includes a torso and legs located on both sides of the bottom of the torso. Each leg includes a thigh and a lower leg, which are hinged together. A first leg motor is fixedly mounted on both sides of the bottom of the torso. A second leg motor is fixed to the output shaft of the first leg motor, and the output shaft of the second leg motor is perpendicular to the output shaft of the first leg motor. The output shaft of the second leg motor is connected to the thigh. A third leg motor is fixed to the thigh, and the output shaft of the third leg motor is connected to the lower leg via a connecting rod, for driving the lower leg to move relative to the thigh. A gimbal mounting base is fixedly provided on the top of the torso, and the shooting gimbal is fixedly installed on the gimbal mounting base; The shooting gimbal includes a fixed base, a translation axis motor, an L-shaped bracket, a U-shaped bracket, and a pitch axis motor. The fixed base is fixedly mounted on the gimbal mounting base. The translation axis motor is fixed to the fixed base. One end of the L-shaped bracket is fixed to the output shaft of the translation axis motor, and the other end of the L-shaped bracket is fixedly connected to the middle of the U-shaped bracket. Each of the two free ends of the U-shaped bracket is fixed with a pitch axis motor. The two pitch axis motors are arranged opposite to each other, and a shooting mounting bracket is fixed on the output shaft of the two pitch axis motors.

2. The bipedal shooting stabilization gimbal according to claim 1, characterized in that: The back of the torso is provided with an external battery interface, and an external battery is installed in the external battery interface.

3. The bipedal shooting stabilization gimbal according to claim 1, characterized in that: A wireless transceiver module and a controller are fixedly installed inside the torso. The wireless transceiver module, the first leg motor, the second leg motor, and the third leg motor are all electrically connected to the controller.

4. The bipedal shooting stabilization gimbal according to claim 3, characterized in that: Each of the translation axis motor and the pitch axis motor is equipped with a gyroscope, which is used to capture the motion information of the output axis of the translation axis motor and the pitch axis motor, respectively. Each of the gyroscopes, the translation axis motor and the pitch axis motor are electrically connected to the controller.

5. The bipedal shooting stabilization gimbal according to claim 1, characterized in that: A foot assembly is detachably connected to the bottom of the lower leg. The foot assembly includes a connecting rod and a foot connected to the connecting rod. The connecting rod is fixedly connected to the lower leg by bolts.

6. The bipedal shooting stabilization gimbal according to claim 5, characterized in that: The foot can be a point foot, a wheel foot, or a flat foot. The point foot is a foot structure with a spherical supporting bottom surface and is fixed to the bottom of the connecting rod. The wheel foot is a foot structure with a supporting roller. The supporting roller is an electrically driven roller and is fixed to the bottom of the connecting rod. The flat foot is a foot structure with a flat supporting bottom surface and is fixed to the bottom of the connecting rod.

7. The bipedal shooting stabilization gimbal according to claim 6, characterized in that: The supporting rollers are either flat rollers or track rollers.

8. The bipedal shooting stabilization gimbal according to claim 2, characterized in that: The external battery interface is a plug-in interface, and the external battery is a plug-in battery that mates with the plug-in interface.

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