Gimbal device

Abstract

The present invention relates to the technical field of gimbals. Disclosed is a gimbal device, comprising: a lifting module (100), which comprises a first driving member (11), a worm (12), and a rack (13) in transmission connection with the worm (12); a horizontal rotating module (200), which is connected to the rack (13) and comprises a second driving member (21), a first synchronous pulley (22) and a bearing assembly, the first synchronous pulley (22) driving the bearing assembly to rotate horizontally; a rotating shaft (300) connected to the bearing assembly, a pitch module (400) and a yaw module (500) being provided at an end of the rotating shaft (300); the pitch module (400) comprising a third driving member (31), a first transmission gear (32) and a fixed gear (33), the third driving member (31) being rotatable around the axial direction of the fixed gear (33); and the yaw module (500) comprising a fourth driving member (41), a second transmission gear (42), a yaw gear (43) and a yaw shell (44), the yaw shell (44) being rotatable around the axial direction of the yaw gear (43). In the device, the lifting module (100) can achieve vertical lifting, the horizontal rotating module (200) can achieve horizontal rotation, the pitch module (400) can achieve front-rear rotation, and the yaw module (500) can achieve left-right rotation, that is, four-axis movement is achieved, which provides a rich variety of movement modes; moreover, a compact layout is achieved between the modules, so that the four-axis movement can be realized in a small space.

Description

PTZ equipment Technical Field

[0001] The present application relates to the field of pan / tilt technology, and in particular to a pan / tilt device. Background Art

[0002] A pan / tilt head (PTZ) is a device designed to stabilize the target device's posture. It can be used to fix the target device, ensuring it remains stationary during movement, or as an internal structure. For example, when adjusting the recording angle of a video recorder, the PTZ requires continuous multi-angle and multi-directional adjustment to maintain the target device's stationary posture. However, existing PTZ devices only have two axes of motion: horizontal rotation and pitch. These limited motion options fail to meet the multi-angle and multi-directional adjustment requirements. Furthermore, the horizontal rotation angle is limited, requiring the user to make further adjustments through their own movements, making the PTZ inconvenient to use. Technical issues

[0003] Existing gimbal equipment only has two-axis movement: horizontal rotation and pitch, with few movement forms and cannot meet the adjustment needs of multiple angles and directions. At the same time, the horizontal rotation operating angle is small, requiring the user to rely on his own movement for further adjustment, making the gimbal inconvenient to use. Technical Solutions

[0004] In view of this, the present application provides a pan-tilt device that can achieve multi-angle and multi-directional adjustment to enhance user experience.

[0005] The present application provides a pan-tilt device, comprising:

[0006] A lifting module, comprising a first driving member, a transmission worm connected to an output end of the first driving member, and a rack arranged in a vertical direction, wherein the transmission worm is in driving connection with the rack to drive the rack to move in the vertical direction;

[0007] a horizontal rotating module fixedly connected to the rack; the horizontal rotating module includes a second driving member, a first synchronous pulley connected to the output end of the second driving member, and a bearing assembly, wherein the axial direction of the bearing assembly is parallel to the vertical direction, and the first synchronous pulley is in driving connection with the bearing assembly to drive the bearing assembly to rotate in the horizontal direction;

[0008] A rotating shaft connected to the bearing assembly in a vertical direction, with a pitch module and a swing module installed at the end of the rotating shaft;

[0009] The pitch module includes a third driving member, a first transmission gear connected to an output end of the third driving member, and a fixed gear in transmission connection with the first transmission gear, wherein the axis of the first transmission gear is parallel to the first direction, and the fixed gear is fixedly connected to the rotating shaft so that the third driving member can rotate around the axial direction of the fixed gear;

[0010] The swing module includes a fourth driving member, a second transmission gear connected to the output end of the fourth driving member, a swing gear connected to the second transmission gear, and a swing housing connected to the swing gear. The axis of the second transmission gear is parallel to the second direction, and the fourth driving member can drive the swing housing to rotate around the axial direction of the swing gear.

[0011] In some embodiments, the lifting module further includes a transmission assembly, and the transmission worm and the rack are connected to each other through the transmission assembly;

[0012] Wherein, the transmission assembly includes a third transmission gear and a fourth transmission gear that rotate synchronously, the third transmission gear is connected to the transmission worm, and the fourth transmission gear is connected to the rack, so that the first driving member drives the rack to move in the vertical direction.

[0013] In some embodiments, the lifting module further includes a sensing component, which includes a photoelectric sensor and a light-shielding plate. The light-shielding plates are respectively arranged at both ends of the rack. When the rack moves in the vertical direction, the light-shielding plate is inductively connected to the photoelectric sensor.

[0014] In some embodiments, the bearing assembly includes a first bearing, a second bearing and a second synchronous pulley, at least a portion of the second bearing is connected to the second synchronous pulley, at least a portion of the first bearing is connected to the second bearing, and the second synchronous pulley is connected to the first synchronous pulley via a synchronous belt.

[0015] In some embodiments, the pan / tilt device further includes a first bracket and a second bracket, the first bracket and the second bracket being arranged at ends of the rotating shaft opposite to each other along a first direction, the first bracket and / or the second bracket having a mounting hole, the fixed gear being mounted in the mounting hole;

[0016] The pitch module also includes a mounting shell, the third driving member is installed in the mounting shell, and the first transmission gear is located outside the mounting shell and is in transmission connection with the fixed gear, so that the third driving member in the mounting shell can rotate around the axis of the mounting hole.

[0017] In some embodiments, the first driving element, the second driving element, the third driving element, and the fourth driving element are hybrid stepping motors.

[0018] In some embodiments, the gimbal device includes a protective shell, and shock-absorbing silicone is provided between the first driving member and the protective shell, between the second driving member and the protective shell, between the third driving member and the protective shell, and between the fourth driving member and the protective shell.

[0019] In some embodiments, the horizontal rotation module, the pitch module, and the swing module are all provided with magnetic weaving detection components.

[0020] In some embodiments, the gimbal device further includes a control module, the control module including a main control board and a drive board, the main control board is electrically connected to the drive board, and the drive board is electrically connected to the first drive member, the second drive member, the third drive member, and the fourth drive member.

[0021] In some embodiments, the pan / tilt device has at least one of the following features:

[0022] (1) The lifting distance of the lifting module is 0mm~27mm;

[0023] (2) The rotation angle of the horizontal rotation module is -180°~180°;

[0024] (3) The rotation angle of the pitch module is 0~50°;

[0025] (4) The rotation angle of the swing module is -20°~20°;

[0026] (5) The operating speed of the horizontal rotation module, the pitch module and the swing module can be adjusted in the range of 0 to 270° / s. Beneficial effects

[0027] The pan / tilt device provided in the present application can be used to fix a target device or serve as an internal support structure for the target device; the horizontal rotation module, the pitch module, and the swing module are all connected to the rack of the lifting module, and the rack can move in the vertical direction, that is, the lifting module can realize the vertical operation of the target device; the bearing assembly cooperates with the first synchronous pulley so that the bearing assembly can rotate through a large angle, and thus the horizontal rotation of the target device can be realized through the horizontal rotation module; the axis of the second transmission gear in the pitch assembly is parallel to the first direction, and thus when the third drive member is driven, due to the setting of the fixed gear, the third drive member can rotate about the axial direction of the fixed gear (that is, the third drive member swings in the front-to-back direction), that is, the pitch module realizes the front-to-back rotation of the target device; the swing housing is connected to the fourth drive member through the swing gear, so that when the fourth drive member rotates, the swing housing can rotate about the axial direction of the swing gear (that is, the swing housing swings in the left-to-right direction), that is, the swing module realizes the left-to-right rotation of the target device.

[0028] Therefore, the gimbal device of the present application can realize four-axis movement, enrich the movement modes of the gimbal, and is easy to use, thereby improving the user experience; at the same time, the lifting module, horizontal rotation module, pitch module and swing module are compactly arranged, and the working processes do not affect each other, and the four-axis movement of the gimbal device can be realized in a small space. The gimbal device can meet the requirements of small volume in many fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic diagram of the structure of the pan / tilt device provided in this application;

[0030] FIG2 is a schematic structural diagram of a lifting module of a pan / tilt device provided in this application;

[0031] FIG3 is a schematic structural diagram of a horizontal rotation module of a pan / tilt device provided in the present application;

[0032] FIG4 is a schematic diagram showing the connection between the rotating shaft, the pitch module and the swing module of the pan-tilt device provided in this application.

[0033] Figure ID:

[0034] 100-lifting module;

[0035] 11-first driving member; 12-transmission worm; 13-rack; 14-third transmission gear; 15-fourth transmission gear; 16-light shielding plate; 17-photoelectric sensor;

[0036] 200-horizontal rotation module;

[0037] 21 - second driving member; 22 - first synchronous pulley; 231 - first bearing; 232 - second bearing; 233 - synchronous belt; 234 - second synchronous pulley;

[0038] 300-rotating shaft;

[0039] 301 - first bracket; 302 - second bracket; 31 - third driving member; 32 - first transmission gear; 33 - fixed gear; 34 - mounting housing;

[0040] 400 - pitch module; 41 - fourth driving member; 42 - second transmission gear; 43 - swing gear; 44 - swing housing;

[0041] 500-swing module;

[0042] 600-protective shell;

[0043] 700-base plate;

[0044] 800-top plate. Best Mode for Carrying Out the Invention

[0045] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0047] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0048] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0049] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described based on the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also be indirectly connected to the other element "on" or "under" through an intermediate element.

[0050] A pan / tilt head (PTZ) is a device designed to stabilize the target device's posture. It can be used to fix the target device, ensuring it remains stationary during movement, or as an internal structure. For example, when adjusting the recording angle of a video recorder, the PTZ requires continuous multi-angle and multi-directional adjustment to maintain the target device's stationary posture. However, existing PTZ devices only have two axes of motion: horizontal rotation and pitch. These limited motion options fail to meet the multi-angle and multi-directional adjustment requirements. Furthermore, the horizontal rotation angle is limited, requiring the user to make further adjustments through their own movements, making the PTZ inconvenient to use.

[0051] In view of this, the present application provides a pan-tilt device. Please refer to Figures 1 to 4. As shown in Figures 1 to 4, the pan-tilt device includes:

[0052] The lifting module 100 includes a first driving member 11, a transmission worm 12 connected to the output end of the first driving member 11, and a rack 13 arranged in the vertical direction. The transmission worm 12 is in driving connection with the rack 13 to drive the rack 13 to move in the vertical direction.

[0053] The horizontal rotating module 200 is fixedly connected to the rack 13. The horizontal rotating module 200 includes a second driving member 21, a first synchronous pulley 22 connected to the output end of the second driving member 21, and a bearing assembly. The axial direction of the bearing assembly is parallel to the vertical direction, and the first synchronous pulley 22 is in driving connection with the bearing assembly to drive the bearing assembly to rotate in the horizontal direction.

[0054] The rotating shaft 300 is connected to the bearing assembly in the vertical direction, and the end of the rotating shaft 300 is installed with the pitch module 400 and the swing module 500;

[0055] The pitch module 400 includes a third driving member 31, a first transmission gear 32 connected to the output end of the third driving member 31, and a fixed gear 33 in transmission connection with the first transmission gear 32. The axis of the first transmission gear 32 is parallel to the first direction, and the fixed gear 33 is fixedly connected to the rotating shaft 300 so that the third driving member 31 can rotate about the axial direction of the fixed gear 33.

[0056] The swing module 500 includes a fourth driving member 41, a second transmission gear 42 connected to the output end of the fourth driving member 41, a swing gear 43 connected to the second transmission gear 42, and a swing housing 44 connected to the swing gear 43. The axis of the second transmission gear 42 is parallel to the second direction, and the fourth driving member 41 can drive the swing housing 44 to rotate around the axial direction of the swing gear 43.

[0057] In the above scheme, the pan-tilt device provided by the present application can be used to fix the target device or serve as the internal support structure of the target device; the horizontal rotation module 200, the pitch module 400 and the swing module 500 are all connected to the rack 13 of the lifting module 100, and the rack 13 can move in the vertical direction, that is, the target device can be operated in the vertical direction through the lifting module 100; the bearing assembly cooperates with the first synchronous pulley 22, so that the bearing assembly can rotate at a large angle, and then the target device can be rotated in the horizontal direction through the horizontal rotation module 200; the axis of the second transmission gear 42 in the pitch assembly The line is parallel to the first direction, and when the third driving member 31 is driven, due to the configuration of the fixed gear 33, the third driving member 31 can rotate about the axial direction of the fixed gear 33 (i.e., the third driving member 31 swings in the front-to-back direction), that is, the target device can rotate in the front-to-back direction through the pitch module 400. The swing housing 44 is connected to the fourth driving member 41 via the swing gear 43, so that when the fourth driving member 41 rotates, the swing housing 44 can rotate about the axial direction of the swing gear 43 (i.e., the swing housing 44 swings in the left-to-right direction), that is, the target device can rotate in the left-to-right direction through the swing module 500. Therefore, the pan-tilt device of the present application can achieve four-axis motion, enriching the movement modes of the pan-tilt device, and is convenient to use, improving the user experience. At the same time, the lifting module 100, the horizontal rotation module 200, the pitch module 400, and the swing module 500 are compactly arranged and their working processes do not affect each other, so the four-axis motion of the pan-tilt device can be achieved in a small space, and the pan-tilt device can meet the requirements of small size in many fields.

[0058] In some embodiments, the pan-tilt device of the present application specifically includes a control module (a lifting module 100, a horizontal rotation module 200, a pitch module 400, and a swing module 500), a control module, and a protection module.

[0059] The protection module includes a base plate 700, a protective shell 600, and a top plate 800. The base plate 700 and the top plate 800 are respectively arranged at the end openings of the protective shell 600. The shell and the top plate 800 enclose a first accommodating cavity, and the first accommodating cavity is used to install the control module. The base plate 700 and the protective shell 600 enclose a second accommodating cavity, and the second accommodating cavity is used to install the control module. The control module includes a main control board and a drive board. The main control board is electrically connected to the drive board. The main control board is used to collect the control commands of the pan-tilt head and convert the control commands into control signals and transmit them to the drive board. The drive board is electrically connected to the control module, which can drive the operation of the control module. It can be understood that the first accommodating cavity and the second accommodating cavity formed by the protection module can prevent the control module and the control module from being damaged due to collisions, thereby extending the service life of the pan-tilt head equipment.

[0060] Furthermore, the generation of control commands is achieved by setting function buttons and speed adjustment knobs on the surface of the top plate 800, and the function buttons and speed adjustment knob are connected to the main control board; among them, the function buttons include power switch, module reset switch, module automatic adjustment button, horizontal rotation switch, lifting switch, left and right swing switch and front and back pitch switch, that is, different control commands can be generated by different buttons. Specifically:

[0061] The power switch can be used to turn the PTZ on or off, i.e. the process of powering on and off the PTZ.

[0062] The module reset switch can restore the lifting module 100 , the horizontal rotation module 200 , the pitch module 400 and the swing module 500 , which have been adjusted in angle, to a reference position.

[0063] The module automatic adjustment button can make the lifting module 100, the horizontal rotation module 200, the pitch module 400 and the swing module 500 automatically operate according to the motion parameters preset by the software, thereby realizing the automatic control of the pan-tilt platform.

[0064] The horizontal rotation switch can be used to control whether the gimbal can rotate horizontally. That is, when the horizontal rotation switch is on, the gimbal can rotate horizontally, while when the horizontal rotation switch is off, the gimbal can only move vertically and / or swing left and right and / or pitch forward and backward.

[0065] The lift switch can be used to control whether the gimbal can move vertically. That is, when the lift switch is on, the gimbal can rotate vertically, while when the lift switch is off, the gimbal can only rotate horizontally and / or swing left and right and / or pitch forward and backward.

[0066] The left and right swing switch can be used to control whether the gimbal can swing left and right. That is, when the left and right swing switch is on, the gimbal can swing left and right, while when the left and right swing switch is off, the gimbal can only rotate horizontally and / or move vertically and / or adjust the front and back pitch.

[0067] The tilt switch controls whether the gimbal can swing forward and backward. When the tilt switch is on, the gimbal can swing forward and backward, while when the tilt switch is off, the gimbal can only rotate horizontally and / or move vertically and / or swing left and right.

[0068] The speed adjustment knob can be used to control the operating speed of the pan-tilt horizontal rotation module 200, pitch module 400 and swing module 500. In this application, the lifting distance of the lifting module 100 is 0mm~27mm, the rotation angle of the horizontal rotation module 200 is -180°~180°, the rotation angle of the pitch module 400 is 0~50°, and the rotation angle of the swing module 500 is -20°~20°. The adjustable range of the operating speed is 0~270° / s.

[0069] It should be noted that the reference positions of the present application include multiple ones. When the lifting module 100 is used, the reference plane is the horizontal plane where the lower end of the rack 13 is located; when the horizontal rotation module 200 is used, the reference plane is the middle dividing vertical plane in the left and right directions when the gimbal is in the initial position; when the swing module is used, the reference plane is the middle dividing vertical plane in the left and right directions when the gimbal is in the initial position; when the pitch module 400 is used, the reference plane is the middle dividing vertical plane in the front and back directions when the gimbal is in the initial position.

[0070] Furthermore, the protection module also includes an upper cover and a handle. The upper cover is arranged on the surface of the top plate 800 to protect the function buttons and direction adjustment knobs from bumps; the handle is located on the top of the upper cover or arranged on the side of the protective shell 600. After the handle is set, it is convenient to carry the pan-tilt device.

[0071] In some embodiments, the lifting module 100 for controlling the vertical movement of the pan-tilt device includes a first drive member 11, a transmission worm 12, and a rack 13; the first drive member 11 is electrically connected to the drive plate, and the drive plate can drive the operation of the first drive member 11; the transmission worm 12 is connected to the output end of the first drive member 11, and can rotate synchronously with the first drive member 11. In this application, the teeth on the transmission worm 12 are helical teeth; the rack 13 is arranged in the vertical direction and connected to the transmission worm 12. It can be understood that after the transmission worm 12 is connected to the rack 13 in the vertical direction, the rotational motion of the first drive member 11 can be converted into linear motion in the vertical direction, and then the first drive member 11 can drive the rack 13 to move in the vertical direction.

[0072] Furthermore, the lifting module 100 also includes a transmission assembly, through which the transmission worm 12 and the rack 13 are connected in a transmission manner; wherein the transmission assembly includes a third transmission gear 14 and a fourth transmission gear 15 that rotate synchronously, the third transmission gear 14 being connected in a transmission manner to the transmission worm 12, and the fourth transmission gear 15 being connected in a transmission manner to the rack 13, so that the transmission worm 12 drives the rack 13 to move in a vertical direction. In the present application, the teeth of the third transmission gear 14 are helical teeth, and the number of heads of the transmission worm 12 is multiple. It can be understood that by setting up the transmission assembly, the friction loss between the transmission worm 12 and the rack 13 can be reduced, thereby improving the transmission efficiency.

[0073] Furthermore, the lifting assembly includes a sensing assembly, which includes a photoelectric sensor 17 and a light shielding plate 16. The light shielding plates 16 are respectively provided at both ends of the rack 13. When the rack 13 moves in the vertical direction, the light shielding plates 16 and the photoelectric sensor 17 are inductively connected. It will be understood that after the sensing assembly is provided, it can detect the upper and lower extreme positions of the rack 13 in the vertical direction. When the extreme positions are reached, the light shielding plates 16 block the photoelectric sensor 17, and the rack 13 stops moving, preventing the rack 13 from being unable to reset due to excessive movement.

[0074] At the same time, a lifting bearing is also provided on the protective shell 600, which is connected to the horizontal rotation module 200, so as to provide support during the lifting and lowering process of the pan-tilt device, and reduce the friction between the pan-tilt device and the protective shell 600 during lifting and lowering, thereby reducing the noise generated by friction during lifting.

[0075] In some embodiments, the horizontal rotation module 200 for controlling the horizontal rotation of the pan-tilt device includes a second drive member 21, a first synchronous pulley 22 and a bearing assembly; the second drive member 21 is electrically connected to the drive plate, and the drive plate can drive the operation of the second drive member 21; the first synchronous pulley 22 is connected to the output end of the second drive member 21, and can rotate synchronously with the second drive member 21; the bearing assembly includes a first bearing 231, a second bearing 232, a synchronous belt 233 and a second synchronous pulley 234, at least a portion of the second bearing 232 is connected to the second synchronous pulley 234, at least a portion of the first bearing 231 is connected to the second bearing 232, and the second synchronous pulley 234 is connected to the first synchronous pulley 22 through the synchronous belt 233, and then through the transmission process of the synchronous belt 233 and the second synchronous pulley 234, the first synchronous pulley 22 can drive the rotation of the second bearing 232, and then drive the rotation of the first bearing 231.

[0076] Furthermore, the horizontal rotation module 200 further includes a gap gasket, which is filled between the second synchronous pulley 234 and the second bearing 232 to eliminate the assembly gap between the second synchronous pulley 234 and the second bearing 232 .

[0077] In some embodiments, the rotating shaft 300 is installed in the bearing hole of the first bearing 231 to rotate synchronously with the first bearing 231. The end of the rotating shaft 300 is provided with a mounting position, through which the pitch module 400 and the swing module 500 are installed.

[0078] In some embodiments, a pitch module 400 for controlling the forward and backward swinging of a pan-tilt device includes a third drive member 31, a first transmission gear 32, and a fixed gear 33. The axis of the first transmission gear 32 is parallel to the first direction and is electrically connected to a drive plate, thereby driving the operation of the third drive member 31. The first transmission gear 32 is connected to the output end of the third drive member 31 and can rotate synchronously with the third drive member 31. The pan-tilt device also includes a first bracket 301 and a second bracket 302. The first bracket 301 and the second bracket 302 are arranged at the ends of the rotating shaft 300 relative to each other along the first direction. The first bracket 301 and / or the second bracket 302 have mounting holes, and the fixed gear 33 is installed in the mounting holes. The pitch module 400 also includes a mounting housing 34. The third drive member 31 is installed in the mounting housing 34. The first transmission gear 32 is located outside the mounting housing 34 and is in transmission connection with the fixed gear 33, so that the third drive member 31 in the mounting housing 34 can rotate about the axis of the mounting hole. It can be understood that when the third driving member 31 swings in the front-back direction, the target device is connected to the mounting shell 34 , and the third driving member 31 can drive the target device to swing in the front-back direction.

[0079] In some embodiments, a swing module for controlling the pan-tilt device to swing in the left and right directions includes a fourth drive member 41, a second transmission gear 42 connected to the output end of the fourth drive member 41, a swing gear 43 connected to the second transmission gear 42, and a swing shell 44 connected to the swing gear 43; the fourth drive member 41 is electrically connected to the drive plate, so that the drive plate can drive the operation of the fourth drive member 41; the axis of the second transmission gear 42 is parallel to the second direction, and it is connected to the output end of the fourth drive member 41, so that it can rotate synchronously with the fourth drive member 41; the swing gear 43 is connected to the swing shell 44, and the swing gear 43 is connected to the second transmission gear 42, so that when the second transmission gear 42 rotates following the fourth drive member 41, the swing gear 43 can rotate around its own axis, thereby driving the swing shell 44 to rotate around the axial direction of the swing gear 43, thereby realizing the swing process of the target device in the left and right directions.

[0080] In some embodiments, the first driving member 11, the second driving member 21, the third driving member 31 and the fourth driving member 41 used in this application are hybrid stepping motors, or other types of motors, which can be selected according to actual needs and are not limited here.

[0081] In some embodiments, shock-absorbing silicone rubber is provided between the first driving member 11 and the protective housing 600, between the second driving member 21 and the protective housing 600, between the third driving member 31 and the protective housing 600, and between the fourth driving member 41 and the protective housing 600. It will be appreciated that the provision of shock-absorbing silicone rubber can reduce the effect of vibration of the first driving member 11, the second driving member 21, the third driving member 31, and the fourth driving member 41 on the control accuracy of the pan / tilt device.

[0082] In some embodiments, the horizontal rotation module 200 , the pitch module 400 and the swing module 500 are all provided with magnetic detection components, which can measure the angles of the horizontal rotation module 200 , the pitch module 400 and the swing module 500 .

[0083] Furthermore, a deceleration structure is provided at the tail end of the second driving member 21, which can reduce the angle measurement range of the magnetic encoding detection member to below 360°, thereby preventing the pointer of the magnetic encoding detection member from excessively rotating (more than one circle) and causing repeated angle measurements. In addition, the pan-tilt device can also record the current position after power failure and restart, thereby improving the measurement accuracy of the magnetic encoding detection member.

[0084] In some embodiments, the pan-tilt device also includes a spring member, which respectively connects the protective shell 600 and the first driving member 11, the protective shell 600 and the second driving member 21, the mounting shell 34 and the third driving member 31, and the mounting shell 34 and the fourth driving member 41, eliminating the assembly gap and reducing the shaking of the first driving member 11, the second driving member 21, the third driving member 31 and the fourth driving member 41.

[0085] The above describes in detail the structure, features and effects of the present application based on the embodiments shown in the drawings. The above are only preferred embodiments of the present application, but the scope of implementation of the present application is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present application, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present application.

Claims

1. A pan-tilt device, characterized in that, the pan-tilt device includes: a lifting module, the lifting module includes a first driving member, a transmission worm gear connected to the output end of the first driving member, and a rack arranged in the vertical direction, the transmission worm gear is in transmission connection with the rack to drive the rack to move in the vertical direction; a horizontal rotation module, fixedly connected to the rack; the horizontal rotation module includes a second driving member, a first synchronous pulley connected to the output end of the second driving member, and a bearing assembly, the axial direction of the bearing assembly is parallel to the vertical direction, and the first synchronous pulley is in transmission connection with the bearing assembly to drive the bearing assembly to rotate in the horizontal direction; a rotating shaft, connected to the bearing assembly in the vertical direction, and a pitching module and a swinging module are installed at the end of the rotating shaft; wherein, the pitching module includes a third driving member, a first transmission gear connected to the output end of the third driving member, and a fixed gear in transmission connection with the first transmission gear, the axis of the first transmission gear is parallel to the first direction, and the fixed gear is fixedly connected to the rotating shaft, so that the third driving member can rotate around the axis of the fixed gear; the swinging module includes a fourth driving member, a second transmission gear connected to the output end of the fourth driving member, a swinging gear in transmission connection with the second transmission gear, and a swinging housing connected to the swinging gear, the axis of the second transmission gear is parallel to the second direction, and the fourth driving member can drive the swinging housing to rotate around the axis of the swinging gear.

2. The pan-tilt device according to claim 1, characterized in that, the lifting module further includes a transmission assembly, and the transmission worm gear and the rack are in transmission connection through the transmission assembly; wherein, the transmission assembly includes a third transmission gear and a fourth transmission gear that rotate synchronously, the third transmission gear is in transmission connection with the transmission worm gear, and the fourth transmission gear is in transmission connection with the rack, so that the first driving member drives the rack to move in the vertical direction.

3. The pan-tilt device according to claim 1, characterized in that, the lifting module further includes an induction assembly, the induction assembly includes a photoelectric sensor and a light-shielding sheet, the light-shielding sheets are respectively arranged at both ends of the rack, and when the rack moves in the vertical direction, the light-shielding sheet is in induction connection with the photoelectric sensor.

4. The pan-tilt device according to claim 1, characterized in that, the bearing assembly includes a first bearing, a second bearing and a second synchronous pulley, at least part of the second bearing is connected to the second synchronous pulley, at least part of the first bearing is connected to the second bearing, and the second synchronous pulley is connected to the first synchronous pulley through a synchronous belt.

5. The pan-tilt device according to claim 1, characterized in that, the pan-tilt device further includes a first bracket and a second bracket, the first bracket and the second bracket are oppositely arranged at the end of the rotating shaft along the first direction, mounting holes are formed in the first bracket and / or the second bracket, and the fixed gear is installed in the mounting holes; The pitching module further includes a mounting housing, the third driving member is mounted inside the mounting housing, and the first transmission gear is located outside the mounting housing and is in transmission connection with the fixed gear, so that the third driving member inside the mounting housing can rotate around the axis of the mounting hole.

6. The pan-tilt device according to any one of claims 1 to 5, wherein, the first driving member, the second driving member, the third driving member and the fourth driving member are hybrid stepper motors.

7. The pan-tilt device according to claim 6, wherein, the pan-tilt device includes a protective housing, and shock-absorbing silica gels are provided between the first driving member and the protective housing, between the second driving member and the protective housing, between the third driving member and the protective housing, and between the fourth driving member and the protective housing.

8. The pan-tilt device according to any one of claims 1 to 5, wherein, magnetic encoder detection components are provided in the horizontal rotation module, the pitching module and the swinging module.

9. The pan-tilt device according to any one of claims 1 to 5, wherein, the pan-tilt device further includes a control module, the control module includes a main control board and a driving board, the main control board is electrically connected to the driving board, and the driving board is electrically connected to the first driving member, the second driving member, the third driving member and the fourth driving member.

10. The pan-tilt device according to any one of claims 1 to 5, wherein, the pan-tilt device has at least one of the following characteristics: (1) The liftable distance of the lifting module is 0 mm to 27 mm; (2) The rotation angle of the horizontal rotation module is -180° to 180°; (3) The rotation angle of the pitching module is 0 to 50°; (4) The rotation angle of the swinging module is -20° to 20°; (5) The adjustable range of the running speed of the horizontal rotation module, the pitching module and the swinging module is 0 to 270° / s.

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