WO2020042184A1

WO2020042184A1 - Stabilizing apparatus and gimbal apparatus

Info

Publication number: WO2020042184A1
Application number: PCT/CN2018/103672
Authority: WO
Inventors: 宾朋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-05
Also published as: CN110785600A; CN113294670B; CN113294670A; CN110785600B

Abstract

A stabilizing apparatus (100) and a gimbal apparatus (200). The stabilizing apparatus (100) comprises a first swinging arm assembly (10), a second swinging arm assembly (20), and a power means (30); a first end of the second swinging arm assembly (20) is rotatably connected to the first swinging arm assembly (10), the second swinging arm assembly (20) and the first swinging arm assembly (10) can drive each other to move, and a second end of the second swinging arm assembly (20) is connected to a component (90) to be stabilized; the power means (30) is connected to either end of the first swinging arm assembly (10); the power means (30) adjusts an angle between the first swinging arm assembly (10) and the second swinging arm assembly (20) according to a shift deviation of the component (90) to be stabilized in a vertical direction, so as to compensate for the shift deviation of the component (90) to be stabilized in the vertical direction, thereby reducing the degree of up and down jitter of the component (90) to be stabilized and enhancing the stability of the component (90) to be stabilized in the vertical direction.

Description

Stabilizing device and PTZ device

Technical field

The invention relates to the technical field of gimbals, in particular to a stabilization device and a gimbal device.

Background technique

With the development of PTZ technology, users have more and more requirements for PTZ use. The current gimbal device does not have an ideal correction effect for the vertical fluctuation of the image obtained by the shooting device, and most of the existing structures are swing-arm type, that is, the stabilized object is suspended outside the support point. It is easy to cause the phenomenon of arm swing during the movement of the operator, which is not conducive to the stabilization of the shooting device.

Summary of the Invention

The invention provides a stabilization device and a pan / tilt device to enhance the stability of a component to be stabilized in the vertical direction.

Specifically, the present invention is implemented by the following technical solutions:

According to a first aspect of the present invention, a stabilization device is provided, including: a first swing arm assembly, a second swing arm assembly, and a power device;

Wherein, the first end of the second swing arm assembly is rotatably connected to the first swing arm assembly, and the second swing arm assembly and the first swing arm assembly can move with each other, and the second swing arm assembly The second end is connected to the component to be stabilized; the power device is connected to any one end of the first swing arm assembly;

The power device adjusts an angle between the first swing arm component and the second swing arm component according to a displacement deviation of the component to be stabilized in a vertical direction, so as to compensate the component to be stabilized along a vertical direction. Displacement deviation in straight direction.

According to a second aspect of the present invention, a pan / tilt head device is provided, which includes a component to be stabilized and a stabilizing device. The stabilizing device includes: a first swing arm component, a second swing arm component, and a power device;

It can be seen from the technical solutions provided by the embodiments of the present invention that, according to the embodiments of the present invention, the angle between the first swing arm assembly and the second swing arm assembly is adjusted by the power device according to the displacement deviation of the component to be stabilized in the vertical direction. Compensate the displacement deviation of the component to be stabilized in the vertical direction, so as to reduce the degree of fluctuation of the component to be stabilized in the vertical direction, thereby enhancing the stability of the component to be stabilized in the vertical direction.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present invention more clearly, the drawings used in the description of the embodiments are briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

1 is a schematic perspective view of a pan / tilt device according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the PTZ device according to another embodiment of the present invention from another perspective;

3 is a schematic plan view of the structure of a pan / tilt device according to an embodiment of the present invention;

FIG. 4 is an exploded schematic view of a gimbal device in an embodiment of the present invention; FIG.

5 is a schematic structural diagram of a first link of a stabilization device according to an embodiment of the present invention;

FIG. 6 and FIG. 7 are schematic diagrams of the connection relationship between the second swing arm assembly of the stabilization device and the second link and the component to be stabilized in an embodiment of the present invention.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The invention provides a stabilization device and a pan / tilt device to enhance the stability of a component to be stabilized in the vertical direction. The stabilization device and the PTZ device of the present invention will be described in detail below with reference to the drawings. In the case of no conflict, the features of the following embodiments and implementations can be combined with each other.

Referring to FIG. 1 to FIG. 7, an embodiment of the present invention provides a stabilization device 100 including a first swing arm assembly 10, a second swing arm assembly 20, and a power device 30.

The first end of the second swing arm assembly 20 is rotatably connected to the first swing arm assembly 10, and the second swing arm assembly 20 and the first swing arm assembly 10 can move with each other. The second ends of the two swing arm assemblies 20 are connected to the component 90 to be stabilized. The power device 30 is connected to any one end of the first swing arm assembly 10. In this embodiment, the power device 30 is connected to an end of the first swing arm assembly 10 away from the second swing arm assembly 20.

The power device 30 can adjust the angle between the first swing arm assembly 10 and the second swing arm assembly 20 according to the displacement deviation of the to-be-stabilized member 90 in the vertical direction to compensate for the waiting The displacement deviation of the stabilizing component 90 in the vertical direction is to reduce the degree of jitter of the components to be stabilised, thereby further enhancing the stability of the component to be stabilised in the vertical direction.

In an optional implementation manner, the first swing arm assembly 10 and the second swing arm assembly 20 can drive each other through a transmission structure. Optionally, the transmission structure is an intermeshing gear structure provided on the first swing arm assembly 10 and the second swing arm assembly 20, so that the first swing arm assembly 10 and the second swing arm assembly 20 can achieve synchronous movement. . In this embodiment, the first swing arm assembly 10 is provided with a first gear structure 16, and the second swing arm assembly 20 is provided with a second gear structure 26 that cooperates with the first gear structure 16. The two gear structures 26 mesh with each other to realize that the first swing arm assembly 10 and the second swing arm assembly 20 can drive each other. In this embodiment, the transmission structure is a gear transmission, and it can be understood that the transmission structure may also be a chain transmission, a belt transmission, a friction wheel transmission, or other transmission modes.

The power device 30 and the first swing arm assembly 10 can drive each other through a transmission structure. Optionally, the power device 30 includes a driving motor, and the transmission structure is an intermeshing gear structure provided on the first swing arm assembly 10 and the driving motor of the power device 30. In this embodiment, the first swing arm assembly 10 is provided with a third gear structure 18, and the driving motor of the power unit 30 is provided with a fourth gear structure 31 that cooperates with the third gear structure 18, and the third gear structure 18 and the first gear structure The four-gear structure 31 meshes with each other to realize that the first swing arm assembly 10 and the power device 30 can drive each other.

In an optional embodiment, at least one of the first swing arm assembly 10 and the second swing arm assembly 20 is a four-link mechanism. The first swing arm assembly 10 and the second swing arm assembly 20 may both be a four-link mechanism. The gear structure provided on the first swing arm assembly 10 and the second swing arm assembly 20 may allow the two four-link mechanisms to achieve synchronous movement. .

The first swing arm assembly 10 is a four-link mechanism, and includes a first link 11, a second link 12, a third link 13, and a fourth link 14 that are rotatably connected in sequence. The second link 12 and the fourth link 14 are each provided with at least two pivoting portions 15 to pivot the two ends of the first link 11 and the third link 13 to the second link 12 and the first On the four connecting rods 14. In this embodiment, the second link 12 and the fourth link 14 are each provided with two pivotal portions 15, the first link 11 is located above the third link 13, and the second link 12 and The fourth link 14 is located on both sides of the first link and the third link 13, respectively. One end of the first link 11 is pivotally connected to one of the pivotal portions 15 of the second link 12, and the other end is pivotally connected to one of the pivotal portions 15 of the fourth link 14. Correspondingly, one end of the third link 13 is pivotally connected to the other pivot portion 15 of the second link 12, and the other end is pivotally connected to the other pivot portion 15 of the fourth link 14, thereby forming a four-link mechanism. .

The second swing arm assembly 20 includes a fifth link 21 and a sixth link 22, the second link 12 of the first swing arm assembly 10, the fifth link 21 and the sixth link of the second swing arm assembly 20 The lever 22 and the to-be-stabilized member 90 are pivotally connected in sequence and collectively constitute a four-link mechanism. The second link 12 of the first swing arm assembly 10 is provided with three pivot portions 15 and arranged in sequence. Among them, the first pivot portion 15 is pivotally connected to the first link 11 and the second pivot portion 15 is pivotally connected to the third link 13 and the sixth link 22, and the third pivotal portion 15 is pivotally connected to the fifth link 21. A bracket portion 91 is provided at an end of the to-be-stabilized component 90 near the second swing arm assembly 20. The fifth link 21 and the sixth link 22 of the second swing arm assembly 20 are both pivotally connected to the bracket portion 91 to form a four-link mechanism.

In an optional embodiment, a first gear structure 16 is disposed on a portion of the first link 11 that is connected to the second swing arm assembly 20. Accordingly, a second gear structure 26 is provided on a portion of the fifth link 21 of the second swing arm assembly 20 that is connected to the first link 11 of the first swing arm assembly 10. Through the cooperation of the first gear structure 16 and the second gear structure 26, the first swing arm assembly 10 and the second swing arm assembly 20 can be rotationally connected and can drive each other.

A third gear structure 18 is disposed on a portion of the first link 11 that is connected to the power device 30. Accordingly, a fourth gear structure 31 is provided at a portion where the driving motor on the power device 30 is connected to the first link 11. The first gear structure 16 and the second gear structure 26 cooperate to realize that the first swing arm assembly 10 and the power device 30 can drive each other.

In an optional embodiment, the first link 11 includes at least one support arm 111. One end of the support arm 111 of the first link 11 is pivotally connected to the second link 12, and the other end is pivotally connected to the second link 12. The fourth link 14. The end of the arm 111 of the first link 11 near the second swing arm assembly 20 is provided with a first gear structure 16 that cooperates with the second swing arm assembly 20, and the first gear structure 16 may be The support arm 111 is integral or fixedly connected.

Correspondingly, the third link 13 includes the same number of arms 131 corresponding to the first link 11. One end of the arm 131 of the third link 13 is pivotally connected to the second link 12, and the other end Pivotly connected to the fourth link 14.

The fifth link 21 includes the same number of arms 211 corresponding to the first link 11. One end of the arm 211 of the fifth link 21 is pivotally connected to the second link 12, and the other end is pivotally connected to the second link 12. The bracket portion 91 of the component to be stabilized 90. The sixth link 22 includes the same number of arms 221 corresponding to the first link 11. One end of the arm 221 of the sixth link 22 is pivoted to the second link 12, and the other end is pivoted to The bracket portion 91 of the component to be stabilized 90.

Further, the arm 111 of the first link 11 near the power device 30 is provided with a third gear structure 18 that cooperates with the power device 30. The third gear structure 18 may be connected to the arm 111 For integral or fixed connection. In this embodiment, one of the arms 111 of the first link 11 is provided with a third gear structure 18. Accordingly, the driving motor of the power unit 30 is provided with a fourth gear structure 31 that cooperates with the third gear structure 18 of the first link 11.

In this embodiment, the first link 11 includes two oppositely disposed support arms 111 and a connecting piece 112 connecting the two support arms 111. The first link 11 has a “concave” cross-section. Of the shell. It can be understood that the arm 111 of the first link 11 is a plate structure with a certain width, and the connecting piece 131 of the first link 11 is connected between the upper ends of the two arms 111, so that the first link 11 Formed as a "concave" cross section.

The first link 11 and the third link 13 are arranged in parallel. The third link 13 includes two oppositely disposed support arms 131 and a connecting member connecting the two support arms 131. The rod 13 is a shell having a “concave” cross section. It can be understood that the third link 13 and the first link 11 have a mirror-symmetrical structure. The arm 131 of the third link 13 is a plate structure with a certain width. The connecting member of the third link 13 is connected to Between the lower ends of the two support arms 131, the third link 13 is further formed into a housing having a “concave” cross-section.

The fifth link 21 includes two oppositely disposed support arms 211 and a connecting piece connecting the two support arms 211. The fifth link 21 is a shell having a “concave” cross-section.

It should be noted that if the first link 11 of the first swing arm assembly 10 has only one support arm 111 provided with the first gear structure 16, then one of the support arms 211 of the fifth link 21 of the second swing arm assembly 20 A second gear structure 26 is provided. If both arms 111 of the first link 11 of the first swing arm assembly 10 are provided with the first gear structure 16, then both arms 211 of the fifth link 21 of the second swing arm assembly 20 are provided with the second Gear structure 26. In this embodiment, the two support arms 111 of the first link 11 of the first swing arm assembly 10 are both provided with a first gear structure 16. One end of the to-be-stabilized component 90 near the second swing arm assembly 20 is provided with two bracket portions 91 opposite to each other. The arms 211 of the fifth link 21 of the second swing arm assembly 20 are both located between the two bracket portions 91 and are provided with a second gear structure 26.

In an optional embodiment, the upper part of the second link 12 of the first swing arm assembly 10 is located between the two arms 111 of the first link 11, and both ends of the upper part of the second link 12 are provided The first rotating shaft 51 and the two arms 111 of the first link 11 are respectively provided with a first through hole 52 for socketing the corresponding first rotating shaft 51. The first link 11 passes through the first rotating shaft 51 and The second connecting rod 12 is pivotally connected.

The lower part of the second link 12 is located between the two arms 211 of the fifth link 21. The two ends of the lower part of the second link 12 are respectively provided with the second rotation shaft 53. Each of the two arms 211 is provided with a second through hole 54 for socketing the corresponding second rotating shaft 53. The second swing arm assembly 20 is pivotally connected to the second link 12 through the second rotating shaft 53.

The inner walls of the two bracket portions 91 of the member to be stabilized 90 are respectively provided with a third rotation shaft 57, and the sixth link 22 is provided with a third through hole 58 for socketing the corresponding third rotation shaft 57. The arm assembly 20 is pivotally connected to the bracket portion 91 of the component to be stabilized 90 through the third rotating shaft 57. Correspondingly, the first link 11 and the power device 30 may also be connected to each other by means of a rotating shaft, and details are not described herein again.

In an optional implementation manner, a width of the fifth link 21 is at least larger than a width of the third link 13, so that the first swing arm assembly 10 and the second swing arm assembly 20 are relatively rotated and When folded, the third link 13 is at least partially accommodated in the fifth link 21 (as shown in FIG. 3), which reduces the volume occupied by the stabilization device 100 and is convenient to carry. It can be understood that when the third link and the fifth link each include two arms, the distance between the two arms of the fifth link is at least greater than the distance between the two arms of the third link So that the two arms of the third link can be at least partially housed between the two arms of the fifth link when it can be folded.

In an optional embodiment, the first swing arm assembly 10 further includes an elastic member 17. One end of the elastic member 17 is connected to the first link 11, and the other end is connected to an end of the third link 13 remote from the first link 11 to the elastic member 17. Alternatively, one end of the elastic member 17 is connected to the second link 12, and the other end is connected to the fourth link 14. In this embodiment, one end of the elastic member 17 is connected to the first link 11, and the other end is connected to an end of the third link 13 remote from the first link 11 to the elastic member 17. The elastic member 17 can provide an elastic pre-tensioning force to the first swing arm assembly 10 to prevent the first swing arm assembly 10 from shaking, thereby further enhancing the stability of the component 90 to be stabilized.

In an optional embodiment, the stabilization device 100 further includes a weight adjustment knob 40 connected to the first swing arm assembly 10. The weight adjustment knob 40 can be used to adjust the tightness between the first gear structure 16 of the first swing arm assembly 10 and the second gear structure 26 of the second swing arm assembly 20, and to adjust the The degree of tightness between the third gear structure 18 and the fourth gear structure 31 of the power device 30, so as to adjust the resistance of the first gear structure 16 and the second swing arm assembly 20 to each other and the first swing arm. The amount of resistance when the component 10 and the power device 30 drive each other to avoid the contact failure between the gear structures and the failure of the stabilization device.

According to the stabilization device 90 of the present invention, the angle between the first swing arm assembly 10 and the second swing arm assembly 20 is controlled by the driving motor of the power device 30 according to the displacement deviation of the component to be stabilized 90 in the vertical direction. The swing arm assembly 10 and the second swing arm assembly 20 can be engaged with each other through a gear structure to realize synchronous movement, and achieve the purpose of compensating the displacement deviation of the component to be stabilized 90 in the vertical direction, so as to reduce the ups and downs of the component to be stabilized 90 Degree of jitter, thereby enhancing the stability of the component to be stabilized 90 in the vertical direction.

Referring to FIGS. 1 to 4, an embodiment of the present invention further provides a PTZ device 200 including a component to be stabilized 90 and a stabilization device 100. The stabilization device 100 includes a first swing arm assembly 10, a second The swing arm assembly 20 and the power unit 30. The first end of the second swing arm assembly 20 is rotatably connected to the first swing arm assembly 10, and the second swing arm assembly 20 and the first swing arm assembly 10 can move with each other. The second end of the two swing arm assemblies 20 is connected to the component to be stabilized 90; the power device 30 is connected to any one end of the first swing arm assembly 10. The power device 30 adjusts the angle between the first swing arm assembly 10 and the second swing arm assembly 20 according to the displacement deviation of the to-be-stabilized component 90 in the vertical direction to compensate the to-be-increased The displacement deviation of the stabilizing member 90 in the vertical direction solves the phenomenon of fluctuation of the screen caused by the fluctuation of the camera body caused by the fluctuation of the camera body when shooting. It should be noted that the description of the stabilization device 100 in the foregoing embodiments and implementations is also applicable to the pan / tilt device 200 of the present invention.

In an optional embodiment, the pan / tilt head device 200 further includes a support portion 80 which is pivotally connected to the first swing arm assembly 10 of the stabilization device 100. The support portion 80 is used for Provide support for the stabilization device 100 and the component to be stabilized 90.

In this embodiment, the support portion 80 is a handle, and the handle includes a grip portion 83. The center of gravity of the member to be stabilized 90 is in the same vertical direction as the grip portion 83. It can be understood that, whether the gimbal device 200 is in a stationary state or in a moving state, the center of gravity of the object 90 to be stabilized is always maintained in the same vertical direction as the grip portion 83 of the handle, which can eliminate In order to reduce the phenomenon that the operator oscillates the arm during the gripping process, the stabilization effect of the stabilization component 90 is strengthened. Of course, in other examples, the support portion 80 may also have other structures, such as a shooting bracket, a support boom, and the like.

Further, the handle may include a bending piece 82 and a holding portion 83 connected to the bending piece 82, the bending piece 82 is connected to the second swing arm assembly 20, and the holding portion 83 It is extended in the horizontal direction, which is convenient for users to hold.

In an optional implementation manner, the component to be stabilized 90 includes a connecting member 92, and at least two pivotal portions (which can be understood as the bracket portion 91 described above) are provided on the connecting member for communicating with The second swing arm assembly 20 is pivotally connected.

Further, the to-be-stabilized component 90 includes a plurality of bracket assemblies 93 rotatably connected and a load 94 supported by the bracket assemblies. Optionally, the load 94 is a photographing device. The stabilizing device 100 can solve the phenomenon of fluctuation of the screen caused by the fluctuation of the camera body caused by the fluctuation of the camera body during shooting of the gimbal device 200, and at the same time, the effect of the bias moment can be solved.

The bracket assembly 93 may be a three-axis gimbal bracket, and the bracket assembly 93 may include a yaw axis assembly 95 connected to a second end of the second swing arm assembly 20 of the stabilization device 100 and a yaw axis assembly 95 The roll shaft assembly 96 to which the yaw shaft assembly 95 is connected, and the load 94 is mounted on the roll shaft assembly 96.

It should be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order among them. The term "comprising," "including," or any other variation thereof, is intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed Elements, or elements that are inherent to such a process, method, article, or device. Without more restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article, or equipment including the elements.

The gimbal handle and the gimbal with the gimbal provided in the embodiments of the present invention have been described in detail above. Specific examples have been used in this document to explain the principles and implementation of the present invention. The descriptions of the above embodiments are only for understanding. The method of the present invention and its core idea; meanwhile, for a person of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this description should not be It is understood as a limitation to this invention.

Claims

A stabilization device includes: a first swing arm assembly, a second swing arm assembly, and a power device;

Wherein, the first end of the second swing arm assembly is rotatably connected to the first swing arm assembly, and the second swing arm assembly and the first swing arm assembly can move with each other, and the second swing arm assembly The second end is connected to the component to be stabilized; the power device is connected to any one end of the first swing arm assembly;

The power device adjusts an angle between the first swing arm component and the second swing arm component according to a displacement deviation of the component to be stabilized in a vertical direction, so as to compensate the component to be stabilized along a vertical direction. Displacement deviation in straight direction.
The stabilizing device according to claim 1, wherein the first swing arm assembly and the second swing arm assembly can drive each other through a transmission structure.
The stabilization device according to claim 2, wherein the transmission structure is an intermeshing gear structure provided on the first swing arm assembly and the second swing arm assembly.
The stabilization device according to claim 3, wherein at least one of the first swing arm assembly and the second swing arm assembly is a four-link mechanism.
The stabilizing device according to claim 4, wherein the first swing arm assembly is a four-link mechanism, and includes a first link, a second link, a third link, and a first link that are rotatably connected in sequence. Four-link, wherein the second and fourth links are each provided with at least two pivotal joints to pivotally connect the two ends of the first and third links to the two ends, respectively. On the second and fourth links.
The stabilization device according to claim 5, wherein a gear structure is provided on a portion of the first link that is connected to the second swing arm assembly.
The stabilization device according to claim 6, wherein the first link includes at least one support arm, one end of the support arm is pivotally connected to the second link, and the other end is pivotally connected to the first link A four-link link; an end of the support arm near the second swing arm assembly is provided with a gear structure that cooperates with the second swing arm assembly, and the gear structure is integrally or fixedly connected with the support arm.
The stabilizing device according to claim 7, wherein the first link comprises two oppositely disposed support arms and a connecting member connecting the two support arms, and the first link has a cross section of: "Concave" shaped shell.
The stabilization device according to claim 7 or 8, wherein the third link corresponding to the first link also includes the same number of arms, and one end of the arms is pivotally connected to the first link. Two links, the other end of which is pivotally connected to the fourth link.
The stabilizing device according to claim 9, wherein the third link comprises two oppositely disposed support arms and a connecting member connecting the two support arms, the first link and the The third link is arranged in parallel.
The stabilization device according to claim 5, wherein the first swing arm assembly further comprises an elastic member;

One end of the elastic member is connected to the first link, and the other end is connected to an end of the third link remote from the first link to the elastic member; or

One end of the elastic member is connected to the second link, and the other end is connected to the fourth link.
The stabilization device according to claim 5, wherein the second swing arm assembly includes a fifth link and a sixth link, the second link of the first swing arm assembly, and the fifth link The sixth link and the component to be stabilized are pivoted in sequence and together form a four-link mechanism.
The stabilization device according to claim 12, wherein the second link of the first swing arm assembly is provided with three pivoting portions and arranged in sequence, wherein the first pivoting portion is pivotally connected to the first connecting portion. The second pivotal portion is pivotally connected to the third and sixth links, and the third pivotal portion is pivotally connected to the fifth link.
The stabilizing device according to claim 12, wherein a gear structure is provided on a portion of the fifth link that is connected to the first swing arm assembly.
The stabilization device according to claim 12, wherein a width of the fifth link is at least larger than a width of the third link, so that the first swing arm assembly and the second swing arm assembly are opposite to each other. When rotating and folding, the third link is received in the fifth link.
The stabilizing device according to claim 1, wherein the power device and the first swing arm assembly are capable of driving each other through a transmission structure.
The stabilization device according to claim 16, wherein the transmission structure is an intermeshing gear structure provided on the first swing arm assembly and the power device.
The stabilizing device according to claim 17, wherein the first swing arm assembly is a four-link mechanism, and includes a first link, a second link, a third link, and a first link that are rotatably connected in sequence. Four-link, wherein the second and fourth links are each provided with at least two pivotal joints to pivotally connect the two ends of the first and third links to the two ends, respectively. On the second and fourth links.
The stabilizing device according to claim 18, wherein a gear structure is provided on a portion of the first link that is connected to the power device.
The stabilizing device according to claim 19, wherein the first link includes at least one support arm, one end of the support arm is pivotally connected to the second link, and the other end is pivotally connected to the first link A four-link link; an end of the support arm near the power device is provided with a gear structure cooperating with the power device, and the gear structure is integrally or fixedly connected with the support arm.
The stabilizing device according to claim 20, wherein the first link includes two supporting arms disposed opposite to each other, and an end of the supporting arm near the power device is provided with a power matching the power device. Gear structure.
The stabilizing device according to claim 1, further comprising a weight adjustment knob connected to the first swing arm assembly.
A gimbal device, comprising: a component to be stabilized and a stabilization device, wherein the stabilization device includes a first swing arm component, a second swing arm component, and a power device;

Wherein, the first end of the second swing arm assembly is rotatably connected to the first swing arm assembly, and the second swing arm assembly and the first swing arm assembly can move with each other, and the second swing arm assembly The second end is connected to the component to be stabilized; the power device is connected to any one end of the first swing arm assembly;

The power device adjusts an angle between the first swing arm component and the second swing arm component according to a displacement deviation of the component to be stabilized in a vertical direction, so as to compensate the component to be stabilized along a vertical direction. Displacement deviation in straight direction.
The gimbal device according to claim 23, wherein the gimbal device further comprises a support portion, the support portion is pivotally connected to the first swing arm assembly, and the support portion is used for the The stabilizing device and the components to be stabilized provide support.
The gimbal device according to claim 24, wherein the support portion is a handle, the handle includes a grip portion, and a center of gravity of the member to be stabilized is in the same vertical direction as the grip portion.
The gimbal device according to claim 23, wherein the component to be stabilized comprises a connecting piece, and at least two pivotal portions are provided on the connecting piece for pivotal connection with the second swing arm assembly.
The gimbal device according to claim 23, wherein the component to be stabilized comprises a plurality of bracket components rotatably connected and a load supported by the bracket components.
The gimbal device according to claim 27, wherein the load is a photographing device.
The gimbal device according to claim 25, wherein the handle comprises a bending piece and a holding portion connected to the bending piece, and the bending piece is connected to the second swing arm assembly, The holding portion is extended in a horizontal direction.
The gimbal device according to claim 27, wherein the bracket assembly comprises a yaw axis assembly connected to a second end of a second swing arm assembly of the stabilization device and the yaw axis assembly The connected roll axis assembly, the load is mounted on the roll axis assembly.
The gimbal device according to claim 23, wherein the first swing arm assembly and the second swing arm assembly can drive each other through a transmission structure.
The gimbal device according to claim 31, wherein the transmission structure is an intermeshing gear structure provided on the first swing arm assembly and the second swing arm assembly.
The gimbal device according to claim 32, wherein at least one of the first swing arm assembly and the second swing arm assembly is a four-link mechanism.
The gimbal device according to claim 33, wherein the first swing arm assembly is a four-link mechanism, and includes a first link, a second link, a third link, and a first link that are rotatably connected in sequence. Four-link, wherein the second and fourth links are each provided with at least two pivotal joints to pivotally connect the two ends of the first and third links to the two ends, respectively. On the second and fourth links.
The gimbal device according to claim 34, wherein a gear structure is provided on a portion of the first link that is connected to the second swing arm assembly.
The gimbal device according to claim 35, wherein the first link includes at least one support arm, one end of the support arm is pivotally connected to the second link, and the other end is pivotally connected to the first link A four-link link; an end of the support arm near the second swing arm assembly is provided with a gear structure that cooperates with the second swing arm assembly, and the gear structure is integrally or fixedly connected with the support arm.
The gimbal device according to claim 36, wherein the first link includes two oppositely disposed support arms and a connecting member connecting the two support arms, and the first link has a cross section of: "Concave" shaped shell.
The gimbal device according to claim 36 or 37, wherein the third link also includes the same number of arms corresponding to the first link, and one end of the arm is pivotally connected to the first link. Two links, the other end of which is pivotally connected to the fourth link.
The gimbal device according to claim 38, wherein the second link comprises two oppositely disposed support arms and a connecting member connecting the two support arms, the first link and the second The connecting rods are arranged in parallel.
The gimbal device according to claim 34, wherein the first swing arm assembly further comprises an elastic member;

One end of the elastic member is connected to the first link, and the other end is connected to an end of the third link remote from the first link to the elastic member; or

One end of the elastic member is connected to the second link, and the other end is connected to the fourth link.
The gimbal device according to claim 34, wherein the second swing arm assembly comprises a fifth link and a sixth link, the second link, the sixth link of the first swing arm assembly, and the The stabilizing member 56 is sequentially pivoted and collectively constitutes a four-link mechanism, wherein the three pivotal portions of the second link of the first swing arm assembly are connected to the first link, respectively.
The gimbal device according to claim 41, wherein the second link of the first swing arm assembly is provided with three pivoting portions and arranged in sequence, wherein the first pivoting portion is pivotally connected to the first connecting portion. The second pivotal portion is pivotally connected to the third and sixth links, and the third pivotal portion is pivotally connected to the fifth link.
The gimbal device according to claim 41, wherein a gear structure is provided on a portion of the fifth link that is connected to the first swing arm assembly.
The gimbal device according to claim 41, wherein a width of the fifth link is at least larger than a width of the second link, so that the first swing arm assembly and the second swing arm assembly are opposite to each other. The second link is received in the fifth link when rotated and folded.
The gimbal device according to claim 23, wherein the power device and the first swing arm assembly can drive each other through a transmission structure.
The gimbal device according to claim 45, wherein the transmission structure is an intermeshing gear structure provided on the first swing arm assembly and the power device.
The gimbal device according to claim 46, wherein the first swing arm assembly is a four-link mechanism including a first link, a second link, a third link, and a first link that are rotatably connected in sequence. Four-link, wherein the second and fourth links are each provided with at least two pivotal joints to pivotally connect the two ends of the first and third links to the two ends, respectively. On the second and fourth links.
The gimbal device according to claim 47, wherein a gear structure is provided on a portion of the first link that is connected to the power device.
The gimbal device according to claim 48, wherein the first link includes at least one support arm, one end of the support arm is pivotally connected to the second link, and the other end is pivotally connected to the first link A four-link link; an end of the support arm near the power device is provided with a gear structure cooperating with the power device, and the gear structure is integrally or fixedly connected with the support arm.
The gimbal device according to claim 49, wherein the first link includes two arms, and a gear matching the power device is provided on the arm near the power device. structure.
The gimbal device according to claim 23, further comprising a weight adjustment knob connected to the first swing arm assembly.