CN107241912A

CN107241912A - Vertical Zeng Wen mechanisms and cradle head device and capture apparatus

Info

Publication number: CN107241912A
Application number: CN201680007022.8A
Authority: CN
Inventors: 尹承禹; 宾朋
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-02-01
Filing date: 2016-02-01
Publication date: 2017-10-10
Anticipated expiration: 2036-02-01
Also published as: CN107241912B; WO2017132801A1

Abstract

A kind of vertical Zeng Wen mechanisms (40) and the cradle head device (100) and capture apparatus (500) using the vertical Zeng Wen mechanisms (40).The vertical Zeng Wen mechanisms (40) include installed part (423), bearing part (445) and constant force elastic component (463), the two ends of the constant force elastic component (463) are connected on the installed part (423) and the bearing part (445), make the installed part (423) when producing vibrations or shaking, constant force elasticity (463) part absorbs the energy of the vibrations or shake and produces deformation, to prevent the vibrations or jitter motion to be transferred to the bearing part (445).

Description

Vertical Zeng Wen mechanism and cradle head device and capture apparatus

Technical field

The present invention relates to movies-making field more particularly to a kind of vertical Zeng Wen mechanism, cradle head device and capture apparatus for shooting.

Background technique

For the purpose for realizing steady shot, many capture apparatus cradle head device of all arrange in pairs or groups uses, cradle head device, which generally all has on direction of rotation, increases steady function, such as, three axis holders can compensate the shake of holder in pitch axis (pitch axis), course axis (yaw axis) and roll axis (roll axis) direction of rotation, but the holder is for the shake on gravity direction that there is no ideal compensation effects.If the shake or vibration of holder generation vertical direction, it will influence picture quality captured by capture apparatus.

Summary of the invention

In view of this, it is necessary to provide a kind of vertical Zeng Wen mechanism, cradle head device and capture apparatus for avoiding the above problem.

A kind of vertical Zeng Wen mechanism, is used to support load.The vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.

Further, the Zeng Wen mechanism further includes guidance set, and the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.

Further, the guidance set is spatial linkage.

Further, the guidance set includes first connecting rod group and second connecting rod group, and the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.

Further, the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.

Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, and the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.

Further, the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.

Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.

Further, the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.

Further, the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, and on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.

Further, the constant force elastic component is constant force helical spring or constant force wind spring.

Further, the vertical Zeng Wen mechanism further includes actuator, and the actuator is connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.

Further, the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.

Further, the vertical Zeng Wen mechanism further includes controller and sensor, and the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor controls the actuator movement, to drive the constant force elastic component to shorten or elongation.

Further, the sensor is Inertial Measurement Unit, the controller is when the Inertial Measurement Unit detects that the installation part generates vibration or shake, it controls the actuator and drives the constant force elastic component movement, move the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.

Further, the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.

A kind of cradle head device, is used to support imaging device.The cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set is spatial linkage.

Further, the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the axial shake of the cradle head device.

Further, the axial direction Zeng Wen mechanism is three axis holders.

Further, the first holder connector is provided on the load-bearing part, the axial direction tranquilizer includes the second holder connector, and the second holder connector and the first holder connector, which cooperate, the realization axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or to be electrically connected.

A kind of capture apparatus, including imaging device, cradle head device and support device.The cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set is spatial linkage.

Further, the capture apparatus further includes support device, and the supporting element can be releasably set in the support device.

Further, the support device includes the first connector, it is provided with the second connector compatible with first connector on the supporting element, first connector cooperates with second connector to be realized the axial direction Zeng Wen mechanism and the mechanical connection of the support device and/or be electrically connected.

Further, the support device is hand-held support device or unmanned vehicle.

Further, the axial direction Zeng Wen mechanism is three axis holders.

A kind of vertical Zeng Wen mechanism, is used to support load.The vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.

Further, the sensor is Inertial Measurement Unit.

Further, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the Inertial Measurement Unit detects that the installation part generates vibration or shake.

Further, the vertical Zeng Wen mechanism further includes the constant force elastic component being set between the actuator and the load-bearing part, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, controlling the actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set is spatial linkage.

A kind of cradle head device, is used to support imaging device.The cradle head device includes vertical Zeng Wen mechanism, and the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.

Further, the sensor is Inertial Measurement Unit.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set is spatial linkage.

Further, the axial direction Zeng Wen mechanism is three axis holders.

A kind of capture apparatus, including imaging device, cradle head device and support device.The cradle head device includes vertical Zeng Wen mechanism, and the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.

Further, the sensor is Inertial Measurement Unit.

Further, the guidance set is linear type guiding mechanism.

Further, the guidance set is spatial linkage.

Further, the support device is hand-held support device or unmanned vehicle.

Further, the axial direction Zeng Wen mechanism is three axis holders.

Compared with the existing technology, the capture apparatus and cradle head device can eliminate shake influence caused by shooting of capture apparatus vertical direction, can guarantee the quality and effect of shooting by the way that the vertical Zeng Wen mechanism is arranged.

Detailed description of the invention

Fig. 1 is the capture apparatus stereoscopic schematic diagram that first embodiment of the invention provides.

Fig. 2 is the schematic diagram at another visual angle of capture apparatus shown in FIG. 1.

Fig. 3 is the stereoscopic schematic diagram for the capture apparatus that second embodiment of the invention provides.

Main element symbol description

Capture apparatus 500,600

Image acquiring device 300,400

Support device 200

First connector 204

Cradle head device 100

Vertical Zeng Wen mechanism 40

Support component 42

Second connector 421

Supporting element 423

Installation part 425

Guidance set 44

First connecting rod group 441

First connecting rod 4411

Second connecting rod 4413

Second connecting rod group 443

Third connecting rod 4431

Fourth link 4433

Load-bearing part 445

Connecting shaft 447

First holder connector 449

Increase steady component 46,86

Mounting base 461,861

Pedestal 4611,8611

Pivot 4613,86113

Constant force elastic component 463,863

Locating part 465

Axial Zeng Wen mechanism 60

First axle driving unit 61

Second holder connector 611

First support 63

Second axis driving unit 65

Second support 67

Third axis driving unit 69

Actuator 867

Electron speed regulator 869

The present invention that the following detailed description will be further explained with reference to the above drawings.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component or there may also be components placed in the middle when component is referred to as " being fixed on " another component.When a component is considered as " connection " another component, it can be directly to another component or may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it, which can be, is set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Term as used herein in the specification of the present invention, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term as used herein " and/or " it include any and all combinations of one or more related listed items.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.

Fig. 1 and Fig. 2 is please referred to, the capture apparatus 500 of first embodiment of the invention includes image acquiring device 300, cradle head device 100 and support device 200.The cradle head device 100 is set between described image acquisition device 300 and support device 200, for changing described image acquisition device 300 shooting angle and eliminate and shake influence to described image acquisition device 300.

Described image acquisition device 300 is for shooting image/video.Described image acquisition device 300 can be the imaging devices such as digital camera, video camera, or the portable communication apparatus such as mobile phone, tablet computer with camera function.

The support device 200 is used to support described image acquisition device 300 and the cradle head device 100.In the present embodiment, the support device 200 is hand-held support device, i.e. user can hold the support device 200 and shoot.Shooting function key (not shown go out) is provided in the support device 200, the shooting function key allows user's operation to control shooting, such as screening-mode, the shooting angle of described image acquisition device 300 etc. of control described image acquisition device 300.The support device 200 further includes the first connector 204, and first connector 204 is for connecting the cradle head device 100.By first connector 204, the support device 200 can be mechanically connected and/or be electrically connected with the cradle head device 100 and/or described image acquisition device 300.

The cradle head device 100 includes axial direction Zeng Wen mechanism 60 and vertical Zeng Wen mechanism 40.The vertical Zeng Wen mechanism 40 is arranged between the support device 200 and the axial direction Zeng Wen mechanism 60.The vertical Zeng Wen mechanism 40 is used to eliminate influence of the vertical shake of the capture apparatus 500 to described image acquisition device 300.The axial direction Zeng Wen mechanism 60 is for installing described image acquisition device 300, and influence of the axial shake for eliminating the capture apparatus 500 to described image acquisition device 300.It should pay attention to, the vertical shake refers to the shake with vertical component, as long as the shake of the i.e. described capture apparatus 500 has component in vertical direction, it can be referred to as vertical shake, in other words, the macroscopic motion direction not necessarily vertical direction for the capture apparatus 500 vertically shaken, there can also be certain angle with vertical direction.

The vertical Zeng Wen mechanism 40 includes support component 42, guidance set 44 and the steady component 46 of increasing.Specifically in the illustrated embodiment, the support component 42 is arranged in the support device 200, and the guidance set 44 and the steady component 46 of increasing are arranged in the support component 42.The guidance set 44 is for installing the axial direction Zeng Wen mechanism 60, and the direction of motion for the relatively described support component 42 of axial direction Zeng Wen mechanism 60 described in correcting.The influence for increasing steady component 46 and described image acquisition device 300 being generated in the shake of vertical direction or vibration for eliminating the capture apparatus 500.

The support component 42 is detachably mounted on one end of the support device 200 comprising the second connector 421, supporting element 423 and installation part 425.

Second connector 421 is adapted so that 42 entirety of support component to be installed in the support device 200 with first connector 204.Second connector 421 can be connected together, be threadedly coupled or be interference fitted connection in first connector 204.

The supporting element 423 substantially in the rod-shaped of bending, is arranged in the support device 200.Specifically, one end of the supporting element 423 is connected by second connector 421 with the support device 200, and the other end of the supporting element 423 extends towards the direction away from the support device 200.

The installation part 425 is arranged on the supporting element 423, is used to install the guidance set 44 and the steady component 46 of increasing.Specifically in the illustrated embodiment, the installation part 425 is substantially plate-like, is adjustably disposed in one end that the supporting element 423 deviates from the support device 200, and the installation part 425 can be rotated relative to the supporting element 423.By adjusting the setting angle of the installation part 425, the adjustable guidance set 44 and the setting angle for increasing steady component 46 enable the steady component 46 of increasing to be placed in the vertical direction, to realize the stabilization function of vertical direction.

The guidance set 44 is arranged on the installation part 425, is used to limit the direction of motion of the axial direction Zeng Wen mechanism 60, move the axial direction Zeng Wen mechanism 60 can only along above-mentioned vertical direction.In the present embodiment, the guidance set 44 is spatial linkage.The guidance set 44 includes first connecting rod group 441, second connecting rod group 443 and load-bearing part 445.

The first connecting rod group 441, the second connecting rod group 443 are separately positioned on the two sides of the installation part 425, and the two is generally concerned with the installation part 425 and is symmetrical arranged.

The first connecting rod group 441 includes first connecting rod 4411 and second connecting rod 4413.In the present embodiment, the first connecting rod 4411 and the second connecting rod 4413 are substantially in the flat rod-shaped scaffold of width.One end of the first connecting rod 4411 is articulated in the side of the installation part 425 by connecting shaft 447, and the other end of the first connecting rod 4411 extends towards the direction away from the installation part 425.The second connecting rod 4413 is rotatably connected on the first connecting rod 4411.Specifically, one end of the second connecting rod 4413 is articulated in the one end of the first connecting rod 4411 far from the installation part 425 by another connecting shaft 447.

The other side of the installation part 425 is arranged in the second connecting rod group 443, and the structure of the second connecting rod group 443 is roughly the same with the structure of the first connecting rod group 441.Similar with the first connecting rod group 441, the second connecting rod group 443 includes the third connecting rod 4431 being articulated on the installation part 425 and the fourth link 4433 being articulated on the third connecting rod 4431.

The load-bearing part 445 is arranged in the first connecting rod group 441 and the second connecting rod group 443, is used to install the axial direction Zeng Wen mechanism 60.In the present embodiment, the load-bearing part 445 is substantially plate-like, is roughly parallel to the installation part 425, and is located at the installation part 425 close to the side of the support device 200.The both ends of the load-bearing part 445 are respectively pivoted in the second connecting rod 4413 and the fourth link 4433.Specifically, one end of the load-bearing part 445 is articulated in the one end of the second connecting rod 4413 far from the first connecting rod 4411 by a connecting shaft, and the other end of the load-bearing part 445 is articulated in by a connecting shaft and described is articulated in the one end of the fourth link 4433 far from the third connecting rod 4431.

The first holder connector 449 is provided on the load-bearing part 445, the first holder connector 449 with the part-structure of the axial direction Zeng Wen mechanism 60 for being adapted, to realize the axial direction Zeng Wen mechanism 60 and the mechanical connection of the vertical Zeng Wen mechanism 40 and/or be electrically connected.

The first connecting rod group 441, the second connecting rod group 443 and the load-bearing part 445 constitute a spatial linkage, and the actuating station of the spatial linkage only has the translation freedoms in a direction, to limit the direction of motion of the axial direction Zeng Wen mechanism 60.Specifically in the illustrated embodiment, actuating station of the load-bearing part 445 as the spatial linkage is only capable of moving along the direction perpendicular to the installation part 425.When the support device 200 is placed along the vertical direction, and the installation part 425 is horizontally disposed, the load-bearing part 445 is only capable of vertically moving.

The steady component 46 of increasing is set on the installation part 425, is used to carry out the axial direction Zeng Wen mechanism 60 and described image acquisition device 300 vertically to increase steady.The steady component 46 of increasing includes mounting base 461, constant force elastic component 463 and locating part 465.Specifically in the illustrated embodiment, the mounting base 461 is arranged on the installation part 425, and the constant force elastic component 463 is connected between the mounting base 461 and the load-bearing part 445.

The mounting base 461 includes pedestal 4611 and the pivot 4613 being set on the pedestal 4611.In the present embodiment, the quantity of the pedestal 4611 is two, and two pedestals 4611 are intervally installed on the installation part 425, and is located at the side that the installation part 425 deviates from the load-bearing part 445.In the present embodiment, the pedestal 4611 is assembled in together with the installation part 425, it will be understood that in other examples, the pedestal 4611 can be integrally formed with the installation part 425；Even, the mounting base 461 can be omitted, and directly the constant force elastic component 463 is arranged on the installation part 425.The pivot 4613 is set on two pedestals 4611, is used to install the constant force elastic component 463.

In the present embodiment, the constant force elastic component 463 is constant force clockwork spring.One end winding of the constant force elastic component 463 is arranged on the pivot 4613, and the other end of the constant force elastic component 463 is connected on the load-bearing part 445.When the constant force elastic component 463 generates deformation, elastic force will not change substantially with the size of deformation quantity.In other words, when the constant force elastic component 463 is constant force clockwork spring, when the length of the constant force elastic component 463 is maintained in a predetermined range, elastic force will not change substantially with the variation of length.By adjusting the length of the constant force elastic component 463, the distance between the adjustable load-bearing part 445 and the installation part 425, adjust the axial direction Zeng Wen mechanism 60 and the distance between described image acquisition device 300 and the installation part 425, when to guarantee that the shake of vertical direction occurs for described image acquisition device 300, speed or acceleration of the axial direction Zeng Wen mechanism 60 with described image acquisition device 300 in vertical direction will not be substantially change, and then guarantee described image acquisition device 300 in the stabilization of vertical direction.

The selection that varies in weight that the elastic pulling force of the constant force elastic component 463 can be loaded according to it, to control the installing distance of the relatively described installation part 425 of described image acquisition device 300.Specifically, the vertical Zeng Wen mechanism 40 can select the pulling force of the constant force elastic component 463 according to the weight of the load of carrying needed for it, therefore, the pulling force and length of its constant force elastic component 463 can be adjusted flexibly in the vertical Zeng Wen mechanism 40 according to the load of different model and type.In the present embodiment, the load is described image acquisition device 300 and the axial direction Zeng Wen mechanism 60, and under certain situations, the load can only include described image acquisition device 300.

The locating part 465 is set on the load-bearing part 445, is used to limit the distance between the load-bearing part 445 and described installation part 425.Specifically in the illustrated embodiment, the load-bearing part 445 is arranged in towards the side of the installation part 425 in the locating part 465.When the load-bearing part 445 moves to extreme position towards the installation part 425, the locating part 465 is resisted against on the installation part 425, with the movement of load-bearing part 445 described in backstop.It can be understood that, other positions can also be arranged in the locating part 465, such as, the locating part 465 can be set on the installation part 425, or be arranged in the first connecting rod group 441 or the second connecting rod group 443, to limit the distance between the load-bearing part 445 and described installation part 425.It is appreciated that being also provided with bolster (not shown) on the locating part 465, the bolster is by having the material of certain elasticity to be made, for buffering the impact endurance test shock between the installation part 425 and the load-bearing part 445.The bolster can be the elastic elements such as buffering foam, intersection, spring or elastic slice.It is appreciated that other positions can also be arranged in the bolster, e.g., the bolster be can be set on the installation part 425, or is arranged in the first connecting rod group 441 or the second connecting rod group 443 etc..

The axial direction Zeng Wen mechanism 60 is arranged on the load-bearing part 445, and is located at the side that the load-bearing part 445 deviates from the installation part 425.The axial direction Zeng Wen mechanism 60 is for installing described image acquisition device 300, and shooting direction and shooting angle for adjusting described image acquisition device 300.

In the present embodiment, the axial direction Zeng Wen mechanism 60 is three axis support devices, more specifically, the axial direction Zeng Wen mechanism 60 is three axis holders, it can be around first axle a1(for example, course (yaw) axis), the second axis a2(is for example, roll (roll) axis) and third axis a3(for example, pitching (pitch) axis) angle of adjustment described image acquisition device 300.The axial direction Zeng Wen mechanism 60 includes first axle driving unit 61, first support 63, the second axis driving unit 65, second support 67 and third axis driving unit 69.The first support 63 is connected with the first axle driving unit 61 and can rotate under the drive of the first axle driving unit 61 around the first axle a1；The second axis driving unit 65 is fixedly installed on end of the first support 63 far from the first axle driving unit 61；The second support 67 is connected with the second axis driving unit 65 and can rotate under the drive of the second axis driving unit 65 around the second axis a2；The third axis driving unit 69 is set to end of the second support 67 far from the second axis driving unit 65, and described image acquisition device 300 is connected with the third axis driving unit 69 and can rotate under the drive of the third axis driving unit 69 around the third axis a3.In the present embodiment, the first axle driving unit 61, the second axis driving unit 65 and the third axis driving unit 69 are brushless motor component.

In present embodiment, the cradle head device 100 can also include sensor (not shown) and controller (not shown).The sensor is used to sense the posture information of the capture apparatus 500, and specifically, the sensor can be Inertial Measurement Unit (IMU).The controller is used to control the rotation of at least one of the first axle driving unit 61, the second axis driving unit 65 and described third axis driving unit 69 according to the information of the sensor sensed, to eliminate influence of the axial shake of the capture apparatus 500 to described image acquisition device 300.Specifically, the sensor is used to sense the posture information of the capture apparatus 500, and judge whether the capture apparatus 500 generates the shake around the direction of rotation of some axis, if, then the controller controls the respective shaft in the first axle driving unit 61, the second axis driving unit 65 and the third axis driving unit 69 and rotates along the direction opposite with the axial jitter direction of the capture apparatus 500, to eliminate influence of the axial shake of the capture apparatus 500 to described image acquisition device 300.

It is understood that, the command information that the controller can also respond user controls the rotation of at least one of the first axle driving unit 61, the second axis driving unit 65 and described third axis driving unit 69, adjusts the shooting direction or shooting angle of described image acquisition device 300.

The axial direction Zeng Wen mechanism 60 further includes the second holder connector 611 being fixedly linked with the first axle driving unit 61, and the second holder connector 611 is for connecting the vertical Zeng Wen mechanism 40.The second holder connector 611 can be connected together, be threadedly coupled or be interference fitted connection with the vertical Zeng Wen mechanism 40.In addition, the second holder connector 611 further includes electrical connection section (not shown), when the axial direction Zeng Wen mechanism 60 and the vertical Zeng Wen mechanism 40 are connected with each other, described image acquisition device 300 and/or the first axle driving unit 61, the second axis driving unit 65, third axis driving unit 69 can be electrically connected to other electronic components (for example, being set to the power supply in the support device, controller, processor etc.) by the electrical connection section.

It is appreciated that the axial direction Zeng Wen mechanism 60 or uniaxial holder, twin shaft holder or other kinds of holder.

When in use, the axial direction Zeng Wen mechanism 60 according to described image acquisition device 300 and the axial direction Zeng Wen mechanism 60(can be omitted in some cases first) length of the adjustment constant force elastic component 463, enable the vertical Zeng Wen mechanism 40 by means of the tension balanced described image acquisition device 300 of the constant force elastic component 463 and the weight of the axial direction Zeng Wen mechanism 60.In use, the vertical Zeng Wen mechanism 40 can support described image acquisition device 300 and the axial direction Zeng Wen mechanism 60 when not having vertically shake；When support device 200 has vertical shake, the support device 200 drives the support component 42 of the vertical Zeng Wen mechanism 40 to move simultaneously, the effect due to inertia, the change of 300 initial position of described image acquisition device has hysteresis, when the support component 42 movement elongates 463 length of constant force elastic component, described image acquisition device 300 substantially remains in initial position, at this time, the constant force elastic component 463 absorbs the energy of the shake by the way that deformation occurs, to eliminate influence of the vertical shake to described image acquisition device 300, guarantee the effect of shooting.

In summary, since the both ends of the constant force elastic component 463 are connected in the mounting base 461 and the load-bearing part 445, so that the support device 200 is when generating the shake or vibration of vertical direction, the constant force elastic component 463 can absorb the energy of the shake or vibration and generate deformation, however significant change does not occur for the elastic force of the constant force elastic component 463, it can prevent or the vibration of the vertical direction or shake is hindered to be transferred to described image acquisition device 300, and due to the presence of inertia, described image acquisition device 300 keeps initial position to be basically unchanged, to guarantee described image acquisition device 300 in the stabilization of vertical direction.

The structural scheme of mechanism of the capture apparatus 600 of second embodiment of the invention offer is provided please refer to Fig. 3, Fig. 3.In this second embodiment, the structure and function of the capture apparatus 500 of the structure and first embodiment of the capture apparatus 600 are roughly the same, and difference is: the steady component 86 of the increasing of the capture apparatus 600 further includes actuator 867.

The actuator 867 is arranged on the pedestal 8611 of mounting base 861, and is connected with shaft 8613.The actuator 867 winds or is unfolded for driving the shaft 8613 to rotate, with band dynamic constant elastic component 863, so as to adjust the length of the constant force elastic component 863, to adjust installing distance of the image acquiring device 400 relative to installation part 425.

In second embodiment of the invention, the actuator 867 is brushless motor.Further, the steady component 86 of increasing further includes electron speed regulator 869, and the electron speed regulator 869 is set in the mounting base 861, and velocity of rotation and rotation direction for adjusting the actuator 867.

Further, in second embodiment of the invention, the cradle head device of the capture apparatus 600 can also include sensor (not shown) and controller (not shown) as described above.The sensor is used to sense the posture information of the capture apparatus 600, and specifically, the sensor can be Inertial Measurement Unit (IMU).The controller, which is used to control the actuator 867 according to the information of the sensor sensed, drives the constant force elastic component 863 to wind or be unfolded, to eliminate influence of the vertical shake of the capture apparatus 600 to described image acquisition device 400.Specifically, the sensor is used to sense the posture information of the capture apparatus 600, and judge whether the capture apparatus 600 generates vertical shake, if, then the controller controls the actuator 867 and drives the winding of constant force elastic component 863 or expansion, move described image acquisition device 400 along the direction opposite with the vertical jitter direction with respect to support device, so that the position of the relatively extraneous object of reference of described image acquisition device 400 is held essentially constant, to eliminate influence of the perpendicular shake of the capture apparatus 600 to described image acquisition device 400.

Fig. 1 of the present invention is into shown capture apparatus 500 shown in Fig. 3, and the support device 200 is in perpendicular and holds state, that is, the length direction of the support device 200 is arranged along the vertical direction；The installation part 425 is in horizontality, keep the steady setting of component 46 of the increasing in a vertical state when in the support component 42, thus, it is possible to realize the stabilization function of vertical direction by the axial direction Zeng Wen mechanism 60 and the self gravity and inertia of described image acquisition device 300.

Third embodiment of the invention also provides a kind of capture apparatus (not shown), the structure of the capture apparatus 600 of the structure and second embodiment of the capture apparatus of third embodiment is roughly the same, its difference is, the constant force elastic component 863 in second embodiment is omitted in the capture apparatus of third embodiment, and actuator is connected on guidance set, enable the guidance set under the driving of the actuator, drives axial tranquilizer and image acquiring device movement.

Specifically in the present embodiment, the vertical Zeng Wen mechanism of the capture apparatus specifically includes support component, guidance set and the steady component of increasing, the steady component of increasing includes mounting base and actuator, the mounting base is arranged in the support component, the actuator is arranged in the mounting base, and the guidance set is connected to the driving end of the actuator.The actuator can drive the guidance set to move, to drive axial tranquilizer and image acquiring device movement.

Further, in third embodiment of the invention, the cradle head device of the capture apparatus can also include sensor (not shown) and controller (not shown) as described above.The sensor is used to sense the posture information of the capture apparatus, and specifically, the sensor can be Inertial Measurement Unit (IMU).The controller, which is used to control the actuator according to the information of the sensor sensed, drives the guidance set movement, to eliminate influence of the vertical shake of the capture apparatus to described image acquisition device.Specifically, the sensor is used to sense the posture information of the capture apparatus, and judge whether the capture apparatus generates vertical shake, if, then the controller controls the actuator and drives the guidance set expansion or fold, move described image acquisition device along the direction opposite with the vertical jitter direction with respect to support device, so that the position of the relatively extraneous object of reference of described image acquisition device is held essentially constant, to eliminate influence of the perpendicular shake of the capture apparatus to described image acquisition device.

It is appreciated that in the third embodiment, the guidance set can be omitted, and the load-bearing part is connected to the driving end of the actuator, enable the actuator that the load-bearing part to be driven to drive described image acquisition device vertically moving.At this point, the actuator can be linear motor, cylinder, leadscrew-nut mechanism isoline driver.

Compared with the existing technology, the capture apparatus and cradle head device that embodiment of the present invention provides can eliminate shake influence caused by shooting of capture apparatus vertical direction, can guarantee the quality and effect of shooting by the way that the vertical Zeng Wen mechanism is arranged.

In the first, second above-mentioned embodiment, the constant force clockwork spring is internal diameter formula mounting means, it can be understood that, in other examples, the constant force clockwork spring can be arranged in the mounting base 461 with outer diameter formula mounting means, and the structure of mounting base 461 can also make corresponding accommodation accordingly.For example, the mounting base 461 can be an integral structure, the holding part for accommodating the constant force clockwork spring is offered thereon, the constant force clockwork spring is arranged in the holding part with outer diameter formula mounting means, and is connected on the load-bearing part 445.

It is appreciated that the structure of the constant force elastic component is not limited to constant force clockwork spring structure, it can be also other constant force elastic components or constant force elastic mechanism.Such as, the constant force elastic component can be constant force helical spring, constant force wind spring or constant force elastic parts etc., and the both ends of the constant force elastic component are connected in the mounting base and the load-bearing part, so that the support device is when generating the shake or vibration of vertical direction, the constant force elastic component can absorb the energy of the shake or vibration and generate deformation, to prevent the vibration or shake from being transferred to described image acquisition device, to guarantee described image acquisition device in the stabilization of vertical direction.

It is appreciated that the structure of above-mentioned guidance set is not limited to spatial linkage as described above, it may be arranged as other linear type guide frames.For example, the guidance set is rail structure.Specifically, the guidance set includes the sliding rail being set in the support component and the sliding block that is slidably disposed on the sliding rail, the load-bearing part setting on the slide block, and can be slided with the sliding block along the sliding rail.

It is understood that, except can be independently of the controller of cradle head device described above described above for the controller for controlling the actuator movement, in other words, controller and corresponding sensor for controlling the actuator movement can be the building block of the vertical Zeng Wen mechanism, the nonshared control unit and sensor of the controller and the sensor as the vertical Zeng Wen mechanism, for realizing the vertical stabilization function of the capture apparatus.

It is appreciated that above-mentioned support device is not limited to hand-held support device, it may be other moveable support devices, for example, unmanned vehicle, unmanned vehicle, unmanned boat etc..Embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although being described the invention in detail referring to the above better embodiment, those skilled in the art should understand that can modify to technical solution of the present invention or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.Those skilled in the art can also do other variations etc. in spirit of that invention and be used in design of the invention, without departing from technical effect of the invention.These variations that spirit is done according to the present invention, all should be comprising within scope of the present invention.

Claims

A kind of vertical Zeng Wen mechanism, it is used to support load, it is characterized by: the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.
Vertical Zeng Wen mechanism as described in claim 1, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Vertical Zeng Wen mechanism as claimed in claim 2, it is characterised in that: the guidance set is linear type guiding mechanism.
Zeng Wen mechanism as claimed in claim 3 vertical, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Vertical Zeng Wen mechanism as claimed in claim 3, it is characterised in that: the guidance set is spatial linkage.
Vertical Zeng Wen mechanism as claimed in claim 3, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Vertical Zeng Wen mechanism as claimed in claim 6, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Vertical Zeng Wen mechanism as claimed in claim 6, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Vertical Zeng Wen mechanism as claimed in claim 2, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Vertical Zeng Wen mechanism as claimed in claim 9, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Vertical Zeng Wen mechanism as claimed in claim 11, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator, and the actuator is connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
Vertical Zeng Wen mechanism as claimed in claim 14, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Vertical Zeng Wen mechanism as claimed in claim 14, it is characterized by: the vertical Zeng Wen mechanism further includes controller and sensor, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, the actuator movement is controlled, to drive the constant force elastic component to shorten or elongation.
Vertical Zeng Wen mechanism as claimed in claim 16, it is characterized by: the sensor is Inertial Measurement Unit, the controller is when the Inertial Measurement Unit detects that the installation part generates vibration or shake, it controls the actuator and drives the constant force elastic component movement, move the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.
Vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
A kind of cradle head device, it is used to support imaging device, it is characterized in that, the cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, and the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, makes the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.
Cradle head device as claimed in claim 19, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Cradle head device as claimed in claim 20, it is characterised in that: the guidance set is linear type guiding mechanism.
Cradle head device as claimed in claim 21, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Cradle head device as claimed in claim 21, it is characterised in that: the guidance set is spatial linkage.
Cradle head device as claimed in claim 21, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Cradle head device as claimed in claim 24, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Cradle head device as claimed in claim 24, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Cradle head device as claimed in claim 20, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Cradle head device as claimed in claim 27, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Cradle head device as claimed in claim 19, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Cradle head device as claimed in claim 29, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Cradle head device as claimed in claim 19, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Cradle head device as claimed in claim 19, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator, and the actuator is connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
Cradle head device as claimed in claim 32, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Cradle head device as claimed in claim 32, it is characterized by: the vertical Zeng Wen mechanism further includes controller and sensor, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, the actuator movement is controlled, to drive the constant force elastic component to shorten or elongation.
Cradle head device as claimed in claim 34, it is characterized by: the sensor is Inertial Measurement Unit, the controller is when the Inertial Measurement Unit detects that the installation part generates vibration or shake, it controls the actuator and drives the constant force elastic component movement, move the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.
Cradle head device as claimed in claim 19, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
Cradle head device as claimed in claim 19, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the axial shake of the cradle head device.
Cradle head device as claimed in claim 37, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
Cradle head device as claimed in claim 37, it is characterized by: being provided with the first holder connector on the load-bearing part, the axial direction tranquilizer includes the second holder connector, and the second holder connector and the first holder connector, which cooperate, the realization axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or to be electrically connected.
A kind of capture apparatus, including imaging device, cradle head device and support device, it is characterized by: the cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the both ends of the constant force elastic component are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, the constant force elastic component absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part.
Capture apparatus as claimed in claim 40, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Capture apparatus as claimed in claim 40, it is characterised in that: the guidance set is linear type guiding mechanism.
Capture apparatus as claimed in claim 41, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Capture apparatus as claimed in claim 42, it is characterised in that: the guidance set is spatial linkage.
Capture apparatus as claimed in claim 42, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Capture apparatus as claimed in claim 42, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Capture apparatus as claimed in claim 45, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Capture apparatus as claimed in claim 45, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Capture apparatus as claimed in claim 41, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Capture apparatus as claimed in claim 48, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Capture apparatus as claimed in claim 40, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Capture apparatus as claimed in claim 50, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Capture apparatus as claimed in claim 40, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator, and the actuator is connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
Capture apparatus as claimed in claim 40, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Capture apparatus as claimed in claim 53, it is characterized by: the vertical Zeng Wen mechanism further includes controller and sensor, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, the actuator movement is controlled, to drive the constant force elastic component to shorten or elongation.
Capture apparatus as claimed in claim 53, it is characterized by: the sensor is Inertial Measurement Unit, the controller is when the Inertial Measurement Unit detects that the installation part generates vibration or shake, it controls the actuator and drives the constant force elastic component movement, move the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.
Capture apparatus as claimed in claim 55, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
Capture apparatus as claimed in claim 40, it is characterised in that: the capture apparatus further includes support device, and the supporting element can be releasably set in the support device.
Capture apparatus as claimed in claim 57, it is characterized by: the support device includes the first connector, it is provided with the second connector compatible with first connector on the supporting element, first connector cooperates with second connector to be realized the axial direction Zeng Wen mechanism and the mechanical connection of the support device and/or be electrically connected.
Capture apparatus as claimed in claim 58, it is characterised in that: the support device is hand-held support device or unmanned vehicle.
Capture apparatus as claimed in claim 58, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the axial shake of the cradle head device.
Capture apparatus as claimed in claim 40, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
Capture apparatus as claimed in claim 61, it is characterized by: being provided with the first holder connector on the load-bearing part, the axial direction tranquilizer includes the second holder connector, and the second holder connector and the first holder connector, which cooperate, the realization axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or to be electrically connected.
A kind of vertical Zeng Wen mechanism, is used to support load, it is characterised in that: the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.
Vertical Zeng Wen mechanism as described in claim 64, it is characterised in that: the sensor is Inertial Measurement Unit.
Vertical Zeng Wen mechanism as described in claim 65, it is characterized by: the controller when the Inertial Measurement Unit detects that the installation part generates vibration or shake, controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction.
Vertical Zeng Wen mechanism as described in claim 64, it is characterized by: the vertical Zeng Wen mechanism further includes the constant force elastic component being set between the actuator and the load-bearing part, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, controlling the actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Vertical Zeng Wen mechanism as described in claim 67, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Vertical Zeng Wen mechanism as described in claim 67, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Vertical Zeng Wen mechanism as described in claim 69, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Vertical Zeng Wen mechanism as described in claim 64, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Vertical Zeng Wen mechanism as described in claim 64, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Vertical Zeng Wen mechanism as described in claim 72, it is characterised in that: the guidance set is linear type guiding mechanism.
Vertical Zeng Wen mechanism as described in claim 73, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Vertical Zeng Wen mechanism as described in claim 73, it is characterised in that: the guidance set is spatial linkage.
Vertical Zeng Wen mechanism as described in claim 73, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Vertical Zeng Wen mechanism as described in claim 76, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Vertical Zeng Wen mechanism as described in claim 76, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Vertical Zeng Wen mechanism as described in claim 72, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Vertical Zeng Wen mechanism as described in claim 79, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Vertical Zeng Wen mechanism as described in claim 64, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
A kind of cradle head device, is used to support imaging device, it is characterised in that, the cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.
Cradle head device as described in claim 82, it is characterised in that: the sensor is Inertial Measurement Unit.
Cradle head device as described in claim 83, it is characterized by: the controller when the Inertial Measurement Unit detects that the installation part generates vibration or shake, controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction.
Cradle head device as described in claim 82, it is characterized by: the vertical Zeng Wen mechanism further includes the constant force elastic component being set between the actuator and the load-bearing part, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, controlling the actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Cradle head device as described in claim 85, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Cradle head device as described in claim 85, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Cradle head device as described in claim 87, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Cradle head device as described in claim 82, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Cradle head device as described in claim 82, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Cradle head device as described in claim 90, it is characterised in that: the guidance set is linear type guiding mechanism.
Cradle head device as described in claim 91, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Cradle head device as described in claim 91, it is characterised in that: the guidance set is spatial linkage.
Cradle head device as described in claim 91, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Cradle head device as described in claim 94, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Cradle head device as described in claim 94, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Cradle head device as described in claim 90, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Cradle head device as described in claim 97, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Cradle head device as described in claim 82, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
Cradle head device as described in claim 82, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the axial shake of the cradle head device.
Cradle head device as described in claim 100, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
Cradle head device as described in claim 100, it is characterized by: being provided with the first holder connector on the load-bearing part, the axial direction tranquilizer includes the second holder connector, and the second holder connector and the first holder connector, which cooperate, the realization axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or to be electrically connected.
A kind of capture apparatus, including imaging device, cradle head device and support device, it is characterized by: the cradle head device includes vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, the actuator is arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the controller controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction when the sensor detects that the installation part generates vibration or shake.
Capture apparatus as described in claim 103, it is characterised in that: the sensor is Inertial Measurement Unit.
Capture apparatus as described in claim 104, it is characterized by: the controller when the Inertial Measurement Unit detects that the installation part generates vibration or shake, controls the actuator and the relatively described installation part of the load-bearing part is driven to move along the opposite direction of the vibration or jitter direction.
Capture apparatus as described in claim 103, it is characterized by: the vertical Zeng Wen mechanism further includes the constant force elastic component being set between the actuator and the load-bearing part, the posture information for the vertical Zeng Wen mechanism that the controller is used to be detected according to the sensor, controlling the actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Capture apparatus as described in claim 106, it is characterised in that: the constant force elastic component is constant force helical spring or constant force wind spring.
Capture apparatus as described in claim 106, it is characterised in that: the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, and the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
Capture apparatus as described in claim 108, it is characterized by: the mounting base includes the pedestal being set on the installation part and the pivot that is arranged on the pedestal, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Capture apparatus as described in claim 103, it is characterised in that: the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
Capture apparatus as described in claim 103, it is characterized by: the Zeng Wen mechanism further includes guidance set, the guidance set is set between the installation part and the load-bearing part, the direction of motion of the guidance set for the relatively described installation part of load-bearing part described in correcting.
Capture apparatus as described in claim 111, it is characterised in that: the guidance set is linear type guiding mechanism.
Capture apparatus as described in claim 112, it is characterised in that: the guidance set includes the sliding rail being set on the installation part and the sliding block that is set on the sliding rail, and the load-bearing part setting is on the slide block.
Capture apparatus as described in claim 112, it is characterised in that: the guidance set is spatial linkage.
Capture apparatus as described in claim 112, it is characterized by: the guidance set includes first connecting rod group and second connecting rod group, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted on the installation part and the load-bearing part.
Capture apparatus as described in claim 115, it is characterised in that: the first connecting rod group and the second connecting rod group are symmetrical arranged about the installation part and the load-bearing part.
Capture apparatus as described in claim 115, it is characterized by: the first connecting rod group includes the first connecting rod being articulated on the installation part and the second connecting rod that is articulated on the first connecting rod, the second connecting rod group includes the third connecting rod being articulated on the installation part and the fourth link that is articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted in the second connecting rod and the fourth link.
Capture apparatus as described in claim 111, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, and the locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
Capture apparatus as described in claim 118, it is characterised in that: the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, and the bolster is used to buffer the impact endurance test shock between the load-bearing part and the installation part.
Capture apparatus as described in claim 103, it is characterised in that: the vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
Capture apparatus as described in claim 120, it is characterised in that: the capture apparatus further includes support device, and the supporting element can be releasably set in the support device.
Capture apparatus as described in claim 121, it is characterized by: the support device includes the first connector, it is provided with the second connector compatible with first connector on the supporting element, first connector cooperates with second connector to be realized the axial direction Zeng Wen mechanism and the mechanical connection of the support device and/or be electrically connected.
Capture apparatus as described in claim 121, it is characterised in that: the support device is hand-held support device or unmanned vehicle.
Capture apparatus as described in claim 103, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the axial shake of the cradle head device.
Capture apparatus as described in claim 124, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
Capture apparatus as described in claim 124, it is characterized by: being provided with the first holder connector on the load-bearing part, the axial direction tranquilizer includes the second holder connector, and the second holder connector and the first holder connector, which cooperate, the realization axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or to be electrically connected.