CN107241912B - Vertical Zeng Wen mechanism and cradle head device and capture apparatus - Google Patents
Vertical Zeng Wen mechanism and cradle head device and capture apparatus Download PDFInfo
- Publication number
- CN107241912B CN107241912B CN201680007022.8A CN201680007022A CN107241912B CN 107241912 B CN107241912 B CN 107241912B CN 201680007022 A CN201680007022 A CN 201680007022A CN 107241912 B CN107241912 B CN 107241912B
- Authority
- CN
- China
- Prior art keywords
- load
- zeng wen
- connecting rod
- wen mechanism
- bearing part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000009434 installation Methods 0.000 claims abstract description 254
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 31
- 238000005259 measurement Methods 0.000 claims description 26
- 238000003384 imaging method Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 229940125725 tranquilizer Drugs 0.000 claims description 10
- 239000003204 tranquilizing agent Substances 0.000 claims description 10
- 230000002936 tranquilizing effect Effects 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 6
- 238000011105 stabilization Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- IYLGZMTXKJYONK-ACLXAEORSA-N (12s,15r)-15-hydroxy-11,16-dioxo-15,20-dihydrosenecionan-12-yl acetate Chemical compound O1C(=O)[C@](CC)(O)C[C@@H](C)[C@](C)(OC(C)=O)C(=O)OCC2=CCN3[C@H]2[C@H]1CC3 IYLGZMTXKJYONK-ACLXAEORSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- IYLGZMTXKJYONK-UHFFFAOYSA-N ruwenine Natural products O1C(=O)C(CC)(O)CC(C)C(C)(OC(C)=O)C(=O)OCC2=CCN3C2C1CC3 IYLGZMTXKJYONK-UHFFFAOYSA-N 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Accessories Of Cameras (AREA)
- Vibration Prevention Devices (AREA)
Abstract
A kind of vertical Zeng Wen mechanism (40) and cradle head device (100) and capture apparatus (500) using the vertical Zeng Wen mechanism (40).The vertical Zeng Wen mechanism (40) includes installation part (423), load-bearing part (445) and constant force elastic component (463), the both ends of the constant force elastic component (463) are connected on the installation part (423) and the load-bearing part (445), make the installation part (423) when generating vibration or shake, constant force elasticity (463) part 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 (445).
Description
Technical field
The present invention relates to movies-making field more particularly to it is a kind of for the vertical Zeng Wen mechanism of shooting, cradle head device and
Capture apparatus.
Background technique
For the purpose for realizing steady shot, many capture apparatus cradle head device of all arrange in pairs or groups is used, and cradle head device generally all has
Have and increase steady function on direction of rotation, for example, three axis holders can be in pitch axis (pitch axis), course axis (yaw axis) and roll axis
(roll axis) direction of rotation compensates the shake of holder, and still, there is no ideal for the shake on gravity direction for the holder
Compensation effect.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 perseverance
Power 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, which absorbs the energy of the vibration or shake and generates deformation, to prevent the vibration
Or jitter motion is transferred to the load-bearing part.
Further, the Zeng Wen mechanism further includes guidance set, and the guidance set is set to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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, the constant force bullet
Property part 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
Axis, 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 to the constant force elastic component
On, 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, the electronics tune
Fast device is connected on the actuator.
Further, the vertical Zeng Wen mechanism further includes controller and sensor, and the controller is used for according to institute
The posture information for stating the vertical Zeng Wen mechanism of sensor detection controls the actuator movement, to drive the constant force bullet
Property part shorten or elongation.
Further, the sensor is Inertial Measurement Unit, and the controller is detected in the Inertial Measurement Unit
When the installation part generates vibration or shake, controls the actuator and drive the constant force elastic component movement, make the load-bearing part
The relatively described installation part is moved 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 in described
On 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 increasing
Steady mechanism includes installation part, load-bearing part and constant force elastic component, and the both ends of the constant force elastic component are connected to the installation
On part and the load-bearing part, make the installation part when generating vibration or shake, which absorbs the vibration or shake
Energy and generate 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 to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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, the constant force bullet
Property part 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
Axis, 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 to the constant force elastic component
On, 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, the electronics tune
Fast device is connected on the actuator.
Further, the vertical Zeng Wen mechanism further includes controller and sensor, and the controller is used for according to institute
The posture information for stating the vertical Zeng Wen mechanism of sensor detection controls the actuator movement, to drive the constant force bullet
Property part shorten or elongation.
Further, the sensor is Inertial Measurement Unit, and the controller is detected in the Inertial Measurement Unit
When the installation part generates vibration or shake, controls the actuator and drive the constant force elastic component movement, make the load-bearing part
The relatively described installation part is moved 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 in described
On supporting element.
Further, the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism and the imaging fill
It sets and the vertical Zeng Wen mechanism is connected, 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 cloud
Platform connector, the second holder connector and the first holder connector cooperate realize the axial direction Zeng Wen mechanism and
The mechanical connection of the vertical Zeng Wen mechanism and/or electrical connection.
A kind of capture apparatus, including imaging device, cradle head device and support device.The cradle head device includes vertical increases
Steady mechanism, the vertical Zeng Wen mechanism include installation part, load-bearing part and constant force elastic component, the both ends point of the constant force elastic component
It is not connected on the installation part and the load-bearing part, makes the installation part when generating vibration or shake, the constant force elastic component
It 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 to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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, the constant force bullet
Property part 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
Axis, 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 to the constant force elastic component
On, 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, the electronics tune
Fast device is connected on the actuator.
Further, the vertical Zeng Wen mechanism further includes controller and sensor, and the controller is used for according to institute
The posture information for stating the vertical Zeng Wen mechanism of sensor detection controls the actuator movement, to drive the constant force bullet
Property part shorten or elongation.
Further, the sensor is Inertial Measurement Unit, and the controller is detected in the Inertial Measurement Unit
When the installation part generates vibration or shake, controls the actuator and drive the constant force elastic component movement, make the load-bearing part
The relatively described installation part is moved 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 in described
On supporting element.
Further, the capture apparatus further includes support device, and the supporting element can releasably be set to the branch
On support arrangement.
Further, the support device includes the first connector, is provided with and the first connector phase on the supporting element
Second connector of adaptation, first connector and second connector, which cooperate, realizes the axial direction Zeng Wen mechanism and the branch
The mechanical connection of support arrangement and/or electrical connection.
Further, the support device is hand-held support device or unmanned vehicle.
Further, the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism and the imaging fill
It sets and the vertical Zeng Wen mechanism is connected, 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 cloud
Platform connector, the second holder connector and the first holder connector cooperate realize the axial direction Zeng Wen mechanism and
The mechanical connection of the vertical Zeng Wen mechanism and/or electrical connection.
A kind of vertical Zeng Wen mechanism, is used to support load.The vertical Zeng Wen mechanism includes installation part, load-bearing part and drive
Moving part, the actuator are arranged on the installation part, and the load-bearing part is connected on the actuator；The vertical steady machine of increasing
Structure further includes controller and sensor, and the sensor is used to sense the posture information of the vertical Zeng Wen mechanism, the control
Device processed controls the actuator and drives the load-bearing part when the sensor detects that the installation part generates vibration or shake
The relatively described installation part is moved along the opposite direction of the vibration or jitter direction.
Further, the sensor is Inertial Measurement Unit.
Further, the controller detects that the installation part generates vibration or shake in the Inertial Measurement Unit
When, it controls the actuator and drives the relatively described installation part of the load-bearing part along the vibration or the opposite direction fortune of jitter direction
It is dynamic.
Further, the vertical Zeng Wen mechanism further includes the constant force being set between the actuator and the load-bearing part
Elastic component, the controller are used for the posture information of the vertical Zeng Wen mechanism detected according to the sensor, described in control
Actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Further, the constant force elastic component is constant force helical spring or constant force wind spring.
Further, the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, the constant force bullet
Property part 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
Axis, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Further, the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, the electronics tune
Fast device is connected on the actuator.
Further, the Zeng Wen mechanism further includes guidance set, and the guidance set is set to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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 supporting element, and the installation part is rotatably arranged in described
On 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 increasing
Steady mechanism includes installation part, load-bearing part and actuator, and the actuator is arranged on the installation part, the load-bearing part connection
In on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, and the sensor is described for sensing
The posture information of vertical Zeng Wen mechanism, the controller detect that the installation part generates vibration or shake in the sensor
When, it controls the actuator and drives the relatively described installation part of the load-bearing part along the vibration or the opposite direction fortune of jitter direction
It is dynamic.
Further, the sensor is Inertial Measurement Unit.
Further, the controller detects that the installation part generates vibration or shake in the Inertial Measurement Unit
When, it controls the actuator and drives the relatively described installation part of the load-bearing part along the vibration or the opposite direction fortune of jitter direction
It is dynamic.
Further, the vertical Zeng Wen mechanism further includes the constant force being set between the actuator and the load-bearing part
Elastic component, the controller are used for the posture information of the vertical Zeng Wen mechanism detected according to the sensor, described in control
Actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Further, the constant force elastic component is constant force helical spring or constant force wind spring.
Further, the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, the constant force bullet
Property part 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
Axis, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Further, the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, the electronics tune
Fast device is connected on the actuator.
Further, the Zeng Wen mechanism further includes guidance set, and the guidance set is set to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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 supporting element, and the installation part is rotatably arranged in described
On supporting element.
Further, the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism and the imaging fill
It sets and the vertical Zeng Wen mechanism is connected, 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 cloud
Platform connector, the second holder connector and the first holder connector cooperate realize the axial direction Zeng Wen mechanism and
The mechanical connection of the vertical Zeng Wen mechanism and/or electrical connection.
A kind of capture apparatus, including imaging device, cradle head device and support device.The cradle head device includes vertical increases
Steady mechanism, the vertical Zeng Wen mechanism include installation part, load-bearing part and actuator, and the actuator is arranged in the installation part
On, the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, the biography
Sensor is used to sense the posture information of the vertical Zeng Wen mechanism, and the controller detects the installation part in the sensor
When generating vibration or shake, controls the actuator and drive the relatively described installation part of load-bearing part along the vibration or shake side
To opposite direction move.
Further, the sensor is Inertial Measurement Unit.
Further, the controller detects that the installation part generates vibration or shake in the Inertial Measurement Unit
When, it controls the actuator and drives the relatively described installation part of the load-bearing part along the vibration or the opposite direction fortune of jitter direction
It is dynamic.
Further, the vertical Zeng Wen mechanism further includes the constant force being set between the actuator and the load-bearing part
Elastic component, the controller are used for the posture information of the vertical Zeng Wen mechanism detected according to the sensor, described in control
Actuator drives the constant force elastic component to shorten or extend, to drive the load-bearing part to move.
Further, the constant force elastic component is constant force helical spring or constant force wind spring.
Further, the vertical Zeng Wen mechanism further includes the mounting base being set on the installation part, the constant force bullet
Property part 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
Axis, on the pivot, the other end is connected on the load-bearing part for one end of the constant force clockwork spring.
Further, the actuator is motor, and the vertical Zeng Wen mechanism further includes electron speed regulator, the electronics tune
Fast device is connected on the actuator.
Further, the Zeng Wen mechanism further includes guidance set, and the guidance set is set to the installation part and institute
It states between 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 is set on the sliding rail
Sliding block, 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 two of the first connecting rod group
End is respectively pivoted on the installation part and the load-bearing part, and the both ends of the second connecting rod group are respectively pivoted to the installation part
And on the load-bearing part.
Further, the first connecting rod group and the second connecting rod group are symmetrical about the installation part and the load-bearing part
Setting.
Further, the first connecting rod group includes the first connecting rod being articulated on the installation part and is articulated in described
Second connecting rod on one connecting rod, the second connecting rod group include the third connecting rod being articulated on the installation part and are articulated in described
Fourth link on 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 for limiting the load-bearing part phase
To the extreme displacement of installation part movement.
Further, the locating part is arranged on the load-bearing part, and bolster is additionally provided on the locating part, described
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 supporting element, and the installation part is rotatably arranged in described
On supporting element.
Further, the capture apparatus further includes support device, and the supporting element can releasably be set to the branch
On support arrangement.
Further, the support device includes the first connector, is provided with and the first connector phase on the supporting element
Second connector of adaptation, first connector and second connector, which cooperate, realizes the axial direction Zeng Wen mechanism and the branch
The mechanical connection of support arrangement and/or electrical connection.
Further, the support device is hand-held support device or unmanned vehicle.
Further, the cradle head device further includes axial Zeng Wen mechanism, and the axial direction Zeng Wen mechanism and the imaging fill
It sets and the vertical Zeng Wen mechanism is connected, 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 cloud
Platform connector, the second holder connector and the first holder connector cooperate realize the axial direction Zeng Wen mechanism and
The mechanical connection of the vertical Zeng Wen mechanism and/or electrical connection.
Compared with the existing technology, the capture apparatus and cradle head device can be disappeared by the way that the vertical Zeng Wen mechanism is arranged
Except the shake of capture apparatus vertical direction is influenced caused by shooting, it can guarantee the quality and effect of shooting.
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 solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in 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, cloud
Platform device 100 and support device 200.The cradle head device 100 is set to described image acquisition device 300 and support device
Between 200, for changing described image acquisition device 300 shooting angle and eliminate shake to described image acquisition device 300
Influence.
Described image acquisition device 300 is for shooting image/video.Described image acquisition device 300 can be digital phase
The imaging devices such as machine, 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 this reality
It applies in mode, the support device 200 is hand-held support device, i.e. user can hold the support device 200 and clap
It takes the photograph.It is provided in the support device 200 shooting function key (not shown go out), the shooting function key allows user's operation to control
System 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.Pass through
First connector 204, the support device 200 can be with the cradle head device 100 and/or described image acquisition device 300
Mechanical connection and/or electrical connection.
The cradle head device 100 includes axial direction Zeng Wen mechanism 60 and vertical Zeng Wen mechanism 40.The vertical Zeng Wen mechanism
40 are arranged between the support device 200 and the axial direction Zeng Wen mechanism 60.The vertical Zeng Wen mechanism 40 is for eliminating institute
State influence of the vertical shake of 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 the axial shake for eliminating the capture apparatus 500 is to described image acquisition device 300
Influence.It should be noted that the vertical shake refers to the shake with vertical component, as long as that is, the capture apparatus 500 is trembled
Moving has component in vertical direction, that is, can be referred to as vertical shake, in other words, the macroscopic motion for the capture apparatus 500 vertically shaken
Direction not necessarily vertical direction, 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 illustrating
Embodiment in, the support component 42 is arranged in the support device 200, the guidance set 44 and described increases steady component
46 are arranged in the support component 42.The guidance set 44 is used for correcting for installing the axial direction Zeng Wen mechanism 60
The direction of motion of the relatively described support component 42 of axial direction Zeng Wen mechanism 60.It is described to increase steady component 46 for eliminating the shooting
The influence that equipment 500 generates described image acquisition device 300 in the shake or vibration of vertical direction.
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 is installed in institute with first connector 204
It states in support device 200.Second connector 421 can be connected together in first connector 204, be threadedly coupled or interference
It is cooperatively connected.
The supporting element 423 substantially in the rod-shaped of bending, is arranged in the support device 200.Specifically, the branch
One end of support member 423 is connected by second connector 421 with the support device 200, the other end of the supporting element 423
Extend 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 increasing is steady
Component 46.Specifically in the illustrated embodiment, the installation part 425 is substantially plate-like, is adjustably disposed in the support
Part 423 deviates from one end of the support device 200, and the installation part 425 can be rotated relative to the supporting element 423.Pass through
The setting angle of the installation part 425, the adjustable guidance set 44 and the setting angle for increasing steady component 46 are adjusted,
The steady component 46 of increasing is set 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 fortune of the axial direction Zeng Wen mechanism 60
Dynamic direction, move the axial direction Zeng Wen mechanism 60 can only along above-mentioned vertical direction.In the present embodiment, described to lead
It is spatial linkage to component 44.The guidance set 44 includes first connecting rod group 441, second connecting rod group 443 and carrying
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 two
Person 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, described
One 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 passes through
Connecting shaft 447 is articulated in the side of the installation part 425, and the other end of the first connecting rod 4411 is towards away from the installation part
425 direction extends.The second connecting rod 4413 is rotatably connected on the first connecting rod 4411.Specifically, described second
One end of 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, the structure of the second connecting rod group 443 is arranged in the second connecting rod group 443
It is roughly the same with the structure of the first connecting rod group 441.It is similar with the first connecting rod group 441, the second connecting rod group 443
Including the third connecting rod 4431 being articulated on the installation part 425 and the fourth link being articulated on the third connecting rod 4431
4433。
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 peace
Piece installing 425, and it is located at the installation part 425 close to the side of the support device 200.Distinguish at the both ends of the load-bearing part 445
It is articulated in the second connecting rod 4413 and the fourth link 4433.Specifically, one end of the load-bearing part 445 passes through one
Connecting shaft is articulated in the one end of the second connecting rod 4413 far from the first connecting rod 4411, the other end of the load-bearing part 445
It 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 is used for and institute
The part-structure for stating axial Zeng Wen mechanism 60 is adapted, to realize the axial direction Zeng Wen mechanism 60 and the vertical Zeng Wen mechanism 40
Mechanical connection and/or electrical connection.
The first connecting rod group 441, the second connecting rod group 443 and the load-bearing part 445 constitute a space connecting-rod machine
Structure, the actuating station of the spatial linkage only have the translation freedoms in a direction, to limit the axial direction Zeng Wen mechanism 60
The direction of motion.Specifically in the illustrated embodiment, actuating station of the load-bearing part 445 as the spatial linkage,
It 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 peace
When piece installing 425 is horizontally disposed, the load-bearing part 445 is only capable of vertically moving.
It is described to increase steady component 46 and be set on the installation part 425, it is used for the axial direction Zeng Wen mechanism 60 and described
Image acquiring device 300 vertically increase steady.It is described to increase steady component 46 including mounting base 461, constant force elastic component 463 and limit
Part 465.Specifically in the illustrated embodiment, the mounting base 461 is arranged on the installation part 425, the constant force elastic component
463 are 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 this implementation
In mode, the quantity of the pedestal 4611 is two, and two pedestals 4611 are intervally installed in the installation part 425
On, and it is located at the side that the installation part 425 deviates from the load-bearing part 445.In the present embodiment, the pedestal 4611 and institute
It states installation part 425 to be assembled in together, it will be understood that in other examples, the pedestal 4611 can with the installation part 425
To be integrally formed；Even, the mounting base 461 can be omitted, and directly the constant force elastic component 463 is arranged in the peace
In piece installing 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.It rolls up one end of the constant force elastic component 463
Around being arranged on the pivot 4613, the other end of the constant force elastic component 463 is connected on the load-bearing part 445.The perseverance
When power elastic component 463 generates deformation, elastic force will not change substantially with the size of deformation quantity.In other words, when the perseverance
Power 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
Substantially will not change with the variation of length.By adjusting the length of the constant force elastic component 463, the adjustable carrying
The distance between part 445 and the installation part 425 adjust the axial direction Zeng Wen mechanism 60 and described image acquisition device 300
The distance between described installation part 425, thus when guaranteeing that the shake of vertical direction occurs for described image acquisition device 300, institute
Stating axial Zeng Wen mechanism 60 will not occur obviously to change with described image acquisition device 300 in the speed or acceleration of vertical direction
Become, and then guarantees 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, thus described in control
The installing distance of the relatively described installation part 425 of image acquiring device 300.Specifically, the vertical Zeng Wen mechanism 40 can be according to
The pulling force of the constant force elastic component 463 is selected according to the weight of the load of carrying needed for it, therefore, vertical 40 energy of Zeng Wen mechanism
The pulling force and length of its constant force elastic component 463 is adjusted flexibly in enough loads according to different model and type.In present embodiment
In, the load is described image acquisition device 300 and the axial direction Zeng Wen mechanism 60, and under certain situations, the load can be with
Only include described image acquisition device 300.
The locating part 465 is set on the load-bearing part 445, is used to limit the load-bearing part 445 and the installation
The distance between part 425.Specifically in the illustrated embodiment, the locating part 465 setting is in the load-bearing part 445 towards described
The side of installation part 425.When the load-bearing part 445 moves to extreme position towards the installation part 425, the locating part
465 are resisted against on the installation part 425, with the movement of load-bearing part 445 described in backstop.It is understood that the locating part 465
Other positions can also be set, and e.g., the locating part 465 can be set on the installation part 425, or be arranged in institute
It states in first connecting rod group 441 or the second connecting rod group 443, to limit between the load-bearing part 445 and the installation part 425
Distance.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 is made, for buffering the impact endurance test shock between the installation part 425 and the load-bearing part 445.It is described slow
Stamping can be the elastic elements such as buffering foam, intersection, spring or elastic slice.It is appreciated that the bolster can also be arranged in
Other positions, e.g., the bolster can be set on the installation part 425, or be arranged in the first connecting rod group 441
Or in 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 load-bearing part 445 and deviates from the peace
The side of piece installing 425.The axial direction Zeng Wen mechanism 60 is used to adjust the figure for installing described image acquisition device 300
As the shooting direction and shooting angle of acquisition device 300.
In the present embodiment, the axial direction Zeng Wen mechanism 60 is three axis support devices, more specifically, the axial increasing is steady
Mechanism 60 is three axis holders, can be around first axle a1 (for example, course (yaw) axis), the second axis a2 (for example, roll (roll)
Axis) and third axis a3 (for example, pitching (pitch) axis) adjustment described image acquisition device 300 angle.The axial increasing is steady
Mechanism 60 includes that first axle driving unit 61, first support 63, the second axis driving unit 65, second support 67 and third axis drive
Moving cell 69.The first support 63 is connected with the first axle driving unit 61 and can be in the first axle driving unit 61
Drive under around the first axle a1 rotate；The second axis driving unit 65 is fixedly installed on the first support 63 far from institute
State the end of first axle driving unit 61；The second support 67 is connected with the second axis driving unit 65 and can be described
It is rotated under the drive of second axis driving unit 65 around the second axis a2；The third axis driving unit 69 is set to described second
End of the bracket 67 far from the second axis driving unit 65, described image acquisition device 300 and the third axis driving unit
69 are connected 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 group
Part.
In present embodiment, the cradle head device 100 can also include that sensor (not shown) and controller (are schemed not
Show).The sensor is used to sense the posture information of the capture apparatus 500, and specifically, the sensor can be surveyed for inertia
It measures unit (IMU).The controller is used to control the first axle driving according to the information of the sensor sensed single
At least one of member 61, the second axis driving unit 65 and described third axis driving unit 69 rotation, described in eliminating
Influence of the axial shake of capture apparatus 500 to described image acquisition device 300.Specifically, the sensor is for sensing
The posture information of the capture apparatus 500, and judge whether the capture apparatus 500 generates around the direction of rotation of some axis
Shake, if so, the controller controls the first axle driving unit 61, the second axis driving unit 65 and described the
Respective shaft in Three-axis drive unit 69 is rotated along the direction opposite with the axial jitter direction of the capture apparatus 500, to disappear
Except the axial influence shaken to described image acquisition device 300 of the capture apparatus 500.
It is appreciated that the command information that the controller can also respond user control the first axle driving unit 61,
The rotation of at least one of the second axis driving unit 65 and the third axis driving unit 69, adjustment described image obtain
The shooting direction or shooting angle of device 300.
The axial direction Zeng Wen mechanism 60 further includes that the second holder being fixedly linked with the first axle driving unit 61 is connect
Part 611, the second holder connector 611 is for connecting the vertical Zeng Wen mechanism 40.The second holder connector 611 can
To be connected together, be threadedly coupled or be interference fitted connection with the vertical Zeng Wen mechanism 40.In addition, the second holder connection
Part 611 further includes electrical connection section (not shown), is connected with each other in the axial direction Zeng Wen mechanism 60 and the vertical Zeng Wen mechanism 40
When, the electrical connection section can be by described image acquisition device 300 and/or the first axle driving unit 61, second axis
Driving unit 65, third axis driving unit 69 are electrically connected to other electronic components (for example, being set to the electricity in the support device
Source, controller, processor etc.).
It is appreciated that the axial direction Zeng Wen mechanism 60 or uniaxial holder, twin shaft holder or other kinds of cloud
Platform.
When in use, according to described image acquisition device 300 and the axial direction Zeng Wen mechanism 60, (the axial increasing is steady first
Mechanism 60 can be omitted in some cases) length of the adjustment constant force elastic component 463, enable the vertical Zeng Wen mechanism 40
Enough tension balanced described image acquisition device 300 by means of the constant force elastic component 463 and the axial direction Zeng Wen mechanism 60
Weight.In use, the vertical Zeng Wen mechanism 40 can support described image acquisition device when not having vertically shake
300 and the axial direction Zeng Wen mechanism 60；When support device 200 has vertical shake, the support device 200 drives simultaneously
The support component 42 of the vertical Zeng Wen mechanism 40 moves, the effect due to inertia, and described image acquisition device 300 is initial
The change of position has hysteresis, when the support component 42 movement elongates 463 length of constant force elastic component, the figure
As acquisition device 300 substantially remains in initial position, at this point, the constant force elastic component 463 absorbed by the way that deformation occurs it is described
The energy of shake guarantees the effect of shooting to eliminate influence of the vertical shake to described image acquisition device 300.
In conclusion since the both ends of the constant force elastic component 463 are connected to the mounting base 461 and the carrying
On 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
It absorbs the energy of the shake or vibration and generates deformation, however the elastic force of the constant force elastic component 463 does not occur obviously to become
Change, 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 inertia
Presence, described image acquisition device 300 keep initial position be basically unchanged, to guarantee that described image acquisition device 300 exists
The stabilization of vertical direction.
The mechanism signal of the capture apparatus 600 of second embodiment of the invention offer is shown please refer to Fig. 3, Fig. 3
Figure.In this second embodiment, the structure of the capture apparatus 500 of the structure and first embodiment of the capture apparatus 600 and
Function is 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 driving
Part 867 winds or is unfolded for driving the shaft 8613 to rotate, with band dynamic constant elastic component 863, so as to adjust the constant force
The length of 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, described to increase steady component
86 further include electron speed regulator 869, and the electron speed regulator 869 is set in the mounting base 861, and for adjusting the drive
The velocity of rotation and rotation direction of moving part 867.
Further, in second embodiment of the invention, the cradle head device of the capture apparatus 600 can also include such as
Sensor (not shown) and controller (not shown) described above.The sensor is for sensing the capture apparatus 600
Posture information, specifically, the sensor can be Inertial Measurement Unit (IMU).The controller is used for according to the biography
The information of sensor sensed controls the actuator 867 and the constant force elastic component 863 is driven to wind or be unfolded, to eliminate
State influence of the vertical shake of capture apparatus 600 to described image acquisition device 400.Specifically, the sensor is for feeling
The posture information of the capture apparatus 600 is surveyed, and judges whether the capture apparatus 600 generates vertical shake, if so, described
Controller controls the actuator 867 and the constant force elastic component 863 is driven to wind or be unfolded, and makes described image acquisition device 400
Opposite support device is moved along the direction opposite with the vertical jitter direction, so that described image acquisition device 400 is relatively extraneous
The position of object of reference is held essentially constant, to eliminate the perpendicular shake of the capture apparatus 600 to described image acquisition device 400
Influence.
Into shown capture apparatus 500 shown in Fig. 3, the support device 200 is in perpendicular and holds state Fig. 1 of the present invention, that is,
The length direction of the support device 200 is arranged along the vertical direction；The installation part 425 is in horizontality, makes described increase surely
The setting of component 46 is in a vertical state when in the support component 42, thus, it is possible to by the axial direction Zeng Wen mechanism 60 and
The self gravity and inertia of described image acquisition device 300 realize the stabilization function of vertical direction.
Third embodiment of the invention also provides a kind of capture apparatus (not shown), and the shooting of third embodiment is set
The structure of the capture apparatus 600 of standby structure and second embodiment is roughly the same, and difference is, the institute of third embodiment
The constant force elastic component 863 that capture apparatus is omitted in second embodiment is stated, and actuator is connected on guidance set, so that
The guidance set can drive axial tranquilizer and image acquiring device movement under the driving of the actuator.
Specifically in the present embodiment, the vertical Zeng Wen mechanism of the capture apparatus specifically includes support component, guiding group
Part and the steady component of increasing, the steady component of increasing includes mounting base and actuator, and the mounting base is arranged in the support component
On, the actuator is arranged in the mounting base, and the guidance set is connected to the driving end of the actuator.The driving
Part 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 as above
Sensor (not shown) and controller (not shown) described in text.The sensor is used to sense the posture of the capture apparatus
Information, specifically, the sensor can be Inertial Measurement Unit (IMU).The controller is used for according to the sensor
The information sensed controls the actuator and drives the guidance set movement, to eliminate the vertical shake of the capture apparatus
Influence 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 so, the controller, which controls the actuator, drives the guiding
Component is unfolded or folds, and transports described image acquisition device along the direction opposite with the vertical jitter direction with respect to support device
It is dynamic, so that the position of the relatively extraneous object of reference of described image acquisition device is held essentially constant, to eliminate the capture apparatus
Influence of the perpendicular shake 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 institute
The driving end for stating actuator enables the actuator that the load-bearing part to be driven to drive described image acquisition device along the vertical direction
Movement.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 pass through described in setting
Vertical Zeng Wen mechanism, can eliminate shake influence caused by shooting of capture apparatus vertical direction, can guarantee the product of shooting
Matter and effect.
In the first, second above-mentioned embodiment, the constant force clockwork spring is internal diameter formula mounting means, it is possible to understand that
Be, in other examples, the constant force clockwork spring can with outer diameter formula mounting means be arranged in the mounting base 461, and
The structure of mounting base 461 can also make corresponding accommodation accordingly.For example, the mounting base 461 can be an integral structure,
On offer holding part for accommodating the constant force clockwork spring, the constant force clockwork spring is arranged with outer diameter formula mounting means in the appearance
It sets in portion, 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 component or constant force elastic mechanism.For example, 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 described
For support device when generating the shake or vibration of vertical direction, the constant force elastic component can absorb the energy of the shake or vibration
And deformation is generated, 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, may be used also
To be set as other linear type guide frames.For example, the guidance set is rail structure.Specifically, the guiding group
Part 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 appreciated that can be independently of described above described above for the controller for controlling the actuator movement
Except the controller of cradle head device, in other words, controller and corresponding sensor for controlling the actuator movement can
To be the building block of the vertical Zeng Wen mechanism, the controller and the sensor as the special of the vertical Zeng Wen mechanism
With controller and sensor, 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 that other are moveable
Support device, for example, unmanned vehicle, unmanned vehicle, unmanned boat etc..Embodiment of above is only to illustrate technical side of the invention
Case rather than limit, although being described the invention in detail referring to the above better embodiment, the ordinary skill people of this field
Member, which should be appreciated that, can modify to technical solution of the present invention or equivalent replacement should not all be detached from technical solution of the present invention
Spirit and scope.Those skilled in the art can also do other variations etc. in spirit of that invention and be used in design of the invention, as long as
It is without departing from technical effect of the invention.These variations that spirit is done according to the present invention, should all be included in institute of the present invention
Within the scope of claimed.
Claims (120)
1. 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, holds
Holder 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
When generating vibration or shake, which absorbs the energy of the vibration or shake and generates deformation the installation part, with
The vibration or jitter motion is prevented to be transferred to the load-bearing part；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
2. vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes guiding group
Part, the guidance set are set between the installation part and the load-bearing part, and the guidance set described in correcting for carrying
The direction of motion of the relatively described installation part of part.
3. vertical Zeng Wen mechanism as claimed in claim 2, it is characterised in that: the guidance set is linear type guiding mechanism.
4. vertical Zeng Wen mechanism as claimed in claim 3, it is characterised in that: the guidance set includes being set to the installation
Sliding rail on part and the sliding block being set on the sliding rail, the load-bearing part setting is on the slide block.
5. vertical Zeng Wen mechanism as claimed in claim 3, it is characterised in that: the guidance set is spatial linkage.
6. Zeng Wen mechanism as claimed in claim 3 vertical, it is characterised in that: the guidance set include 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 described second connects
The both ends of bar group are respectively pivoted on the installation part and the load-bearing part.
7. 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
It is symmetrical arranged about the installation part and the load-bearing part.
8. vertical Zeng Wen mechanism as claimed in claim 6, it is characterised in that: the first connecting rod group includes being articulated in the peace
First connecting rod in piece installing and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include be articulated in it is described
Third connecting rod on installation part and the fourth link being articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted to
On the second connecting rod and the fourth link.
9. vertical Zeng Wen mechanism as claimed in claim 2, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part,
The locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
10. vertical Zeng Wen mechanism as claimed in claim 9, it is characterised in that: the locating part is arranged on the load-bearing part,
Bolster is additionally provided on the locating part, the bolster is used to buffer the impact between the load-bearing part and the installation part
Vibration.
11. vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes being set to
Mounting base on the installation part, the constant force elastic component are the constant force clockwork spring being arranged in the mounting base.
12. vertical Zeng Wen mechanism as claimed in claim 11, it is characterised in that: the mounting base includes being set to the installation
Pedestal on part and the pivot being arranged on the pedestal, one end of the constant force clockwork spring is on the pivot, the other end
It is connected on the load-bearing part.
13. 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.
14. vertical Zeng Wen mechanism as described in claim 1, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator,
The actuator is connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
15. vertical Zeng Wen mechanism as claimed in claim 14, it is characterised in that: the actuator is motor, the vertical increasing
Steady mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
16. vertical Zeng Wen mechanism as claimed in claim 14, it is characterised in that: 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, control
The actuator movement, to drive the constant force elastic component to shorten or elongation.
17. vertical Zeng Wen mechanism as claimed in claim 16, it is characterised in that: the sensor is Inertial Measurement Unit, institute
Controller is stated when the Inertial Measurement Unit detects that the installation part generates vibration or shake, the actuator is controlled and drives
The constant force elastic component movement makes the relatively described installation part of the load-bearing part along the vibration or the opposite direction fortune of jitter direction
It is dynamic.
18. a kind of cradle head device, is used to support imaging device, which 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 separately connected
On the installation part and the load-bearing part, make the installation part when generating vibration or shake, which absorbs should
Vibration or shake energy and generate deformation, to prevent the vibration or jitter motion to be transferred to the load-bearing part；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
19. cradle head device as claimed in claim 18, it is characterised in that: the vertical Zeng Wen mechanism further includes guidance set,
The guidance set is set between the installation part and the load-bearing part, and the guidance set is for load-bearing part phase described in correcting
To the direction of motion of the installation part.
20. cradle head device as claimed in claim 19, it is characterised in that: the guidance set is linear type guiding mechanism.
21. cradle head device as claimed in claim 20, it is characterised in that: the guidance set includes being set to the installation part
On sliding rail and the sliding block that is set on the sliding rail, the load-bearing part setting is on the slide block.
22. cradle head device as claimed in claim 20, it is characterised in that: the guidance set is spatial linkage.
23. cradle head device as claimed in claim 20, it is characterised in that: the guidance set includes first connecting rod group and
Two connection rod sets, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, the second connecting rod
The both ends of group are respectively pivoted on the installation part and the load-bearing part.
24. cradle head device as claimed in claim 23, it is characterised in that: the first connecting rod group and the second connecting rod group are closed
It is symmetrical arranged in the installation part and the load-bearing part.
25. cradle head device as claimed in claim 23, it is characterised in that: the first connecting rod group includes being articulated in the installation
First connecting rod on part and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include being articulated in the peace
Third connecting rod in piece installing and the fourth link being articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted to institute
It states in second connecting rod and the fourth link.
26. cradle head device as claimed in claim 19, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, institute
Locating part is stated for limiting the extreme displacement of the relatively described installation part movement of the load-bearing part.
27. cradle head device as claimed in claim 26, it is characterised in that: the locating part is arranged on the load-bearing part, institute
It states and is additionally provided with bolster on locating part, the bolster is used to buffer the impact shake between the load-bearing part and the installation part
It is dynamic.
28. cradle head device as claimed in claim 18, it is characterised in that: the vertical Zeng Wen mechanism further include be set to it is described
Mounting base on installation part, the constant force elastic component are the constant force clockwork spring being arranged in the mounting base.
29. cradle head device as claimed in claim 28, it is characterised in that: the mounting base includes being set on the installation part
Pedestal and the pivot that is arranged on the pedestal, one end of the constant force clockwork spring is on the pivot, other end connection
On the load-bearing part.
30. cradle head device as claimed in claim 18, it is characterised in that: the constant force elastic component is constant force helical spring or perseverance
Power wind spring.
31. cradle head device as claimed in claim 18, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator, institute
It states actuator to be connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
32. cradle head device as claimed in claim 31, it is characterised in that: the actuator is motor, the vertical steady machine of increasing
Structure further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
33. cradle head device as claimed in claim 31, it is characterised in that: the vertical Zeng Wen mechanism further include controller and
Sensor, the controller are used for the posture information of the vertical Zeng Wen mechanism detected according to the sensor, described in control
Actuator movement, to drive the constant force elastic component to shorten or elongation.
34. cradle head device as claimed in claim 33, it is characterised in that: the sensor is Inertial Measurement Unit, the control
Device processed controls described in the actuator drive when the Inertial Measurement Unit detects that the installation part generates vibration or shake
The movement of constant force elastic component moves the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.
35. cradle head device as claimed in claim 18, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism,
The axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the cradle head device
Axial shake.
36. cradle head device as claimed in claim 35, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
37. cradle head device as claimed in claim 35, it is characterised in that: be provided with the connection of the first holder on the load-bearing part
Part, the axial direction tranquilizer includes the second holder connector, the second holder connector and the first holder connector
It cooperates and realizes the axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or be electrically connected.
38. a kind of capture apparatus, including imaging device, cradle head device and support device, it is characterised in that: the cradle head device
Including vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and constant force elastic component, the constant force elasticity
The both ends of part are connected on the installation part and the load-bearing part, make the installation part when generating vibration or shake, should
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 carrying
Part；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
39. capture apparatus as claimed in claim 38, it is characterised in that: the vertical Zeng Wen mechanism further includes guidance set,
The guidance set is set between the installation part and the load-bearing part, and the guidance set is for load-bearing part phase described in correcting
To the direction of motion of the installation part.
40. capture apparatus as claimed in claim 39, it is characterised in that: the guidance set is linear type guiding mechanism.
41. capture apparatus as claimed in claim 39, it is characterised in that: the guidance set includes being set to the installation part
On sliding rail and the sliding block that is set on the sliding rail, the load-bearing part setting is on the slide block.
42. capture apparatus as claimed in claim 40, it is characterised in that: the guidance set is spatial linkage.
43. capture apparatus as claimed in claim 40, it is characterised in that: the guidance set includes first connecting rod group and
Two connection rod sets, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, the second connecting rod
The both ends of group are respectively pivoted on the installation part and the load-bearing part.
44. capture apparatus as claimed in claim 43, it is characterised in that: the first connecting rod group and the second connecting rod group are closed
It is symmetrical arranged in the installation part and the load-bearing part.
45. capture apparatus as claimed in claim 43, it is characterised in that: the first connecting rod group includes being articulated in the installation
First connecting rod on part and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include being articulated in the peace
Third connecting rod in piece installing and the fourth link being articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted to institute
It states in second connecting rod and the fourth link.
46. capture apparatus as claimed in claim 43, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, institute
Locating part is stated for limiting the extreme displacement of the relatively described installation part movement of the load-bearing part.
47. capture apparatus as claimed in claim 46, it is characterised in that: the locating part is arranged on the load-bearing part, institute
It states and is additionally provided with bolster on locating part, the bolster is used to buffer the impact shake between the load-bearing part and the installation part
It is dynamic.
48. capture apparatus as claimed in claim 46, it is characterised in that: the vertical Zeng Wen mechanism further include be set to it is described
Mounting base on installation part, the constant force elastic component are the constant force clockwork spring being arranged in the mounting base.
49. capture apparatus as claimed in claim 48, it is characterised in that: the mounting base includes being set on the installation part
Pedestal and the pivot that is arranged on the pedestal, one end of the constant force clockwork spring is on the pivot, other end connection
On the load-bearing part.
50. capture apparatus as claimed in claim 48, it is characterised in that: the constant force elastic component is constant force helical spring or perseverance
Power wind spring.
51. capture apparatus as claimed in claim 38, it is characterised in that: the vertical Zeng Wen mechanism further includes actuator, institute
It states actuator to be connected on the constant force elastic component, and the constant force elastic component can be driven to shorten or extend.
52. capture apparatus as claimed in claim 51, it is characterised in that: the actuator is motor, the vertical steady machine of increasing
Structure further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
53. capture apparatus as claimed in claim 51, it is characterised in that: the vertical Zeng Wen mechanism further include controller and
Sensor, the controller are used for the posture information of the vertical Zeng Wen mechanism detected according to the sensor, described in control
Actuator movement, to drive the constant force elastic component to shorten or elongation.
54. capture apparatus as claimed in claim 53, it is characterised in that: the sensor is Inertial Measurement Unit, the control
Device processed controls described in the actuator drive when the Inertial Measurement Unit detects that the installation part generates vibration or shake
The movement of constant force elastic component moves the relatively described installation part of the load-bearing part along the opposite direction of the vibration or jitter direction.
55. capture apparatus as claimed in claim 38, it is characterised in that: the capture apparatus further includes support device, described
Supporting element can be releasably set in the support device.
56. capture apparatus as claimed in claim 55, it is characterised in that: the support device includes the first connector, the branch
The second connector compatible with first connector is provided in support member, first connector and second connector cooperate
It realizes axial direction Zeng Wen mechanism and the mechanical connection of the support device and/or is electrically connected.
57. capture apparatus as claimed in claim 55, it is characterised in that: the support device be hand-held support device or
Unmanned vehicle.
58. capture apparatus as claimed in claim 55, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism,
The axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the cradle head device
Axial shake.
59. capture apparatus as claimed in claim 58, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
60. capture apparatus as claimed in claim 58, it is characterised in that: be provided with the connection of the first holder on the load-bearing part
Part, the axial direction tranquilizer includes the second holder connector, the second holder connector and the first holder connector
It cooperates and realizes the axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or be electrically connected.
61. 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, holds
Holder and actuator, the actuator are arranged on the installation part, and the load-bearing part is connected on the actuator；It is described
Vertical Zeng Wen mechanism further includes controller and sensor, and the sensor is used to sense the posture letter of the vertical Zeng Wen mechanism
Breath, the controller control the actuator and drive when the sensor detects that the installation part generates vibration or shake
The relatively described installation part of the load-bearing part is moved along the opposite direction of the vibration or jitter direction；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
62. vertical Zeng Wen mechanism as claimed in claim 61, it is characterised in that: the sensor is Inertial Measurement Unit.
63. vertical Zeng Wen mechanism as claimed in claim 62, it is characterised in that: the controller is in the Inertial Measurement Unit
When detecting that the installation part generates vibration or shake, controls the actuator and drive the relatively described installation part edge of load-bearing part
The vibration or the opposite direction movement of jitter direction.
64. vertical Zeng Wen mechanism as claimed in claim 61, it is characterised in that: the vertical Zeng Wen mechanism further includes being set to
Constant force elastic component between the actuator and the load-bearing part, the controller are used for according to sensor detection
The posture information of vertical Zeng Wen mechanism controls the actuator and the constant force elastic component is driven to shorten or extend, described in driving
Load-bearing part movement.
65. the vertical Zeng Wen mechanism as described in claim 64, it is characterised in that: the constant force elastic component is constant force helical spring
Or constant force wind spring.
66. the vertical Zeng Wen mechanism as described in claim 64, it is characterised in that: the vertical Zeng Wen mechanism further includes being set to
Mounting base on the installation part, the constant force elastic component are the constant force clockwork spring being arranged in the mounting base.
67. the vertical Zeng Wen mechanism as described in claim 66, it is characterised in that: the mounting base includes being set to the installation
Pedestal on part and the pivot being arranged on the pedestal, one end of the constant force clockwork spring is on the pivot, the other end
It is connected on the load-bearing part.
68. vertical Zeng Wen mechanism as claimed in claim 61, it is characterised in that: the actuator is motor, the vertical increasing
Steady mechanism further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
69. vertical Zeng Wen mechanism as claimed in claim 61, it is characterised in that: the vertical Zeng Wen mechanism further includes guiding group
Part, the guidance set are set between the installation part and the load-bearing part, and the guidance set described in correcting for carrying
The direction of motion of the relatively described installation part of part.
70. the vertical Zeng Wen mechanism as described in claim 69, it is characterised in that: the guidance set is linear type Guiding machine
Structure.
71. the vertical Zeng Wen mechanism as described in claim 70, it is characterised in that: the guidance set includes being set to the peace
Sliding rail in piece installing and the sliding block being set on the sliding rail, the load-bearing part setting is on the slide block.
72. the vertical Zeng Wen mechanism as described in claim 70, it is characterised in that: the guidance set is spatial linkage.
73. the vertical Zeng Wen mechanism as described in claim 70, it is characterised in that: the guidance set include first connecting rod group with
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, described second
The both ends of connection rod set are respectively pivoted on the installation part and the load-bearing part.
74. the vertical Zeng Wen mechanism as described in claim 73, it is characterised in that: the first connecting rod group and the second connecting rod
Group is symmetrical arranged about the installation part and the load-bearing part.
75. the vertical Zeng Wen mechanism as described in claim 73, it is characterised in that: the first connecting rod group is described including being articulated in
First connecting rod on installation part and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include being articulated in institute
The fourth link stating the third connecting rod on installation part and being articulated on the third connecting rod；The both ends of the load-bearing part are pivotally connected respectively
In on the second connecting rod and the fourth link.
76. the vertical Zeng Wen mechanism as described in claim 69, it is characterised in that: the vertical Zeng Wen mechanism further includes limit
Part, the locating part are used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
77. the vertical Zeng Wen mechanism as described in claim 76, it is characterised in that: the locating part is arranged in the load-bearing part
On, bolster is additionally provided on the locating part, the bolster is for buffering between the load-bearing part and the installation part
Impact endurance test shock.
78. a kind of cradle head device, is used to support imaging device, which 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 actuator, and the actuator is arranged on the installation part, described
Load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and sensor, and the sensor is used
In the posture information for sensing the vertical Zeng Wen mechanism, the controller detects that the installation part generates shake in the sensor
When dynamic or shake, controls the actuator and drive the relatively described installation part of the load-bearing part along the anti-of the vibration or jitter direction
Direction movement；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
79. the cradle head device as described in claim 78, it is characterised in that: the sensor is Inertial Measurement Unit.
80. the cradle head device as described in claim 79, it is characterised in that: the controller is detected in the Inertial Measurement Unit
When generating vibration or shake to the installation part, controls the actuator and drive the relatively described installation part of the load-bearing part described in
The movement of the opposite direction of vibration or jitter direction.
81. the cradle head device as described in claim 78, it is characterised in that: the vertical Zeng Wen mechanism further include be set to it is described
Constant force elastic component between actuator and the load-bearing part, the controller are used to be detected according to the sensor described vertical
The posture information of Zeng Wen mechanism controls the actuator and the constant force elastic component is driven to shorten or extend, to drive the carrying
Part movement.
82. the cradle head device as described in claim 81, it is characterised in that: the constant force elastic component is constant force helical spring or perseverance
Power wind spring.
83. the cradle head device as described in claim 81, it is characterised in that: the vertical Zeng Wen mechanism further include be set to it is described
Mounting base on installation part, the constant force elastic component are the constant force clockwork spring being arranged in the mounting base.
84. the cradle head device as described in claim 83, it is characterised in that: the mounting base includes being set on the installation part
Pedestal and the pivot that is arranged on the pedestal, one end of the constant force clockwork spring is on the pivot, other end connection
On the load-bearing part.
85. the cradle head device as described in claim 78, it is characterised in that: the actuator is motor, the vertical steady machine of increasing
Structure further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
86. the cradle head device as described in claim 78, it is characterised in that: the vertical Zeng Wen mechanism further includes guidance set,
The guidance set is set between the installation part and the load-bearing part, and the guidance set is for load-bearing part phase described in correcting
To the direction of motion of the installation part.
87. the cradle head device as described in claim 86, it is characterised in that: the guidance set is linear type guiding mechanism.
88. the cradle head device as described in claim 87, it is characterised in that: the guidance set includes being set to the installation part
On sliding rail and the sliding block that is set on the sliding rail, the load-bearing part setting is on the slide block.
89. the cradle head device as described in claim 87, it is characterised in that: the guidance set is spatial linkage.
90. the cradle head device as described in claim 87, it is characterised in that: the guidance set includes first connecting rod group and
Two connection rod sets, the both ends of the first connecting rod group are respectively pivoted on the installation part and the load-bearing part, the second connecting rod
The both ends of group are respectively pivoted on the installation part and the load-bearing part.
91. the cradle head device as described in claim 90, it is characterised in that: the first connecting rod group and the second connecting rod group are closed
It is symmetrical arranged in the installation part and the load-bearing part.
92. the cradle head device as described in claim 90, it is characterised in that: the first connecting rod group includes being articulated in the installation
First connecting rod on part and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include being articulated in the peace
Third connecting rod in piece installing and the fourth link being articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted to institute
It states in second connecting rod and the fourth link.
93. the cradle head device as described in claim 86, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part, institute
Locating part is stated for limiting the extreme displacement of the relatively described installation part movement of the load-bearing part.
94. the cradle head device as described in claim 93, it is characterised in that: the locating part is arranged on the load-bearing part, institute
It states and is additionally provided with bolster on locating part, the bolster is used to buffer the impact shake between the load-bearing part and the installation part
It is dynamic.
95. the cradle head device as described in claim 78, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism,
The axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the cradle head device
Axial shake.
96. the cradle head device as described in claim 95, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
97. the cradle head device as described in claim 95, it is characterised in that: be provided with the connection of the first holder on the load-bearing part
Part, the axial direction tranquilizer includes the second holder connector, the second holder connector and the first holder connector
It cooperates and realizes the axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or be electrically connected.
98. a kind of capture apparatus, including imaging device, cradle head device and support device, it is characterised in that: the cradle head device
Including vertical Zeng Wen mechanism, the vertical Zeng Wen mechanism includes installation part, load-bearing part and actuator, and the actuator setting exists
On the installation part, the load-bearing part is connected on the actuator；The vertical Zeng Wen mechanism further includes controller and biography
Sensor, the sensor are used to sense the posture information of the vertical Zeng Wen mechanism, and the controller is detected in the sensor
When generating vibration or shake to the installation part, controls the actuator and drive the relatively described installation part of the load-bearing part described in
The movement of the opposite direction of vibration or jitter direction；
The vertical Zeng Wen mechanism further includes supporting element, and the installation part is rotatably arranged on the supporting element.
99. the capture apparatus as described in claim 98, it is characterised in that: the sensor is Inertial Measurement Unit.
100. the capture apparatus as described in claim 99, it is characterised in that: the controller is examined in the Inertial Measurement Unit
When measuring the installation part generation vibration or shake, controls the actuator and drive the relatively described installation part of load-bearing part along institute
State vibration or the opposite direction movement of jitter direction.
101. the capture apparatus as described in claim 98, it is characterised in that: the vertical Zeng Wen mechanism further includes being set to institute
The constant force elastic component between actuator and the load-bearing part is stated, the controller is used to detect according to the sensor described perpendicular
The posture information of Xiang Zengwen mechanism controls the actuator and the constant force elastic component is driven to shorten or extend, to hold described in drive
Holder movement.
102. the capture apparatus as described in claim 101, it is characterised in that: the constant force elastic component be constant force helical spring or
Constant force wind spring.
103. the capture apparatus as described in claim 101, it is characterised in that: the vertical Zeng Wen mechanism further includes being set to institute
The mounting base on installation part is stated, the constant force elastic component is the constant force clockwork spring being arranged in the mounting base.
104. the capture apparatus as described in claim 103, it is characterised in that: the mounting base includes being set to the installation part
On pedestal and the pivot that is arranged on the pedestal, on the pivot, the other end connects for one end of the constant force clockwork spring
It connects on the load-bearing part.
105. the capture apparatus as described in claim 98, it is characterised in that: the actuator is motor, the vertical steady machine of increasing
Structure further includes electron speed regulator, and the electron speed regulator is connected on the actuator.
106. the capture apparatus as described in claim 98, it is characterised in that: the vertical Zeng Wen mechanism further includes guidance set,
The guidance set is set between the installation part and the load-bearing part, and the guidance set is for load-bearing part phase described in correcting
To the direction of motion of the installation part.
107. the capture apparatus as described in claim 106, it is characterised in that: the guidance set is linear type guiding mechanism.
108. the capture apparatus as described in claim 107, it is characterised in that: the guidance set includes being set to the installation
Sliding rail on part and the sliding block being set on the sliding rail, the load-bearing part setting is on the slide block.
109. the capture apparatus as described in claim 107, it is characterised in that: the guidance set is spatial linkage.
110. the capture apparatus as described in claim 107, it is characterised in that: the guidance set include 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 described second connects
The both ends of bar group are respectively pivoted on the installation part and the load-bearing part.
111. the capture apparatus as described in claim 110, it is characterised in that: the first connecting rod group and the second connecting rod group
It is symmetrical arranged about the installation part and the load-bearing part.
112. the capture apparatus as described in claim 110, it is characterised in that: the first connecting rod group includes being articulated in the peace
First connecting rod in piece installing and the second connecting rod being articulated on the first connecting rod, the second connecting rod group include be articulated in it is described
Third connecting rod on installation part and the fourth link being articulated on the third connecting rod；The both ends of the load-bearing part are respectively pivoted to
On the second connecting rod and the fourth link.
113. the capture apparatus as described in claim 106, it is characterised in that: the vertical Zeng Wen mechanism further includes locating part,
The locating part is used to limit the extreme displacement of the relatively described installation part movement of the load-bearing part.
114. the capture apparatus as described in claim 113, it is characterised in that: the locating part is arranged on the load-bearing part,
Bolster is additionally provided on the locating part, the bolster is used to buffer the impact between the load-bearing part and the installation part
Vibration.
115. the capture apparatus as described in claim 98, it is characterised in that: the capture apparatus further includes support device, described
Supporting element can be releasably set in the support device.
116. the capture apparatus as described in claim 115, it is characterised in that: the support device includes the first connector, described
The second connector compatible with first connector, first connector and the second connector phase interworking are provided on supporting element
It closes and realizes axial direction Zeng Wen mechanism and the mechanical connection of the support device and/or be electrically connected.
117. the capture apparatus as described in claim 115, it is characterised in that: the support device be hand-held support device or
Person's unmanned vehicle.
118. the capture apparatus as described in claim 98, it is characterised in that: the cradle head device further includes axial Zeng Wen mechanism,
The axial direction Zeng Wen mechanism is connected with the imaging device and the vertical Zeng Wen mechanism, for compensating the cradle head device
Axial shake.
119. the capture apparatus as described in claim 118, it is characterised in that: the axial direction Zeng Wen mechanism is three axis holders.
120. the capture apparatus as described in claim 118, it is characterised in that: be provided with the connection of the first holder on the load-bearing part
Part, the axial direction tranquilizer includes the second holder connector, the second holder connector and the first holder connector
It cooperates and realizes the axial direction Zeng Wen mechanism and the mechanical connection of the vertical Zeng Wen mechanism and/or be electrically connected.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/073075 WO2017132801A1 (en) | 2016-02-01 | 2016-02-01 | Vertical stabilisation mechanism as well as tripod head device and shooting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107241912A CN107241912A (en) | 2017-10-10 |
| CN107241912B true CN107241912B (en) | 2019-06-07 |
Family
ID=59499261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680007022.8A Expired - Fee Related CN107241912B (en) | 2016-02-01 | 2016-02-01 | Vertical Zeng Wen mechanism and cradle head device and capture apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107241912B (en) |
| WO (1) | WO2017132801A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065163A1 (en) * | 2021-10-20 | 2023-04-27 | 深圳市大疆创新科技有限公司 | Gimbal control method, control method for vertical stabilization apparatus, device, and gimbal |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113294671B (en) * | 2018-03-23 | 2022-09-23 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism |
| WO2019178880A1 (en) * | 2018-03-23 | 2019-09-26 | 深圳市大疆创新科技有限公司 | Vertical stability enhancing mechanism and vertical stability enhancing device |
| CN110291324B (en) * | 2018-03-23 | 2021-08-17 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism, holder device and shooting system |
| CN110312888B (en) * | 2018-03-23 | 2021-06-04 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism, holder device and shooting system |
| CN111886439B (en) | 2018-03-23 | 2022-08-12 | 深圳市大疆创新科技有限公司 | Load stability increasing device |
| WO2019178878A1 (en) * | 2018-03-23 | 2019-09-26 | 深圳市大疆创新科技有限公司 | Vertical stability enhancing mechanism and vertical stability enhancing device |
| CN111279114B (en) * | 2018-03-28 | 2021-08-31 | 深圳市大疆创新科技有限公司 | Differential gear drive device, stability augmentation mechanism, holder device and shooting equipment |
| WO2019205125A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Stability augmentation apparatus and handheld pan tilt apparatus |
| WO2020042135A1 (en) * | 2018-08-31 | 2020-03-05 | 深圳市大疆创新科技有限公司 | Control method for vertical stability augmentation apparatus, vertical stability augmentation apparatus, and image capturing device |
| CN110832424A (en) * | 2018-10-31 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism, control method thereof and movable equipment |
| CN109869588B (en) * | 2019-02-01 | 2024-06-07 | 桂林智神信息技术股份有限公司 | Vertical vibration damper |
| CN109681755B (en) * | 2019-02-01 | 2024-04-09 | 桂林智神信息技术股份有限公司 | Handheld four-axis stabilizer with vertical vibration reduction function |
| WO2021016847A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Load-stabilizing device and control method therefor, and computer-readable storage medium |
| CN112161181B (en) * | 2020-06-30 | 2022-11-04 | 桂林智神信息技术股份有限公司 | Two-way stability-increasing handheld frame and handheld photographic equipment |
| CN113383210A (en) * | 2020-10-15 | 2021-09-10 | 深圳市大疆创新科技有限公司 | Detection method and device of holder, movable platform and storage medium |
| CN112901960B (en) * | 2021-03-11 | 2022-09-30 | 桂林智神信息技术股份有限公司 | Handheld photographic equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8157225B2 (en) * | 2009-08-03 | 2012-04-17 | Richard Earl Kephart | Monopod for camera |
| JP5767947B2 (en) * | 2011-11-11 | 2015-08-26 | 株式会社ニフコ | Fuel tank exhaust valve device |
| JP2013010356A (en) * | 2012-08-22 | 2013-01-17 | Sakawa:Kk | Vertically sliding board mechanism |
| CN103453287B (en) * | 2013-07-02 | 2015-08-26 | 南京工业职业技术学院 | A kind of electronic stability augmentation platform |
| CN104656684A (en) * | 2015-01-20 | 2015-05-27 | 桂林飞宇电子科技有限公司 | Method for controlling tri-axis stabilization tripod head with brushless motors by using single IMU sensors |
| CN104696688B (en) * | 2015-02-13 | 2017-01-25 | 三峡大学 | Hanging-type liquid vibration control mechanism |
| CN204512835U (en) * | 2015-04-10 | 2015-07-29 | 广东梅雁吉祥水电股份有限公司 | A kind of stabilization type laser television rack |
-
2016
- 2016-02-01 CN CN201680007022.8A patent/CN107241912B/en not_active Expired - Fee Related
- 2016-02-01 WO PCT/CN2016/073075 patent/WO2017132801A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065163A1 (en) * | 2021-10-20 | 2023-04-27 | 深圳市大疆创新科技有限公司 | Gimbal control method, control method for vertical stabilization apparatus, device, and gimbal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107241912A (en) | 2017-10-10 |
| WO2017132801A1 (en) | 2017-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107241912B (en) | Vertical Zeng Wen mechanism and cradle head device and capture apparatus | |
| US12038129B2 (en) | Systems and methods for payload stabilization | |
| CN107278246B (en) | Vertical stability augmentation mechanism, cradle head device and shooting equipment | |
| US11140322B2 (en) | Stabilizing platform | |
| CN205534966U (en) | Vertical steady mechanism, cradle head device and shooting equipment of increasing | |
| JP6310569B2 (en) | Support mechanism | |
| CN107250654B (en) | Vertical Zeng Wen mechanism, cradle head device and capture apparatus | |
| US9057935B2 (en) | Controlled video camera stabilizer | |
| CN113074306B (en) | Handheld photographic equipment | |
| US10386010B2 (en) | Stand and method for torque compensation | |
| CN114110364B (en) | Vertical stability augmentation mechanism | |
| CN114294531B (en) | Vertical stability augmentation mechanism | |
| CN104514964B (en) | Rack with deflection compensation device | |
| US20230220951A1 (en) | Load-stabilizing apparatus | |
| KR20220056414A (en) | Gimbal device having stabilizer | |
| US20240147070A1 (en) | Multi-axis camera stabilization system and operation method | |
| CN215111686U (en) | Handheld photographic equipment | |
| KR20200035792A (en) | Gimbal device with vibration damping function | |
| CN112236734B (en) | Load stabilization device, control method thereof and computer readable storage medium | |
| CN113983309B (en) | Vertical stability augmentation mechanism | |
| CN215335492U (en) | Handheld photographic equipment | |
| CN112901960B (en) | Handheld photographic equipment | |
| JP2024102949A (en) | Winch System | |
| CN117730221A (en) | Control method of stability augmentation device and stability augmentation device | |
| CN116853556A (en) | Stabilizing device of aerial shooting equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190607 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |