CN113294652A

CN113294652A - Vertical stability augmentation mechanism

Info

Publication number: CN113294652A
Application number: CN202110518123.4A
Authority: CN
Inventors: 宾朋; 王鹏
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-03-23
Filing date: 2018-03-23
Publication date: 2021-08-24
Anticipated expiration: 2038-03-23
Also published as: CN113294652B; CN110312888A; CN110312888B; WO2019178882A1

Abstract

The utility model provides a vertical steady mechanism that increases, this vertical steady mechanism that increases includes: a load connection part for connecting a load; one end of the connecting component is rotatably connected with the supporting piece, and the other end of the connecting component is connected with the load connecting part; a resilient member acting on the connecting assembly to provide a counterbalancing force to the connecting assembly to support and counterbalance the weight of the load; two stability augmentation motors of setting on support piece, two stability augmentation motors are used for the drive coupling assembling rotates in order to offset or compensate the shake of load on vertical around support piece, wherein, two stability augmentation motors are located coupling assembling's both sides.

Description

Vertical stability augmentation mechanism

Technical Field

The utility model relates to a shoot the field, especially relate to a vertical steady mechanism that increases for shoot.

Background

For the purpose of stable shooting, many shooting devices are used in combination with a pan-tilt apparatus, and the pan-tilt apparatus generally has a function of increasing stability in the rotation direction of the shooting device, for example, a three-axis pan-tilt can compensate the shake of the shooting device in the rotation directions of a pitch axis, a yaw axis and a roll axis. However, the pan/tilt head device does not have an ideal stabilizing function for shooting problems in the gravity direction of the shooting device, such as shake.

Disclosure of Invention

The invention provides a vertical stability augmentation mechanism.

According to a first aspect of embodiments of the present invention, a vertical stability augmentation mechanism is provided. Vertical steady mechanism that increases includes:

a load connection part for connecting a load;

one end of the connecting component is rotatably connected with the supporting piece, and the other end of the connecting component is connected with the load connecting part;

a resilient member acting on the connecting assembly to provide a counterbalancing force to the connecting assembly to support and counterbalance the weight of the load;

two stability augmentation motors of setting on support piece, two stability augmentation motors are used for the drive coupling assembling rotates in order to offset or compensate the shake of load on vertical around support piece, wherein, two stability augmentation motors are located coupling assembling's both sides.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 and fig. 2 are schematic structural diagrams of a photographing system according to an embodiment of the present invention, where fig. 1 is a side view of the photographing system, and fig. 2 is a top view of the photographing system.

Fig. 3 to 5 are schematic structural views of the vertical stability increasing mechanism in the photographing system of fig. 1 and 2, wherein fig. 3 is a side view of the vertical stability increasing mechanism, fig. 4 is a sectional view of the vertical stability increasing mechanism, and fig. 5 is an exploded perspective view of the vertical stability increasing mechanism.

Fig. 6 and 7 are schematic views of the state of the vertical stability increasing mechanism when loads of different weights are loaded.

Fig. 8 is a schematic perspective view of the switching assembly for adjusting the end position of the elastic member in fig. 1 and 2, fig. 9 is a schematic state of the vertical stabilizing mechanism in a forward state, and fig. 10 is a schematic state of the vertical stabilizing mechanism in an inverted state.

Fig. 11 and 12 are schematic views illustrating the operation of the crank and rocker mechanism of fig. 1 and 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

As shown in fig. 1 to 12, the shooting system 100 according to the embodiment of the present invention may include a pan/tilt head device 20 and a shooting device C. The pan/tilt apparatus 20 is used for carrying the camera C, and can be used for changing the shooting angle of the camera C and eliminating the influence of shake on the camera C.

The camera C may be used to capture images/videos, and may be a camera, a video camera, or a mobile phone or a tablet computer with a camera function.

The pan and tilt head apparatus 20 may include a vertical stability augmentation mechanism 22 and a pan and tilt head 24. The pan/tilt head 24 may be a three-axis pan/tilt head, among others. The three-axis pan/tilt head can adjust the angle of the camera C around the course (yaw) axis, roll (roll) axis, and pitch (pitch) axis.

The pan/tilt head 24 may include a first axis driving unit 241, a first bracket 242, a second axis driving unit 243, a second bracket 244, and a third axis driving unit 245. The first bracket 242 is connected to the first axis driving unit 241 and can rotate around the first axis Z1 by the first axis driving unit 241. The second shaft driving unit 243 is fixedly disposed at an end of the first bracket 242 away from the first shaft driving unit 241. The second bracket 244 is connected to the second shaft driving unit 243 and can rotate around the second shaft Z2 by the second shaft driving unit 243. The third shaft driving unit 245 is fixedly disposed at an end of the second bracket 244 away from the second shaft driving unit 243. The photographing device C is connected to the third axis driving unit 245 and can rotate around the third axis Z3 by the third axis driving unit 245. Among them, the first shaft driving unit 241, the second shaft driving unit 243, and the third shaft driving unit 245 may be brushless motors.

In addition, the pan-tilt apparatus 20 may further include a sensor (not shown in the figure) and a processor (not shown in the figure). Wherein the sensors are used to sense attitude information of the pan/tilt head 24 and/or the camera C. For example, the sensor may include an Inertial Measurement Unit (IMU) for measuring angular velocity of each rotation shaft of the pan/tilt head 24 and attitude information such as acceleration at the camera C; the sensors may also include joint angle sensors, such as photoelectric encoders, for measuring the angle of rotation at each of the rotational axes of the pan and tilt head 24. And are not intended to be limiting herein.

The processor may be configured to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to rotate according to the information sensed by the sensor, so as to eliminate an influence of an axial shake of the photographing system 100 on the photographing device C. That is, the pan/tilt head 24 has an axial stability increasing function and can be regarded as an axial stability increasing mechanism. For example, the processor may control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to rotate in a direction opposite to an axial shaking direction of the photographing system 100 to eliminate an influence of the axial shaking of the photographing system 100 on the photographing device C.

It is understood that the processor may also be used to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to rotate in response to the user's instruction information for the purpose of photographing at the angle/direction desired by the user.

The pan/tilt head 24 may further include a joint portion 240 fixedly connected to the first shaft driving unit 241, and the joint portion 240 is used for connecting the load connection portion 80 on the vertical stability increasing mechanism 22. For example, the load connection portion 80 may be provided with a receiving space 87 at the end thereof, and the connection portion 240 may be inserted into the receiving space 87 to connect the two. The tab portion 240 may be a snap fit connection, a threaded connection, or an interference fit connection with the load connection portion 80.

In addition, the joint part 240 may further include an electrical connection part (not shown in the drawings). When the pan/tilt head 24 and the vertical stability augmentation mechanism 22 are connected to each other, the electrical connection portion can electrically connect the camera C and/or the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to other electronic components (e.g., a power supply, a control panel, a processor, etc. disposed in other areas).

It will be appreciated that the pan/tilt head 24 may be a single axis pan/tilt head, a dual axis pan/tilt head, or other types of pan/tilt heads.

The photographing system 100 may further include a support 60. The support member 60 may be provided with a support portion 10 for supporting the vertical stabilizing mechanism 22, the pan/tilt head 24, and the photographing device C. The support portion 10 and the cradle head 24 may be respectively disposed at both ends of the vertical stability increasing mechanism 22. The support portion 10 may be a handheld support device that can be held by a user, or may be a non-handheld support device, for example, a component that is provided on an unmanned aerial vehicle, an unmanned ship, or the like and is used for supporting the vertical stability increasing mechanism 22 and the pan/tilt head 24. The support 60 or the support 10 can be considered as part of the vertical stabilizing mechanism 22, the pan and tilt head device 20, and the support 60 or the support 10 can also be considered as a separate component from the pan and tilt head device 20.

The processor may be provided on the support portion 10, or may be provided at the vertical stabilizing mechanism 22, the pan/tilt head 24, or other portions of the photographing system 100. And are not limited herein.

[ vertical initiative stability augmentation ]

The vertical stability increasing mechanism 22 can drive the pan/tilt head 24 and the shooting device C disposed on the pan/tilt head 24 to move in opposite directions (compensation movement) in the vertical direction by using the stability increasing motor 62, and is mainly used for offsetting (at least partially offsetting) or compensating the shake of the shooting device C in the vertical direction. Further, the image shaking phenomenon caused by the shaking of the photographing device C during photographing can be improved. The reverse direction movement is referred to as a vertical shake of the camera C.

For example, the amount of movement or the amount of change in position of the camera C in the vertical direction may be obtained by a detection module (e.g., a sensor). The sensor may include a motion sensor for sensing a vibration state of the load in a vertical direction. The processor can calculate parameters such as the rotation direction and the amplitude of the stability augmentation motor 62 according to the quantity value, and generate a control instruction according to the parameters to control the stability augmentation motor 62 to rotate. The rotation of the stability-increasing motor 62 can make the shooting device C move in the opposite direction by a corresponding distance, so as to compensate or offset (at least partially offset) the vertical shake of the shooting device C in time.

Illustratively, the stability augmentation motor 62 may be any type of motor. It is referred to herein as a stability-enhanced motor simply to better distinguish it from other motors.

Compared with passive vertical stability augmentation, the active vertical stability augmentation response time by utilizing the motor is shorter. In addition, passive vertical stability augmentation mainly depends on speed sudden change to achieve stability augmentation, and the requirement on speed change is high, so that ideal correction effect on tiny up-and-down fluctuation is difficult to achieve. The effect of improving the tiny up-and-down fluctuation by utilizing the active vertical stability augmentation of the motor is also obvious. In general, passive vertical stability augmentation utilizes an elastic member (e.g., an elastic member 50 appearing hereinafter) to restrain the position of the pan/tilt head or the camera in the vertical direction, and when vertical shake occurs and the pan/tilt head or the camera is displaced in the vertical direction, the elastic member resets the pan/tilt head or the camera in the vertical direction by its restoring force.

The mounting position of the stability augmentation motor 62 is not limited herein as long as the power for the load movement can be provided. For example, the stability augmentation motor 62 may be mounted on the support 60.

In addition to the stability augmentation motor 62 and the load connection portion 80, the vertical stability augmentation mechanism 22 may further include a connection mechanism 220. The connection mechanism 220 may be disposed between the stability-enhancing motor 62 and the load connection portion 80, and may be driven by the stability-enhancing motor 62 to drive the load connection portion 80 and the load thereon to move vertically.

The coupling mechanism 220 has two primary functions. One is to transmit the motion of the stability augmentation motor 62 to the load connection portion 80, so that the load connection portion 80 moves. Secondly, the movement of the load connection 80 and the load thereon is limited to movement only or mainly in the vertical direction.

There are various connection mechanisms 220 that can achieve the above functions, such as a rack and pinion mechanism, a slider-crank mechanism, a ball screw, etc. In one embodiment, the connection mechanism 220 may include a connection assembly 223. The connecting assembly 223 has one end connected to the load connecting part 80 and the other end rotatably connected to the support member 60. The connection assembly 223 is rotatable about the support 60 by the stability augmentation motor 62. The load connection 80 and the load thereon can move vertically under the influence of the rotating connecting assembly 223. By controlling the motion direction, the motion amplitude and the like of the stability augmentation motor 62, the vertical motion amount of the load driven by the stability augmentation motor 62 can be offset or partially offset the vertical shaking amount of the load.

In the embodiment shown in the figures, the connection assembly 223 comprises a four bar linkage. The four-bar linkage includes a first bar portion 222, a second bar portion 224 opposite to the first bar portion 222, and a vertical bar portion 226 connected between the first bar portion 222 and the second bar portion 224. For ease of description, the connection assembly 223 and the load connection 80 may be referred to collectively as a load bearing assembly 30. One end of the first and

second crossbar portions

222 and 224 is connected to the upright portion 226, and the other end of the first and

second crossbar portions

222 and 224 is connected to a fixing portion 228. The fixing portion 228 is provided opposite to the stem portion 226. In operation of the four-bar linkage, the fixed portion 228 may be considered a relatively stationary component, and the first beam portion 222, the second beam portion 224, and the vertical beam portion 226 all move about the fixed portion 228. The first crossbar portion 222, the second crossbar portion 224, and the vertical bar portion 226 may be regarded as respective bars of a four-bar linkage.

The upright portion 226 may be integrally formed with the load coupling portion 80 and together comprise a relatively separate member. The upright portion 226 may also be removably or non-removably fixedly attached to the load attachment portion 80. The fixing portion 228 may be disposed or connected on the supporting portion 10. For example, the fixing portion 228 may be formed integrally with the support portion 10 and be a part of the support 60. The fixing portion 228 may be fixed to the support portion 10 in a detachable manner or a non-detachable manner.

The two ends of the first horizontal bar portion 222 are respectively hinged to the vertical bar portion 226 and the fixed portion 228, and the hinge points are respectively S1 and S3. The two ends of the second cross bar portion 224 are hinged to the vertical bar portion 226 and the fixed portion 228, respectively, and the hinge points are S2 and S4, respectively. The connection line between the hinge point S1 and S3 is S1S3, the connection line between the hinge point S2 and S4 is S2S4, and S1S3 is parallel to and equal to S2S 4. That is, the four-bar linkage constitutes a parallelogram frame mechanism. The above arrangement enables the angle of adjacent bars (e.g., the angle between the first beam portion 222 and the vertical bar portion 226, or the angle between the second beam portion 224 and the vertical bar portion 226) to be varied. The opposite sides remain parallel regardless of the change in angle. The vertical post portion 226 may remain upright during relative movement of the sides. The first crossbar portion 222, the second crossbar portion 224, the vertical bar portion 226 and the fixed portion 228 may be regarded as four sides of the four-bar linkage. More precisely, the connecting lines S1S3, S2S4, S1S2 and S3S4 of the adjacent hinge points are regarded as four sides of the four-bar linkage.

The stabilizing motor 62 can act on the first beam portion 222 or the second beam portion 224 to rotate the first beam portion 222 and the second beam portion 224 clockwise or counterclockwise relative to the fixing portion 228, so as to drive the vertical beam portion 226 to ascend or descend. In the illustrated embodiment, the stability augmentation motor 62 is fixed to the support portion 10 and provides rotational power to the second crossbar portion 224 (or the first crossbar portion 222) via a crank and rocker mechanism or rocker 66 (described in more detail below).

The first crossbar portion 222 may include a vertical extension 2223. The second crossbar portion 224 may include a vertical extension 2243. The vertical extension 2223 and the vertical extension 2243 may form a vertical housing to prevent foreign objects from entering the cavity surrounded by the four-bar linkage.

The vertical stability augmentation mechanism 22 may also include an elastic member 50. The vertical component of the elastic force (balance force) generated by the elastic member 50 can be used to balance the gravity of the photographing device C, the gravity of the pan/tilt head, and the self weight of the vertical stabilizing mechanism 22. In other words, the vertical stabilizing mechanism 22 can balance the gravity of the camera C and the pan/tilt head by means of the elastic force of the elastic member 50. Without the resilient member 50, the stability enhancing motor 62 or other components may be required to provide force to the four bar linkage to balance the weight of the load.

The elastic member 50 may be a spring, for example, a coil spring. For example, one end of the elastic member 50 may be mounted on the fixing portion 228 or the supporting portion 10, and the other end may be mounted on the upright portion 226, the first cross-bar portion 222 or the second cross-bar portion 224. As long as the installed elastic member 50 can provide a force for the four-bar linkage to prevent the first and second cross bars 222 and 224 from rotating downward, so as to balance or partially balance the gravity of the load (e.g., the camera C, the pan/tilt head 24, etc.).

Under the condition that the stability-enhancing motor 62 is not arranged, the elastic element 50 can passively respond to the vertical shaking of the shooting device C and drive the load to perform corresponding compensation motion. This compensation process is only relatively slow and the compensation effect is significantly weaker than that of the stability-enhanced motor 62.

The vertical stability increasing mechanism 22 with the stability increasing motor 62 and the elastic member 50 can balance the gravity of the shooting device C and the pan/tilt head device 20, and can actively eliminate the influence of the vertical shake of the shooting system 100 on the shooting device C. It should be noted that the vertical shake broadly refers to a shake having a vertical component, that is, as long as the shake of the photographing system 100 has a component in the vertical direction, it may be referred to as a vertical shake. In other words, the macro motion direction of the vertically dithered photographing system 100 is not necessarily vertical, and may have an angle with the vertical direction.

[ adaptive adjustment of load weight ]

The vertical stability augmentation mechanism 22 may also include a spring adjustment mechanism. The spring adjustment mechanism may include an adjustment assembly. The adjusting assembly is used for adjusting the elastic force (e.g., pulling force) of the elastic member 50, especially the vertical component of the elastic force, so that it can match the cameras C and the pan and tilt head devices 20 with different weights. The elastic force of the elastic member 50 can be adjusted by adjusting the length or deformation degree of the elastic member 50. The vertical component of the elastic force can also be changed by adjusting the direction of the elastic force provided by the elastic member 50, with the elastic force of the elastic member 50 remaining constant, so that loads of different weights can be balanced. The weight of the load can also be accommodated by simultaneously adjusting the magnitude and direction of the elastic force of the elastic member 50.

The adjustment assembly can be used to adjust the mounting position of the

ends

52, 54 of the elastic member 50 connected with the adjustment assembly on the adjustment assembly under the action of external force so as to adjust the deformation degree of the elastic member 50. When the deformation degree is changed, the elastic member 50 drives the bearing assembly 30 to rotate relative to the support member 60 to adjust the position of the load carried on the load connecting portion 80 in the vertical movement stroke. For example, when the weight of the load is large, the adjusting assembly is used to adjust the installation position of the end portion on the adjusting assembly in the first direction under the action of an external force so as to increase the deformation degree of the elastic member 50, and when the deformation degree is increased, the elastic member 50 drives the connecting assembly 223 to rotate relative to the support member 60 so as to adjust the position of the load in the vertical direction upward. When the weight of load is less, the adjusting part is also used for adjusting towards the second direction under the exogenic action the mounted position of tip on the adjusting part is in order to reduce the deformation degree of elastic component 50, and when the deformation degree reduces, elastic component 50 drives coupling assembling 223 and rotates in order to adjust the position of load on vertical downwards with support piece 60 relatively.

For example, the adjustment assembly may be matched to cameras C of different weights by adjusting the height of the end portion 52 of the elastic member 50 relative to the fixed portion 228. The adjustment assembly may include an adjustment lever 34, an adjustment sleeve 36 sleeved with the adjustment lever 34, and an operating portion 32. The adjustment lever 34 is rotatably provided to the fixed portion 228 or the support portion 10. The length direction of the adjustment rod 34 is parallel or substantially parallel to the length direction of the fixed portion 228, i.e., the adjustment rod 34 is disposed substantially vertically. The adjustment rod 34 may be cylindrical with external threads on the cylindrical surface. For example, the adjustment lever 34 may be a lead screw. The side of the fixed portion 228 facing the upright portion 226 is formed with a recess 2282, and the adjusting rod 34 is disposed in the recess 2282, so that the adjusting sleeve 36 can extend into the recess 2282 to be connected with the adjusting rod 34.

The adjustment sleeve 36 may be a sleeve with internal threads, such as a lead screw nut. The internal thread of the adjusting sleeve 36 can be adapted to the external thread of the adjusting rod 34, so that the adjusting sleeve 36 is screwed to the adjusting rod 34. The above arrangement allows the adjustment sleeve 36 to move vertically up and down relative to the adjustment lever 34 and the locking portion 228 when the adjustment lever 34 is rotated.

The adjustment sleeve 36 is provided with a mounting portion 365 for mounting the end portion 52 of the resilient portion 50. In the present embodiment, the end 52 of the elastic member 50 is rotatably mounted on the boss 362. For example, one side of the adjustment sleeve 36 may be formed with a protrusion 362 protruding outward, and the protrusion 362 may be formed with a cylindrical mounting portion 365. Correspondingly, the end 52 of the elastic member 50 can be provided with a hook (not shown), which can be rotatably fitted over the mounting post 365.

The operation portion 32 protrudes from the surface of the determination portion 228. The operating portion 32 allows a user to directly or indirectly operate to rotate the adjustment lever 34. In the present embodiment, the operating portion 32 has a substantially circular truncated cone shape, and the peripheral side surface thereof has a surface with a certain roughness, so that the user can more easily operate and rotate the adjustment lever 34. It is understood that the operating portion 32 may also be an elliptical or a polygonal prism-shaped platform.

The connecting position of the adjusting sleeve 36 and the adjusting rod 34, that is, the connecting height of the end 52 of the elastic member 50 with respect to the fixing portion 228, can be adjusted by rotating the adjusting rod 34. The elastic force of the elastic member 50 can be adjusted by adjusting the connection height of the end portion 52 of the elastic member 50 with respect to the fixing portion 228. Therefore, the vertical stabilizing mechanism 22 can adjust the elastic force of the elastic member 50 according to the weight of the load that it needs to bear. The load may be the camera C and the pan/tilt head 24. In some cases, the load may include only camera C.

The vertical stabilizing mechanism 22 may further include a position adjusting motor 38, and the position adjusting motor 38 may drive the adjusting rod 34 to rotate, so as to automatically adjust the elastic force of the elastic member 50. Automatic adjustment using the position adjustment motor 38 can more quickly and accurately balance the currently mounted load than manual adjustment. The position adjustment motor 38 may be disposed at an upper end of the fixed portion 228.

Illustratively, the position adjustment motor 38 may be any type of motor. It is referred to herein as a position adjustment motor simply to better distinguish it from other motors.

To better achieve the precise adjustment of the position adjustment motor 38, sensors may be provided to obtain information regarding the position of the load connection 80. The processor can control the rotation of the position adjustment motor 38 according to the information to actively adjust the force provided by the elastic member 50 to the four-bar linkage to a range suitable for the load.

The sensors may include angle sensors to assist the processor in determining the direction and amount of rotation of the position adjustment motor 38. The angle sensor may be used to measure the angle of rotation of the carriage assembly 30 relative to the support 60. When the rotation angle is in the first angle range, the adjusting assembly is used for adjusting the installation position of the end portion 52 of the elastic member 50 on the adjusting assembly in the first direction under the action of an external force so as to increase the deformation degree of the elastic member 50. When the rotation angle is in the second angle range, the adjusting assembly is used for adjusting the installation position of the end portion 52 of the elastic member 50 on the adjusting assembly in the second direction under the action of an external force so as to reduce the deformation degree of the elastic member 50.

Specifically, the angle sensor may be configured to detect an angle formed between the second beam portion 224 and the fixed portion 228. For example, when the second crossbar portion 224 is tilted upward by the load, as shown in fig. 6, the angle measured by the angle sensor will be smaller than 90 degrees, and the processor can determine that the load is light, and the adjustment sleeve 36 needs to be adjusted downward to change the direction of the elastic force of the elastic member 50 (reduce the vertical component thereof) and shorten the length of the elastic member 50. Accordingly, the processor will control the position adjustment motor 38 to rotate in a particular direction and magnitude such that the second beam portion 224 is perpendicular to the fixed portion 228.

For another example, when the second crossbar portion 224 is tilted downward by the load, as shown in fig. 7, the angle measured by the angle sensor will be greater than 90 degrees, and the processor can determine that the load is heavy, and need to adjust the adjusting sleeve 36 upward to change the direction of the elastic force of the elastic member 50 (increase the vertical component thereof) and increase the length of the elastic member 50, so that the vertical force for balancing the load is increased. Accordingly, the processor will control the position adjustment motor 38 to rotate in a particular direction and magnitude such that the second beam portion 224 is perpendicular to the fixed portion 228.

In the above, whether the load is matched with the state of the elastic member 50 is determined by whether the second beam portion 224 and the fixing portion 228 are perpendicular (i.e., whether the angle measured by the angle sensor is 90 degrees). In other embodiments, other angles may be used as a reference to determine whether the load matches the state of the elastic member.

In addition, the sensor may include a position sensor for detecting the mounting position of the end of the elastic member 50 connected to the adjustment assembly (the

end

52, 54 of the elastic member 50) on the adjustment assembly. For example, a position sensor (not shown) may be provided for detecting the position of the adjustment sleeve 36. Through the position sensor, the processor can grasp the position information of the adjusting sleeve 36 in time. This facilitates control of the adjustment motor 38 by the processor.

The above embodiment adjusts the elastic force of the elastic member 50 by adjusting the position of the end of the elastic member 50 in the vertical direction, thereby accommodating or balancing loads of different weights. In other embodiments, the change in load weight may also be accommodated by laterally shifting the position of the end of the resilient member 50, either manually or by means of a motor or the like. For example, the height of the end of the elastic member 50 may be kept constant, and the elastic force of the elastic member 50 may be adjusted by moving the adjustment lever 34 in a lateral direction.

[ Forward-inverted double working mode ]

Generally, in a shooting system having a vertical stability augmentation mechanism, a pan/tilt apparatus is disposed below a body of the shooting system. When the shooting task is executed, due to the blocking of the machine body and the machine body fixing device, the shooting device cannot complete shooting of scenes which need 360 degrees to surround, or the problem that the scenes directly above cannot be shot occurs.

In order to have two working modes of forward and reverse, the vertical stability increasing mechanism 22 can effectively realize the vertical stability increasing function in the two working modes, and an elastic member adjusting mechanism for adjusting the elasticity of the elastic member 50 can be further improved.

The spring adjustment mechanism can be used to adjust the position of both ends 52, 54 of the spring 50, so that the spring 50 can have a wider variety of states, providing a suitable balancing force for loads in a forward state and a suitable balancing force for loads in an inverted state.

The spring adjustment mechanism may include an adjustment assembly disposed at the stationary portion 228 for adjusting the position of the end portion 52 of the spring 50. The adjustment assembly may include the adjustment lever 34, the adjustment sleeve 36, and the operating portion 32, etc., as previously described. The spring adjustment mechanism may further include a switching assembly provided at the vertical rod portion 226 for adjusting the position of the other end portion of the spring 50. The switching assembly is used to switch the end 54 of the resilient member 50 between a plurality of predetermined positions under the action of an external force. When the end 54 of the elastic element 50 is switched to the predetermined position, the connecting assembly 223 rotates relative to the supporting element 60 under the elastic force of the elastic element 50 to switch to the predetermined operating configuration. The preset position corresponds to the preset working form.

It will be readily appreciated that a change in the position of the end 54 of the resilient member 50 will result in a change in the spring force provided by the resilient member 50 to the four-bar linkage, which in turn drives a change in the angle between adjacent bars within the four-bar linkage, thereby causing a change in the state/position of the load connection 80 and the load thereon. Thus, each preset position of the end 54 of the elastic member 50 corresponds to an operating condition of the load (or the vertical stability augmentation mechanism).

For example, when the end 54 of the elastic member 50 is switched to a first preset position (for example, a forward working position described later), the connection assembly 223 is switched to a first preset working configuration (for example, a forward working configuration shown in fig. 9) under the driving of an elastic force, and when the connection assembly 223 is a four-bar linkage, the connection assembly 223 is switched to a first angle state under the driving of the elastic force, so that in the forward working mode, the elastic member 50 can provide an upward component force to a load (for example, a camera) through the load connection portion 20, and the load connection portion 80 supports the load and balances the gravity of the load through the elastic force of the elastic member. When the end of the elastic element 50 is switched to a second preset position (for example, it may be an inverted working position described later), the connection assembly 223 is switched to a second preset working state (for example, it may be the inverted working state shown in fig. 10) under the driving of an elastic force, and when the connection assembly 223 is a four-bar linkage mechanism, the connection assembly 223 is switched to a second angle state under the driving of the elastic force, so that in the inverted working mode, the elastic element 50 may still provide an upward component force to a load (for example, a shooting device) through the load connection portion 20, and the load connection portion 80 supports the load and balances the gravity of the load through the elastic force of the elastic element.

The shift assembly may be disposed on the upright portion 226 and may include a crankshaft 42 and a shift knob 44. The crankshaft 42 may include a rotation shaft portion 423 at both sides, an eccentric portion 427 located at a middle region and disposed offset from the rotation axis, and a connection portion 425 formed extending outward from the rotation shaft portion 423 and connected between the rotation shaft portion 423 and the eccentric portion 427.

The shaft portion 226 has two shaft holes 2264. The crankshaft 42 is rotatably mounted to the stem portion 226 by mounting the rotating shaft portion 423 in the shaft hole 2264. The line connecting the two shaft holes 2264 is the rotation axis. The eccentric portion 427 is disposed offset from the axis of rotation by a distance whose length is affected by the attachment portion 425. The eccentric portion 427 is provided with a recess 4272, and the recess 4272 may serve as a mounting portion for mounting the elastic member 50. The pivotal mounting between the resilient member 50 and the eccentric portion 427 is achieved by hooking a hook (not shown) at the end 54 of the resilient member 50 into the recess 4272. This allows the end of the elastic member 50 to follow the position change of the eccentric portion 427, thereby changing the direction and magnitude of the elastic force of the elastic member 50 and allowing the hook 54 to rotate with respect to the recess 4272.

The switching handle 44 may include an interlocking portion 442 fixed to the rotation shaft portion 423 and a knob portion 444 connected to the interlocking portion 442 for a user to operate. The linkage portion 442 may have a cylindrical shape, and a shaft mounting hole 4422 is formed therein. The rotating shaft portion 423 of one side of the crankshaft 42 is inserted through the shaft hole 2264 and fixed in the shaft mounting hole 4422. The knob portion 444 may have a plate shape that is convenient for a user to rotate. The knob portion 444 is fixedly coupled to the linkage portion 442.

By rotating the knob 444, the crankshaft 42 can be driven to rotate, and the end 54 of the elastic member 50 can be switched at different positions. Any position at which the eccentric portion 427 and the end 54 of the elastic member 50 fixed thereto stay during the rotation of the crankshaft 42 may correspond to a position state of the elastic member 50. In this embodiment, the knob portion 444 can rotate clockwise and counterclockwise within a certain angle range, and can stably stay and maintain at two extreme positions (one extreme position corresponds to a clockwise rotation extreme position, and the other extreme position corresponds to a counterclockwise rotation extreme position).

A stopper 2268 may be provided at upper and lower positions on the outer side of the stem 226, respectively. In each extreme position, the knob portion 444 or the linkage portion 442 abuts against one of the stoppers 2268. The knob portion 444 can be held at the limit position by the blocking action of the stopper 2268 and the elastic force of the elastic member 50.

These two extreme positions serve as two switchable operating positions: the forward working position and the inverted working position correspond to a forward state and an inverted state of the load, respectively. Wherein, in the forward state, the end 54 of the elastic element 50 is screwed to be adjacent to the second cross rod part 224; in the inverted position, the end 54 of the resilient member 50 is screwed adjacent to the first crossbar portion 222. In other embodiments, there may be more work positions. One part of the working positions are suitable for being used in a forward state, and the other part of the working positions are suitable for being used in an inverted state.

In forward use, the knob portion 444 is switched to the forward working position by rotating it so that the end 54 of the resilient member 50 is adjacent to the second cross-bar portion 224. The change of the position of the end 54 of the elastic member 50 causes the direction of the elastic force to change, the four-bar linkage mechanism swings upward relative to the support member 60, and the four-bar linkage cabinet is switched to the first angular state, and the final state can be shown in fig. 9. To further optimize the height of the load in the vertical direction, the position of the adjustment sleeve 36 on the adjustment rod 34 can be further adjusted. For example, the other end 52 of the resilient member 50 may be positioned adjacent the first cross bar portion 222 to better balance the load by further moving the adjustment sleeve 36 upward on the adjustment rod 34.

In inverted use, the knob portion 444 can be switched to the inverted operative position by turning it so that the end 54 of the resilient member 50 is adjacent the first crossbar portion 222. The change of the position of the end 54 of the elastic member 50 causes the direction of the elastic force to change, the four-bar linkage mechanism swings downward relative to the support member 60, and the four-bar linkage cabinet is switched to the second angular state, and the final state can be shown in fig. 10. To further optimize the height of the load in the vertical direction, the position of the adjustment sleeve 36 on the adjustment rod 34 can be further adjusted. For example, if desired, the load can be better balanced by further moving the adjustment sleeve 36 down on the adjustment rod 34 so that the other end 52 of the resilient member 50 is adjacent the second cross-bar portion 224.

In other embodiments, the knob portion 444 for manual operation by the user may not be provided, but an automatic driving device (e.g., a motor, which may be referred to as a switching motor to distinguish from motors in other places) may be used instead. The processor determines whether the entire apparatus is in a forward state or an inverted state through a sensor (i.e., a body state detection module). When the device is determined to be in a forward use state, the processor controls the automatic driving device to drive the end part 54 of the elastic element 50 to be switched to the forward working position. When the equipment is determined to be in an inverted use state, the processor controls the automatic driving device to drive the end part 54 of the elastic piece 50 to be switched to the inverted working position. In other embodiments, a knob portion 444 for manual operation and an automatic driving device for automatic operation may be provided at the same time.

In addition, the elastic member adjusting mechanism for the position of the end 54 of the elastic member 50 is not limited to the crankshaft 42, and may be replaced with another position elastic member adjusting mechanism. For example, the crankshaft 42 may be replaced with the adjustment sleeve 36 and adjustment rod 34 as previously described. That is, both ends 52, 54 of the elastic member 50 are controlled by the engagement structure of the adjustment sleeve 36 and the adjustment lever 34.

Furthermore, the adjusting assembly in the embodiment of the figure, with which the position of the end 52 of the elastic element 50 is adjusted, and the switching assembly, with which the position of the end 54 of the elastic element 50 is adjusted, may be interchanged.

The processor in the shooting system can be loaded with a preset program corresponding to the forward and reverse double working states, so that the shooting system has a forward working mode and a reverse working mode. In the forward working mode and the inverted working mode, the processor performs different operations on each component (particularly the holder device) in the shooting system. For example, in the forward operation mode, the pan-tilt apparatus may be automatically adjusted to a suitable state under the control of the processor, e.g., the end 54 of the elastic member 50 may be adjusted to be adjacent to the second crossbar portion 224. In the inverted operating mode, the pan and tilt head arrangement may be automatically adjusted to the appropriate state under the control of the processor, e.g., the end 54 of the resilient member 50 may be adjusted adjacent the first crossbar portion 222.

The shooting system can be provided with a machine body state detection module (sensor). The body state detection module is used for determining whether the shooting system is in a forward state or an inverted state. The processor can automatically switch the shooting system to a forward working mode or an inverted working mode according to the machine body state information provided by the machine body state detection module.

The camera system may also be provided with a mode switch (e.g., with the switch knob 44 described above) for manual operation by the user. And when the mode switch is detected to be in the forward working position, the processor switches the shooting system to the forward working mode. And when the mode switch is detected to be in the inverted working position, the processor switches the shooting system to the inverted working mode.

[ extreme position Power-off locking ]

The linkage 220 may also include a transmission connected between the stability augmentation motor 62 and the linkage assembly (e.g., a four bar linkage). When the stability augmentation motor 62 rotates, the connecting assembly (e.g., the first cross bar portion 222 and the second cross bar portion 224) can be driven by the transmission member to rotate relative to the support member 60, so as to achieve the stability augmentation of the load carried on the load connecting portion in the vertical direction.

The transmission may include a rocker 66. The first end of the rocker 66 is eccentrically and rotatably connected to the outer rotor of the stability augmentation motor 62, wherein the connection point S between the rocker 66 and the outer rotor, and the rotation center (shaft) R of the stability augmentation motor 62 can be as shown in fig. 11. The second end of the rocker 66 is pivotally connected (hinged) to the second crossbar portion 224 or the first crossbar portion 222. The above-described connection allows the motion profile of the rocker 66 to meet the motion profile of the rockers in a crank and rocker mechanism. The connection SR (non-solid structure) of the connection point S and the rotation center (axis) R may be regarded as a crank in a crank-rocker mechanism.

In the embodiment shown in the figures, the support 60 is U-shaped. The number of the stabilizing motors 62 is two, and are symmetrically disposed at both ends of the support 60. Correspondingly, there are two rockers 66. The first ends of the two rockers 66 are connected to the respective stability augmentation motors 62. The second ends of the two rockers 66 are symmetrically hinged to the connecting assembly, in particular to the two sides of the second crossbar portion 224.

In another embodiment, the linkage 220 may comprise a more complete crank and rocker mechanism, i.e., a combination of the crank 64 (FIG. 11) and the rocker 66. The first end of the crank 64 is connected to the stability augmentation motor 62 in a coaxial rotation manner (the crank 64 rotates around the rotation center axis R of the stability augmentation motor 62), the second end of the crank 64 is hinged to the first end of the rocker 66, and the second end of the rocker 66 is hinged to the second crossbar portion 224 (or the first crossbar portion 222). The second beam portion 224 is rotatable relative to the fixed portion 228. The stability augmentation motor 62 may be fixed to the fixing portion 228. The crank 64 corresponds to the connecting line SR in the previous embodiment.

During the rotation of the stability-enhancing motor 62, the second cross bar portion 224 can reciprocate up and down under the driving of the rocker 66, and has an uppermost position and a lowermost position. In the uppermost and lowermost positions, the crank 64 and rocker 66 are both connected in a line, forming a dead point. At dead center, the force transmitted by the second cross bar portion 224, the rocker 66, to the crank 64 cannot generate a moment to turn the crank.

Limiting

parts

65 and 67 can be arranged at positions near dead points of the rocker 66 to lock the state of the rocker 66 under the condition that the stability augmentation motor 62 is powered off, and further lock the vertical stability augmentation mechanism or the state of the load in the vertical direction. For example, the first stopper portion 65 may be provided in the vicinity of the highest position. The first stopper portion 65 may be provided on the first crossbar portion 222. During the clockwise rotation of the crank 64 driven by the stability augmentation motor 62, the second cross bar portion 224 rotates clockwise and the height thereof is raised continuously. When the crank 64 is aligned with (partially coincident with) the rocker 66, the second crossbar portion 224 reaches an uppermost position. This position is the clockwise limit position of the crank and rocker mechanism. After continuing to rotate a small distance in the clockwise direction, the rocker 66 will contact the first stop portion 65, as shown in fig. 11.

In this state, the second crossbar portion 224 at the high position tends to move downward. However, since the crank and rocker mechanism has passed the clockwise limit, the tendency for the second cross bar portion 224 to move downward translates into a tendency for the crank 64 and rocker 66 to rotate clockwise. The crank 64 and the rocker 66 cannot rotate clockwise due to the blocking of the first stopper 65. This allows the crank 64, rocker 66, and second crossbar portion 224, etc. to be stably fixed in this position. That is, in this state, even if the stability increasing motor 62 is de-energized, the state of the rocker 66 and the vertical stability increasing mechanism can be locked.

A second stopper portion 67 may be provided in the vicinity of the lowest position. The second stopper portion 67 may be provided on the second crossbar portion 224. During the process that the stability augmentation motor 62 drives the crank 64 to rotate counterclockwise, the second cross rod portion 224 rotates counterclockwise and the height thereof is continuously reduced. When the crank 64 is aligned with the rocker 66, the second cross bar portion 224 reaches the lowest position. This position is the counterclockwise limit position of the crank and rocker mechanism. After continuing to rotate a distance in the counterclockwise direction, the rocker 66 will contact the second position-limiting portion 67, as shown in fig. 12.

In this state, the second crossbar portion 224 has a tendency to move upward. However, since the crank and rocker mechanism has passed the counterclockwise limit, the tendency for the second cross bar portion 224 to move upwardly translates into a tendency for the crank 64 and rocker 66 to rotate counterclockwise. The crank 64 and the rocker 66 cannot rotate further counterclockwise due to the blocking of the second limit portion 67. This allows the crank 64, rocker 66, and second crossbar portion 224, etc. to be stably fixed in this position. That is, in this state, even if the stability increasing motor 62 is de-energized, the state of the rocker 66 and the vertical stability increasing mechanism can be locked.

Under normal working conditions, the stability augmentation motor 62 can be used to drive the crank 64 and the rocker 66 to move between the highest position (not including) and the lowest position (not including), so as to realize the vertical active stability augmentation function.

When the vertical stability augmentation mechanism is not needed to work, a user can manually rotate the second cross rod portion 224 or rotate the second cross rod portion 224 by a large angle through the stability augmentation motor 62, so that the rocker 66 abuts against and is stabilized at the first limiting portion 65 or the second limiting portion 67.

The crank rocker mechanism can meet the basic function that the stability augmentation motor 62 drives the second cross rod portion 224 to swing, and meanwhile, the crank rocker mechanism can provide a locking function for the second cross rod portion 224 under the condition that the stability augmentation motor 62 is powered off. The structure is compact because the function is realized on one set of mechanism.

In the above embodiment, only one stopper portion may be provided. For example, only the first stopper portion 65 may be provided, or only the second stopper portion 67 may be provided.

As shown in the figure, the connecting component 223 is provided with a limiting portion, and when the stability-enhancing motor 62 rotates to a preset angle, the transmission member abuts against the limiting portion to limit the load to move along a specific vertical direction. Specifically, when increasing steady motor and rotating, drive coupling assembling through the driving medium and rotate for support piece, the load that bears on load connecting portion can move on vertical (vertical direction), when increasing steady motor and rotating to predetermineeing the angle, the driving medium supports and holds spacing portion is in order to restrict the load moves along specific vertical direction, like this, when increasing steady motor and rotating to predetermineeing the angle, if load or coupling assembling have the trend of specific vertical direction motion, under the blockking of spacing portion, the restriction the load moves along specific vertical direction.

For example, a first limiting portion may be disposed on the connecting assembly, and when the stability-enhancing motor 62 rotates to a first preset angle, the transmission member abuts against the first limiting portion to limit the load to move along a first vertical direction. For example, specifically, when the stability augmentation motor rotates along a first rotation direction, the transmission member drives the connection assembly to rotate relative to the support member, the load borne on the load connection portion can move upwards, when the stability augmentation motor rotates to a first preset angle, the transmission member abuts against the limiting portion to limit the load to move along a specific vertical direction, and thus, when the stability augmentation motor rotates to the first preset angle, if the load or the connection assembly has a downward movement tendency, the load is limited to move downwards under the blocking of the limiting portion.

When the stability augmentation motor rotates to a first preset angle from a first reference angle along a first rotating direction, the transmission piece abuts against the first limiting portion to limit the load to move along a first vertical direction, wherein the stability augmentation motor rotates to the first preset angle from the first reference angle along the first rotating direction, the stability augmentation motor and the transmission piece are not in a dead point state, and the first reference angle is the rotating angle of the stability augmentation motor when the stability augmentation motor and the transmission assembly are in the first dead point state. The mechanism formed by the stability augmentation motor and the transmission piece has one or more dead points, when the stability augmentation motor and the transmission piece are positioned at the first dead point, the stability augmentation motor rotates to a first reference angle, when the stability augmentation motor rotates to the first reference angle, the load can be positioned at the highest position in the vertical stroke, when the stability augmentation motor rotates to a first preset angle from the first reference angle along the first rotation direction, the transmission piece supports against the first limiting part to limit the load to move (downwards) along the first vertical direction.

For another example, a second limiting portion may be further disposed on the connecting assembly, and when the stability-enhancing motor 62 rotates to a second preset angle, the transmission member abuts against the second limiting portion to limit the load to move along a second vertical direction. For example, specifically, when the stability augmentation motor rotates along the second rotation direction, the transmission member drives the connection assembly to rotate relative to the support member, the load borne on the load connection portion can move downwards, when the stability augmentation motor rotates to a second preset angle, the transmission member abuts against the limiting portion to limit the load to move along the specific vertical direction, and thus, when the stability augmentation motor rotates to the second preset angle, if the load or the connection assembly has a tendency of moving upwards, the load is limited to move upwards under the blocking of the limiting portion.

When the stability augmentation motor rotates to a second preset angle from a second reference angle along a second rotating direction, the transmission piece abuts against the second limiting portion to limit the load to move along a second vertical direction, wherein the stability augmentation motor rotates to the second preset angle from the second reference angle along the second rotating direction, the stability augmentation motor and the transmission piece are not in a dead point state, and the second reference angle is the rotating angle of the stability augmentation motor when the stability augmentation motor and the transmission assembly are in the second dead point state.

When the stability augmentation motor rotates to a second preset angle from a second reference angle along a second rotating direction, the transmission piece abuts against the second limiting portion to limit the load to move along a second vertical direction, wherein the stability augmentation motor rotates to the second preset angle from the second reference angle along the second rotating direction, the stability augmentation motor and the transmission piece are not in a dead point state, and the second reference angle is the rotating angle of the stability augmentation motor when the stability augmentation motor and the transmission assembly are in the second dead point state. The mechanism formed by the stability augmentation motor and the transmission piece has one or more dead points, when the stability augmentation motor and the transmission piece are positioned at the second dead point, the stability augmentation motor rotates to a second reference angle, when the stability augmentation motor rotates to the second reference angle, the load can be positioned at the lowest position in the vertical stroke, when the stability augmentation motor rotates to a second preset angle from the second reference angle along the second rotation direction, the transmission piece supports against the second limiting part to limit the load to move along the second vertical direction.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Claims

1. The utility model provides a vertical steady mechanism that increases which characterized in that, vertical steady mechanism that increases includes:

a load connection part for connecting a load;

2. The vertical stability augmentation mechanism of claim 1, wherein the connection assembly comprises a four-bar linkage.

3. The vertical stability augmenting mechanism of claim 2, wherein the four-bar linkage comprises a first crossbar portion, a second crossbar portion opposite the first crossbar portion, and a vertical bar portion connected between the first crossbar portion and the second crossbar portion, the vertical bar portion being connected to the load connecting portion;

the two ends of the first transverse rod part are respectively hinged with the vertical rod part and the fixed part, the fixed part is connected with the supporting part, the two ends of the second transverse rod part are respectively hinged with the vertical rod part and the fixed part, and the four-bar linkage mechanism forms a parallelogram frame mechanism.

4. The vertical stability augmentation mechanism of claim 3, wherein the two ends of the elastic member are connected to different sides of the four-bar linkage.

5. The vertical stabilizing mechanism according to claim 4, wherein two ends of the elastic member are connected to the upright portion and the fixed portion, respectively.

6. The vertical stability augmentation mechanism of any one of claims 1-5, further comprising:

the first ends of the first rockers in the two rockers are connected with a first stability augmentation motor in the two stability augmentation motors, the first ends of the second rockers in the two rockers are connected with a second stability augmentation motor in the two stability augmentation motors, and the second ends of the first rockers and the second rockers are symmetrically hinged to the connecting assembly.

7. The vertical stability augmentation mechanism of claim 6, wherein the first ends of the two rockers are eccentrically and rotationally connected to the corresponding stability augmentation motors.

8. The vertical stability augmentation mechanism of any one of claims 1-5, further comprising:

an elastic member adjustment mechanism, wherein the elastic member adjustment mechanism includes a mounting portion connected to one end of the elastic member;

position control motor, wherein, position control motor can drive the installation department and the tip removes to adjust the elastic component and provide to coupling assembling the equilibrium force.

9. The vertical stability augmenting mechanism according to claim 3, wherein said two stability augmenting motors act on said first or second crossbar portion.

10. The vertical stability augmenting mechanism of claim 3, further comprising an angle sensor for detecting an angle formed between the second crossbar portion or the first crossbar portion and the fixed portion.

11. The vertical stability augmentation mechanism of any one of claims 1-5, further comprising:

the sensor is used for acquiring the motion quantity value or the position change value of the load in the vertical direction;

and the processor is used for calculating the rotating directions and the amplitudes of the two stability augmentation motors according to the motion quantity value or the position change quantity value and generating a control instruction according to the rotating directions and the amplitudes of the two stability augmentation motors so as to control the two stability augmentation motors to rotate.