CN210662227U - Handheld four-axis stabilizer with vertical vibration reduction function - Google Patents

Abstract

The utility model discloses a handheld four-axis stabilizer that possesses vertical damping function, including handle and the triaxial stabilizer of taking pitch axis, roller bearing, course axle, still include that vertical damping axle contains frame, elastic component, burden platform, driving medium. The utility model discloses a design of vertical damping axle utilizes lever principle, and it is the change to have solved the elastic component effort, simply uses the elastic component slow vibration, still can be to the problem of the inhomogeneous impact force of load transmission and vibration.

Description

Handheld four-axis stabilizer with vertical vibration reduction function

Technical Field

The utility model relates to a photography equipment technical field, especially a handheld four-axis stabilizer that possesses vertical damping function.

Background

In order to prevent to shoot the shake, a lot of photography equipment all erect and shoot on the cloud platform, but the cloud platform anti-shake is only better to the anti-shake effect of horizontal direction, but is not good to the anti-shake effect of vertical direction. At present, the research on vertical anti-shake is not many, and one of them PCT patent application WO2017/132814a1 discloses a vertical stability-increasing structure, a pan-tilt device and a shooting device, and its vertical stability-increasing component includes an elastic component, a rotating component and a suspension pulling component, one end of the suspension pulling component winds around the peripheral surface of the rotating component, and the other end is used for connecting a load, and the rotating component can convert the elastic force of the elastic component into the constant pulling force of the suspension pulling component on the load, so as to achieve the effect of vertical vibration-reducing and anti-shake on the load. Firstly, the scheme adopts the flexible piece to bear the load, can compensate the vertical upward shake, can achieve certain force compensation, achieves certain anti-vibration effect, but cannot achieve quick, sensitive and accurate force compensation; secondly, the scheme is only suitable for vertically lifting the load, but cannot support the load vertically upwards, so that the application range of the device is limited; finally, the load range of the scheme is not adjustable, and the application range is narrow.

SUMMERY OF THE UTILITY MODEL

Problem to prior art exists, the utility model provides a handheld four-axis stabilizer that possesses vertical damping function can carry out quick, sensitive, accurate power compensation to the vertical shake of four-axis stabilizer, realizes better damping effect, and can realize upwards pulling the damping of multiple load-bearing mode such as load or upwards supporting load, and the cost is lower moreover, and the reliability is higher.

In order to achieve the above object, the utility model relates to a handheld four-axis stabilizer who possesses vertical damping function, including handle and the triaxial stabilizer of taking every single move axle, roller bearing, course axle, still include vertical damping axle, vertical damping axle contains and connects frame, elastic component, burden platform, driving medium with the handle fastening.

Furthermore, the transmission part comprises a rotating shaft fixed on the rack, a transmission wheel rotating through the rotating shaft, and an involute wheel fixedly connected with the transmission wheel;

furthermore, one end of the elastic part is fixed on the frame, and the other end of the elastic part is wound on the involute wheel through a linear part.

Furthermore, the load platform comprises a load bearing part fixedly connected with the triaxial stabilizer and a rigid transmission part at the lower part, and the load platform is movably connected with the transmission wheel through the rigid transmission part to realize the conversion between linear motion and rotary motion.

The elastic piece and the involute wheel are matched to use, constant torque is obtained, and through the rigid transmission design, the vertical damping device which is sensitive in response, simple in structure and good in compensation effect is obtained in a reliable and low-cost mode by actively and quickly compensating vertical upper displacement when vertical vibration from an external environment is received.

Further, the elastic element is one or a combination of several of a volute spring, a spiral spring, a rubber band, a hydraulic damping element or a pneumatic damping element. Thereby allowing the vertical damping device to be manufactured and produced in a cost-effective manner.

Furthermore, the transmission wheel is a circular gear part with at least part of constant radius, and the rigid transmission part is a rack meshed with the gear part. By means of the design, the vertical vibration is damped in a reliable mode and the vertical displacement compensation precision is high.

Further, the driving wheel is a balance wheel, a sliding part is arranged at the periphery of the balance wheel, and the rigid driving part is configured into a linear displacement piece with a sliding groove in sliding connection with the balance wheel sliding part. Thereby, friction losses present in the vertical damping device are further reduced, which may improve the sensitivity of the vertical damping device to reactions to external vertical shocks and the accuracy of the compensation. Further, the thread-shaped member is one of a steel wire, a nylon thread, and a carbon fiber thread. The manufacturing costs of the vertical damping device can be further reduced and, due to the small mass of the wire, practically no additional mass is added to the vertical damping device, thus providing a simple and reliable connection.

Further, the wire is guided along the outer periphery of the involute wheel, and a guide wheel for changing the guide direction of the wire is further included. It is possible to allow the wire to reliably remain in contact with the rotating wheel throughout the operation of the vertical damping device.

The loading table further comprises a guide piece, wherein the guide piece is fixed on the rack, so that the loading table can linearly move along the guide piece; it is achieved that the load table is guided vertically in a cost-effective and reliable manner.

Further, still include the linear bearing with rigid drive portion fixed connection, linear bearing cup joints on the guide. The effect of vertical guide to the load platform is further improved.

The working principle of the utility model is that the structure utilizes the lever principle through the combination of the involute wheel and the elastic part, thereby solving the problems that the acting force of the elastic part is changed, the elastic part is simply used for damping vibration, and uneven impact force and vibration can still be transmitted to the load. The load is balanced by the force of the elastic member. However, because the elastic force of the elastic part is not constant, the acting force generated by the elastic part is also changed along with the deformation of the elastic part, the weight of the load is corresponding to the force of the elastic part, the heavier the load is, the larger the deformation of the elastic part is, and the larger the force of the elastic part is. Therefore, the involute wheel with the distance between the outer periphery and the rotating shaft changing linearly along with the angle is introduced, one end of the linear piece is connected with the elastic piece, and the other end of the linear piece is wound on the involute wheel, so that the product of the elastic force of the elastic piece and the force arm of the elastic piece changing from the action point of the elastic piece on the involute wheel to the rotating shaft center (namely the moment of the elastic piece) is always constant; in order to make the balanced moment and the load moment offset each other, a transmission device for converting curvilinear motion and linear motion is further introduced, namely a rigid transmission part is matched with a transmission wheel, and the transmission wheel is coaxially fixed with the involute wheel; when the frame vibrates vertically, the supporting force of the rigid transmission part of the transmission wheel pair is constant through the mutual matching of the elastic part, the transmission wheel and the involute wheel; in addition, the rigid transmission part and the load are always in a weightless suspension balance state relative to the frame, when the transmission wheel rotates along with the up-and-down movement of the frame, the transmission wheel just rolls on the rigid transmission part smoothly without driving the rigid transmission part to follow the movement, namely when the frame fluctuates up and down along with the movement of a photographer, the load is in a balance state without fluctuation basically relative to the environment, thereby achieving better vibration reduction effect.

The beneficial effects of the utility model are that can reduce vertical shake by a wide margin and to the influence of cloud platform load, have better damping effect, and can realize upwards carrying and draw the damping of multiple load bearing methods such as load or upwards supporting load.

Drawings

Fig. 1 is an overall structure diagram of a handheld four-axis stabilizer with vertical vibration reduction function according to the present invention;

FIG. 2 is a schematic structural view of a first vertical vibration damping shaft

Fig. 3 is a schematic view of the complete structure of the first vertical vibration damping shaft according to the present invention;

fig. 4 is a structural top view of a second vertical vibration damping device according to the present invention;

fig. 5 is a structural bottom view of a second vertical vibration damping device according to the present invention;

FIG. 6 is a structural view of the vertical damping shaft with the spiral spring according to the present invention;

in the drawings, 1, a vertical damping device; 2. a rotating shaft; 3. a transmission member; 31. a driving wheel; 32. an involute wheel; 33. a balance wheel; 331. a sliding part; 4. a loading platform; 40. a bearing part; 41. a rigid transmission section; 42. a linear displacement member; 421. a chute; 5. elastic member 6, linear member 61, guide wheel 7, guide member; 71. a guide rail; 72. a linear bearing; 73. a linear bearing seat; 9. a volute spring; 10. a frame; 103. a pitch axis; 102. a transverse rolling shaft; 101. a course axis; 104. a handle.

Detailed Description

Referring now to the drawings, illustrative aspects of the disclosed vertical damping device will be described in detail. Although the drawings are provided to present some embodiments of the invention, the drawings are not necessarily to scale of particular embodiments, and certain features may be exaggerated, removed, or partially sectioned to better illustrate and explain the disclosure of the present invention. The position of some components in the drawings can be adjusted according to actual requirements on the premise of not influencing the technical effect. The appearances of the phrase "in the drawings" or similar language in the specification are not necessarily referring to all drawings or examples.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed" on another component, it can be directly on the other component or intervening components may also be present. Certain directional terms used hereinafter to describe the drawings, such as "transverse," "vertical," "front," "rear," "inner," "outer," "above," "below," and other directional terms, will be understood to have their normal meaning and refer to those directions as normally contemplated by the drawings. Unless otherwise indicated, the directional terms described herein are generally in accordance with conventional directions as understood by those skilled in the art. The terms "first," "second," and the like, as used herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

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

In fig. 1, an embodiment of the invention is schematically shown. As shown in fig. 1, a handheld four-axis stabilizer with vertical vibration reduction function includes a handle 104 and a three-axis stabilizer with a pitch axis 103, a roll axis 102 and a heading axis 101, and further includes a vertical vibration reduction axis 1, where the vertical vibration reduction axis 1 includes: the device comprises a rotating shaft 2 fixedly connected to a frame 10, a driving wheel 31 rotating through the rotating shaft 2, and an involute wheel 32 fixedly connected with the driving wheel 31, wherein one end of an elastic piece 5 is fixed on the frame 10, and the other end of the elastic piece is wound on the involute wheel 32 through a linear piece 6; the load bearing platform 4 comprises a bearing part 40 with the upper part fixedly connected with the triaxial stabilizer and a rigid transmission part 41 with the lower part, and the load bearing platform 4 is movably connected with the transmission wheel 31 through the rigid transmission part 41 to realize the conversion between linear motion and rotary motion. In the present embodiment, the transmission wheel 31 is configured such that the transmission wheel is configured as a balance 33, a sliding portion 331 is provided at the outer periphery of the balance 33; a linear displacement member 42 of the slide groove 421 configured to form a sliding connection with the sliding portion 331; wherein the sliding portion 331 is preferably a smooth-surfaced roller. The involute pulley 32 is configured as a pulley member in which the distance of at least part of the outer periphery from the rotary shaft 2 linearly changes with angle; the balance 33 and the involute wheel 32 may be separately manufactured and then arranged coaxially on the rotating shaft 2 in a rotationally fixed manner with respect to each other (for example, fixedly connected to each other or bonded), so that both the balance 33 and the involute wheel 32 are allowed to always rotate together. It is of course also conceivable to form the balance 33 and the involute wheel 32 in one piece.

As shown in fig. 4 and 5, during the rotational oscillation of the balance 33, the movement speed of the sliding portion 331 thereon can be orthogonally resolved, where the horizontal speed is Vx and the vertical speed is Vy. Therefore, during the rotation and oscillation of the balance 33, on one hand, the sliding portion 331 will generate a certain horizontal displacement in the sliding slot 421, and on the other hand, the sliding portion 331 will drive the linear displacement member 42 to move vertically. In other words, through the cooperation of the sliding portion 331 and the sliding groove 421, the balance 33 and the linear displacement member 42 can be equivalently formed into a crank-slider structure, thereby ensuring that the linear displacement member 42 only moves in the vertical direction, i.e., the rotational oscillation of the balance is converted into the linear movement of the linear displacement member 42. Preferably, the sliding portion 331 may be a roller, whereby undesired friction between the sliding portion 331 and the sliding groove 421 can be reduced as much as possible to ensure efficient motion transmission.

As shown in fig. 4 and 5, since the position of the sliding portion 331 is fixed, the distance from the sliding portion to the rotating shaft 2 is kept constant during the entire swing. Meanwhile, since the sliding portion 331 is fitted in the sliding groove 421 of the linear shifter 42 that carries a load, the weight of the load can apply a moment, which may be referred to as a first turning moment, to the balance 33 in the counterclockwise direction in fig. 4 with respect to the rotation shaft 2 via the contact of the sliding portion 331 and the sliding groove 421. Which is equal to the product of the weight of the load and the distance between the load table 4 and the axis of rotation 2, i.e. the radius of the sliding part 331 to the centre of rotation of the balance.

Generally, the tension of the elastic member 5 is proportional to the elastic deformation thereof, i.e. the greater the elastic deformation of the elastic member 5, the greater the elastic force of the elastic member 5. In other words, when the involute roller 32 rotates counterclockwise to stretch the elastic member 5, the force acting in the wire 6 is larger, and conversely, the force in the wire 6 is smaller. In the present embodiment, since the weight of the load and the radius of the transmission wheel 31 are constant, the radius of the involute wheel 32 on the right side as viewed in the drawing is larger than the radius on the left side, in other words, as the involute wheel 32 rotates counterclockwise, the elastic force of the elastic member 5 becomes larger (the force applied to the involute wheel 32 by the wire 6 becomes larger), but the contact point of the wire 6 with the involute wheel 32 becomes larger on the left side, that is, the radius of the involute wheel 32 is reduced. The same situation occurs when the involute wheel 32 rotates clockwise, i.e. the spring force of the spring 5 is smaller and smaller, but the radius of the involute wheel 32 is larger and larger. Therefore, by appropriately designing the change in the radius of the involute pulley 32, the second torque applied to the rotary shaft 2 by the elastic member 5 can be made to always balance the first torque applied to the rotary shaft 2 by the gravity acting on the load, that is, the rotary shaft 2 can convert the elastic force of the elastic member 5 into a constant supporting force for the load or what can be called a gravity force that always keeps the load balanced. In other words, the load is always in a weightless state due to the action of the vertical shock absorbing device according to the present embodiment.

It should be noted that the vertical vibration herein refers to a vibration having a vertical component, that is, the vibration may be referred to as vertical vibration as long as the vibration has a component in the vertical direction, in other words, the macro motion direction of the vertical vibration is not necessarily the vertical direction, and may have an angle with the vertical direction. When the vertical vibration is, for example, downward movement, the rotation shaft of the vertical damping device is connected to the frame, so that the transmission wheel 31 is vertically displaced downward by a certain distance along with the frame. Because the meshing relationship exists between the transmission wheel 31 and the rigid transmission part 41, the vertical displacement of the transmission wheel 31 will correspondingly cause the transmission wheel 31 to rotate a certain angle in the clockwise direction to reach another angular position, and at the same time, the rigid transmission part 41 will be displaced upward by the transmission wheel 31 by a certain distance, and because the above-mentioned gravity balancing of the load can be maintained during the rotation of the transmission wheel 31 in any direction, because the distance of downward displacement of the transmission wheel 31 is approximately equal to the distance of upward displacement of the rigid transmission part 41, the actual absolute position of the load in the vertical direction is not changed, that is, the influence of the vibration of the external environment on the load is eliminated. In other words, because the utility model discloses a vertical damping device can drive the load via rigid transmission part 41 and move along the opposite direction of vibrations direction under the gravity condition of this load of keep balance to the influence of the vibrations of external environment to the load has been eliminated. The same situation can occur when the vertical shock is a downward motion. From this, the skilled person can understand that obtains, utilizes the utility model discloses a vertical damping device can eliminate basically or completely cut off the influence of vertical vibrations to the load.

It should be noted that although the spiral spring 9 is used as the elastic member 5 in the present embodiment, this is merely exemplary, and the elastic member 5 may be a rubber band, a hydraulic damping member or a pneumatic damping member capable of being stretched or retracted in a linear direction, or a coil spring and/or a rubber band and/or a hydraulic damping member and/or a pneumatic damping member arranged in series or in parallel, as long as the elastic member 5 satisfies a relationship that a tensile force is proportional to a deformation amount thereof.

Further, as a preferable mode, the vertical shock absorbing device 1 may further include a guide 7 disposed parallel to the moving direction of the load table 4, wherein as shown in fig. 3, the guide 7 includes: at least one guide rail, preferably 2 guide rails, which extend parallel to the direction of movement of the load table 4 and are seated at their two ends by mounting seats, is arranged parallel to the direction of movement. Linear bearings 72 are respectively provided in the guide rails, and a carrier 73 fixedly connected to the rigid transmission part 41 can be guided along the guide rails by means of the linear bearings 72. By means of this arrangement, the rigid transmission part 41 can be moved linearly in the vertical direction without disengagement from the transmission wheel 31, which is advantageous for the reliability of the vertical damper shaft 1.

In fig. 2 and 3, a further embodiment according to the invention is shown, in which most of the components are identical to those of the first embodiment, except for the drive wheel and the associated rigid transmission. Accordingly, the same reference numerals are used for the same components.

As shown in fig. 2 and 3, unlike the first embodiment, in the present embodiment, the transmission wheel 31 is configured as a circular gear member in which a plurality of teeth are uniformly distributed on the outer periphery, and a load table 4 for vertically supporting the load is provided in a substantially vertical tangential direction at the outer periphery of one side of the transmission wheel 31. As shown in fig. 2, the load table 4 here comprises an upper bearing part 40 and a lower rigid transmission part 41, wherein the rigid transmission part 41 is configured as a rack which meshes with the teeth of the transmission wheel 31. When a load is loaded on the load receiving portion of the load table 4, a torque, which may be referred to as a first torque, is applied to the transmission wheel 31 in a counterclockwise direction in the drawing with respect to the rotary shaft 2 through the engagement between the rack and the teeth of the gear member by the weight of the load. Which is equal to the product of the weight of the load and the distance between the axes of rotation of the load tables 4 and 2, i.e. the radius of the drive wheel 31.

An elastic member 5 is provided below the involute wheel 32 symmetrically to the rigid transmission portion 41 about the rotation axis 2, and the elastic member 5 is a coil spring that can be stretched or retracted in the vertical direction. In which the lower end of the spring 5 is immovably placed, it is possible, for example, to fixedly connect the lower end of the spring 5 to the machine frame, while the upper end of the spring 5 is wound around the involute wheel 32 via a wire 6, where the wire 6 may be a steel wire or a nylon wire or a carbon fiber wire, as long as it has a sufficient tensile strength. In order to facilitate guiding and deflecting the wire 6, a guide wheel 61 is further provided near the involute wheel 32, and the guide wheel 61 may be an idler wheel having a smooth outer peripheral surface. As shown in fig. 2, the wire 6 is guided along the outer periphery of the involute pulley 32 whose outer periphery varies linearly in distance from the rotating shaft 2 with angle. Since the wire 6 is always in a state of force balance, that is, the frictional force given to the wire 6 by the outer periphery of the involute pulley 32 is equal to the tension of the wire 6 (also equal to the elastic force of the elastic member 5). The wire 6 therefore likewise exerts a force of the same magnitude tangentially on the involute wheel 32, under which a moment, which can be referred to as a second rotational moment, is exerted on the involute wheel 32 in the clockwise direction in fig. 2 relative to the axis of rotation 2. Wherein the moment is equal to the product of the elastic force of the elastic member and the distance from the contact point of the wire 6 with the outer periphery of the involute pulley 32 to the rotation shaft 2.

Likewise, an elastic member 5 is provided below the involute wheel 32 symmetrically to the linear displacement member 42 about the rotation axis 2, where the elastic member 5 may be a coil spring that can be extended or retracted in the vertical direction. Wherein the lower end of the elastic element 5 is immovably placed, it is possible, for example, to fixedly connect the lower end of the elastic element 5 to a machine frame, while the upper end of the elastic element 5 is wound around the involute wheel 32 via a wire element 6, wherein the wire element 6 is, for example, a steel wire or a nylon wire or a carbon fiber wire, as long as it has a sufficient tensile strength. In order to facilitate guiding and deflecting the wire 6, a guide wheel 61 is further provided near the involute wheel 32, and the guide wheel 61 may be an idler wheel having a smooth outer peripheral surface. As shown in fig. 2, the wire 6 is guided along the outer periphery of the involute pulley 32 whose outer periphery varies linearly in distance from the rotating shaft 2 with angle. Since the wire 6 is always in a state of force balance, that is, the frictional force given to the wire 6 by the outer periphery of the involute pulley 32 is equal to the tension of the wire 6 (also equal to the elastic force of the elastic member 5). The wire 6 therefore likewise exerts a force of the same magnitude tangentially on the involute wheel 32, under which a moment, which can be referred to as a second rotational moment, is exerted on the involute wheel 32 in the clockwise direction in fig. 2 relative to the axis of rotation 2. Wherein the moment is equal to the product of the elastic force of the elastic member and the distance from the contact point of the wire 6 with the outer periphery of the involute pulley 32 to the rotation shaft 2.

As described above, if the variation of the distance between the outer periphery of the involute pulley 32 and the rotating shaft 2 is designed appropriately, the second moment applied to the rotating shaft 2 by the elastic member 5 can be always balanced with the first moment applied to the rotating shaft 2 by the gravity acting on the load, that is, the rotating shaft 2 can convert the elastic force of the elastic member 5 into a constant supporting force for the load or can be said to be a gravity which always keeps balanced with the load. In other words, the vertical shock absorbing device according to the present embodiment can also function to keep the load in a weightless state at all times.

It is to be understood that while the specification has been described in terms of various embodiments, it is not intended that each embodiment comprises a separate embodiment, and such descriptions are provided for clarity only and should be taken as a whole by those skilled in the art, and that the embodiments may be combined to form other embodiments as will be apparent to those skilled in the art.

Although the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (11)

1. The utility model provides a handheld four-axis stabilizer that possesses vertical damping function which characterized in that: including handle and the triaxial stabilizer of taking pitch axis, roll axis, course axle, its characterized in that: the vibration damping device also comprises a vertical vibration damping shaft; the vertical vibration reduction shaft comprises a frame, an elastic piece, a loading platform and a transmission piece, wherein the frame is fixedly connected with the handle.

2. The handheld four-axis stabilizer of claim 1, wherein: the transmission part comprises a rotating shaft fixed on the rack, a transmission wheel rotating through the rotating shaft, and an involute wheel fixedly connected with the transmission wheel.

3. The handheld four-axis stabilizer of claim 1, wherein: one end of the elastic piece is fixed on the frame, and the other end of the elastic piece is wound on the involute wheel through a linear piece.

4. The handheld four-axis stabilizer according to claim 1, wherein the load table comprises a bearing part fixedly connected with the three-axis stabilizer at the upper part and a rigid transmission part at the lower part, and the load table is movably connected with the transmission wheel through the rigid transmission part.

5. The handheld four-axis stabilizer of claim 1, wherein: the elastic part is one or a combination of more of a volute spring, a spiral spring, a rubber band, a hydraulic damping part or a pneumatic damping part.

6. The handheld four-axis stabilizer of claim 2, wherein: the transmission wheel is at least partially a circular gear piece with a constant radius and taking the rotating shaft as a circle center, and the rigid transmission part is a rack meshed with the gear piece.

7. The handheld four-axis stabilizer of claim 2, wherein: the driving wheel is constructed into a balance wheel, a sliding part is arranged at the periphery of the balance wheel, and the rigid driving part is constructed into a linear displacement piece with a sliding chute in sliding connection with the balance wheel sliding part.

8. The handheld four-axis stabilizer of claim 3, wherein: the thread-shaped member is one of a steel wire, a nylon thread, and a carbon fiber thread.

9. The handheld quadcopter of claim 3, wherein: the wire is guided along the outer periphery of the involute wheel, and a guide wheel for changing the guiding direction of the wire is also included.

10. The handheld four-axis stabilizer of claim 1, wherein: the loading table further comprises a guide piece, wherein the guide piece is fixed on the rack, so that the loading table can linearly move along the guide piece.

11. The handheld four-axis stabilizer of claim 10, wherein: the linear bearing is fixedly connected with the rigid transmission part and is sleeved on the guide piece.

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