CN211875020U

CN211875020U - Active vertical positioning equipment and stabilizer with same

Info

Publication number: CN211875020U
Application number: CN202020231673.9U
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2020-11-06
Anticipated expiration: 2030-02-28

Abstract

The utility model provides an active vertical positioning equipment, this positioning equipment are used for the definite position of load location on vertical, and it includes: a gravity balancer to vertically support the load; a vertical fine tuning device disposed in parallel with the gravity balancer and configured to fine tune the load vertically. Therefore, the active vertical positioning equipment with sensitive response, simple structure and good compensation effect is provided. Further, a stabilizer for an image forming apparatus is also provided.

Description

Active vertical positioning equipment and stabilizer with same

Technical Field

The utility model relates to a photographic shooting device's mechanical anti-shake or position control technical field, concretely relates to vertical positioning device, vertical damping device and have such vertical damping device's stabilizer and shooting equipment.

Background

For high precision electromechanical systems, such as measuring machines, manufacturing machines, optical instruments or photographing devices, it is important to avoid or minimize vibrations or jitter from the external environment as much as possible to maintain the desired position of the functional components in the system. As a mechanical anti-shake solution, the stabilizer has been a new consumer electronics product struggling for common consumers along with the explosion of live broadcast and travel self-shooting.

For the stabilizer, the self-timer stability of the stabilizer when the consumer takes a still picture is absolutely not said. However, if the ordinary consumer takes a picture by first person, the picture can obviously shake up and down, so that the photographic effect is affected, the definition of the picture is easily reduced, and good scenes are inconvenient to snap. Similarly, to unmanned aerial vehicle or the imaging device that unmanned aerial vehicle carried on, because the influence of jolting or the air current on road surface also can produce unexpected vertical vibrations to be unfavorable for the promotion of shooting the effect.

It is known that manufacturers such as stanenicon try to mechanically damp loads vertically using, for example, a parallelogram structure in combination with springs or dampers, but in practice it has been found that springs or dampers tend to only act to cushion and store the impact force, delaying the release, but do not hold the functional component (e.g. the lens) in the desired position vertically as described above, and therefore such mechanical damping is not satisfactory. More seriously, the parallelogram structure itself is very bulky and heavy, which obviously does not meet the prevailing trend of miniaturization and portability of the present stabilizer, and is not accepted by the average consumer as a shock absorbing solution.

On the basis of this, it has been proposed to vertically compensate for the displacement of the functional component from the desired position in case of a shock by means of an actuator device such as an electric motor, but since the functional components are often very heavy, the electric motor is required to have a very large torque, which means that the electric motor is bulky, energy consuming and requires a very good heat dissipation, which is not at all practical for self-contained power products such as stabilizers or drones or unmanned vehicles where miniaturization and light weight are important.

Accordingly, there remains a need in the industry to provide a satisfactory, commercially viable vertical shock absorbing device and vertical positioning apparatus.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an active vertical positioning equipment that can solve above-mentioned prior art all sorts of deficiencies at least partially.

According to the utility model discloses an aspect provides an active vertical positioning equipment, and this positioning equipment is used for the definite position of load location in vertical, its characterized in that, vertical positioning equipment includes: a gravity balancer vertically supporting a load, configured to balance gravity of the load at a substantially constant force when the load is static; a vertical fine adjustment device disposed in parallel with the gravity balancer and configured to fine adjust a load vertically, comprising: a position sensor for measuring a vertical position of the load; a position controller configured to compare an actual position from the position sensor with a preset position to derive a vertical deviation and to output a control signal outward based on the vertical deviation; an adjustment mechanism operatively connected to the gravity balancer and communicatively connected to the position controller to move the load in a direction opposite the vertical offset based on the control signal to position the load at a determined position in the vertical direction.

From this, compare with prior art, according to the utility model discloses an active vertical positioning equipment makes load can suspend the setting with weightless mode through novel mechanical shock-absorbing design, and this kind of novel mechanical design has simple structure, arranges beneficial effect such as compactness, space utilization height, and this is very profitable to the miniaturization and the portableization of commodity, is favorable to improving the whole competitiveness of product. Meanwhile, since the load is always in a state where its gravity is substantially balanced or in a state of weightlessness, a micro motor or a small servo motor is feasible in the vertical position adjustment here. The motor has the advantages of being fast and accurate in regulation and control, and meanwhile, the required energy consumption and heat dissipation capacity of the motor are small, so that unacceptable burden can not be caused to products such as a stabilizer or an unmanned aerial vehicle.

In a preferred embodiment, wherein the gravity balancer is an air-floating gravity balancer, comprising: the bottom of the supporting cylinder is provided with a pressure chamber communicated with a gas path of a gas supply source through a gas charging port; the free end of the plunger rod, which is accommodated in the supporting cylinder and extends out of the supporting cylinder, is connected with a load supporting plate for supporting a load. Thereby, a reliable vertical stabilisation of the load is achieved in a cost-effective manner via such a design.

In a preferred embodiment, the supply gas source comprises a constant-pressure cylinder which stores a gas at constant pressure, wherein the constant-pressure cylinder is arranged alongside the support cylinder and supplies gas to the pressure chamber of the support cylinder by means of a gas supply line.

In a preferred embodiment, the load bearing plate further comprises at least one linear guide mechanism, wherein the linear guide mechanism comprises a linear bearing seat fixedly arranged on the load bearing plate and a linear bearing fixedly arranged on a guide rail, and the guide rail is fixedly supported by the constant pressure cylinder. Thereby, it is ensured in a cost-effective and reliable manner that the vertical support mechanism and the force generating mechanism can exert a force in the vertical direction on the gearshift balance mechanism for a long period of time.

In a preferred embodiment, the support cylinder further comprises a second inflation port located at an upper portion and the piston of the plunger rod has a cross-sectional area of the upper portion of the support cylinder different from a lower portion of the support cylinder to allow vertical support of a load.

In a preferred embodiment, the adjustment mechanism comprises: the output end of the motor is connected with a ball screw; and the screw nut is in threaded connection with the ball screw and is fixedly arranged in the mounting seat connected with the load bearing plate.

In a preferred embodiment, wherein the gravity balancer is a magnetic floating gravity balancer, comprising: the plunger rod is connected with a load bearing plate for bearing load at the free end and is at least partially provided with a center column magnet, wherein the magnetizing direction of the center column magnet is axial; the shell is sleeved on the outer side of the plunger rod, and the shell is provided with at least one ring magnet with the radial magnetizing direction so as to provide magnetic suspension force for balancing the gravity of the plunger rod in a static state of the load.

In a preferred embodiment, the central column magnet is surrounded by at least two tile-shaped magnets, wherein the tile-shaped magnets can move radially away or close, so that a magnetic path between the central column magnet and the ring magnet is changed, and the magnetic levitation force applied to the plunger rod is changed. This allows the vertical damping device to be adapted to loads of different weights in a simple manner, thereby increasing the versatility of the vertical damping device.

According to the utility model discloses an on the other hand still provides a stabilizer for imaging device, it is including can be at least on two axes to imaging device increase steady device and be used for vertical support this to increase the vertical positioning equipment of steady device, wherein this vertical positioning equipment does vertical positioning equipment. Thereby, the influence of vertical vibration on the image forming apparatus can be eliminated.

Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be apparent to those having ordinary skill in the art upon examination of the following, or may be learned from the practice of the invention.

Drawings

Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein:

fig. 1 shows a perspective view of a vertical positioning device according to the present invention;

fig. 2 shows a perspective view of a stabilizer for an imaging apparatus with the vertical positioning device of fig. 1;

figure 3 illustrates another embodiment of an air-floating gravity balancer.

Description of the reference numerals

1. Vertical positioning equipment 2, load 10,

gravity balancer

11, 11A supporting cylinder

12. Plunger rod 13,

load bearing plates

14, 14A, 14B, inflation port

15.

Constant pressure cylinders

16, 16A, 16B, gas supply line 17, linear guide mechanism

171. Linear bearing seat 172, linear bearing 173, guide 174, anti-drop stopper

18. Nut 19, connecting plate 20, vertical fine adjustment device 30, adjusting mechanism 31 and motor

32. Ball screw 33, screw nut 34, mounting seat 35, bearing 36 and coupler

37. Motor mounting base 41, sensor mounting base 42 and damping ball

Detailed Description

Referring now to the drawings, illustrative aspects of the disclosed vertical positioning apparatus 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 an element is referred to as being "supported" or "disposed" on another element, it can be directly supported or disposed on the other element or intervening elements 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 active vertical positioning device 1 of an embodiment of the invention is schematically shown, wherein the vertical positioning device 1 is used for positioning a load 2 in a determined position in the vertical direction. Here, the load may be an imaging device for capturing images and videos, for example, a digital camera or a video camera, or a portable communication device such as a mobile phone or a tablet computer having an imaging function, and may also be a stability augmentation device (see fig. 2) on which the imaging device is mounted. Wherein the vertical positioning apparatus comprises a gravity balancer 10 for vertically supporting a load, configured to balance the gravity of the load at rest with a substantially constant force, in the embodiment shown in fig. 1-2, the gravity balancer 10 is configured as an air-floating gravity balancer, as shown in fig. 1, comprising: a support cylinder 11 provided at the bottom thereof with a pressure chamber communicating with a gas path of a gas supply source via a charging port 14; a plunger rod 12 received in the support cylinder 11, wherein the lower end of the plunger rod 12 is arranged in the support cylinder 11 and is provided with a piston (not visible, not shown) subjected to gas pressure, wherein the piston is arranged in a pressure chamber so as to apply an upward force to the plunger rod 12 under the action of the gas, and the upper end (free end) of the plunger rod 12 extends out of the support cylinder and is connected to a load support plate 13 for supporting a load. The air-floating gravity balancer 10 can be allowed to balance the gravity of the load 2 at rest with a substantially constant force, with the gas pressure in the pressure chamber remaining substantially constant.

In order to achieve a substantially constant pressure in the support cylinder 11, the supply gas source preferably comprises a constant-pressure cylinder 15 which stores a constant-pressure gas, wherein, as shown in fig. 1, the constant-pressure cylinder 15 is arranged alongside the support cylinder 11 and supplies gas to the pressure chamber of the support cylinder 11 by means of a gas supply line 16. The constant pressure cylinder 15 has a volume greater than that of the support cylinder 11 and communicates with the latter via an air supply line 16. In order to prevent the support cylinder 11 and the constant pressure cylinder 15 from being displaced relative to each other in an undesired manner during long-term use, the support cylinder 11 and the constant pressure cylinder 15 are connected together via a web 19 in the form of a plate, wherein the end plate connecting the support cylinder 11 and the web 19 is fastened by means of a nut 18. At the same time, the constant pressure cylinder 15 can also be fixedly connected to the connecting plate 19, likewise by means of a further nut.

In use, a supply of gas from the outside is first fed into the constant pressure cylinder 15 and then via the gas supply line 16 through the gas charging port 14 into the support cylinder 11, the supply of gas being maintained until a certain gas pressure is reached in the support cylinder 11, preferably when the weight of the load 2 is such that the plunger rod 12 is located at half the stroke of the support cylinder 11, i.e. under the weight of the load 2, the amount of gas charged into the support cylinder 11 is such that the gas pressure balances the weight of the load 2 at rest at the mid-position of the stroke of movement of the plunger rod 12. At this time, the supply of air to the constant pressure cylinder 15 and the support cylinder 11 may be stopped and kept closed. By such a design, there is no need to additionally use a barometer to monitor the gas pressure in the support cylinder 11, thereby reducing manufacturing costs and simplifying control strategies. Further, the load range of the vertical positioning apparatus of the present invention is generally in the range of 1 kg to 3 kg, and therefore it is desirable that the gas pressure accumulated by the support cylinder 11 is adjustable to accommodate loads of different weights.

As shown in fig. 1, when the load 2 is not subjected to vertical vibrations, the load may be "levitated" due to the static gravity compensation or gravity balancing effect of the air-floating gravity balancer 10 on the load, which is attractive to photographers. When the load is subjected to vertical shocks (for example by a photographer in order to carry out a motion picture in the first person, for example a self-portrait on foot), the heave motion from the body can cause an undesired relative movement of the load in the vertical direction, for example by means of the hands of the photographer. 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.

In order to eliminate the influence of the vertical vibration of load to the shooting picture quality fast the utility model discloses an still be provided with vertical micromatic setting 20 in the vertical positioning equipment, thereby it is established with this gravity balancer 10 and is constructed and finely tunes the load vertical and fix a position load 2 in vertical definite position, makes this load have basically unchangeable absolute position like this.

Specifically, as shown in fig. 1, the vertical vernier device is provided in parallel on one side of the support cylinder 11, and includes: a position sensor for measuring the vertical position of the load 2; here, the position sensor may be installed in a mounting seat 41 connected to the load supporting plate 13 via a shock-absorbing ball 42, and since the load 2 is fixedly connected to the load supporting plate 13, the position sensor provided in the mounting seat 41 can sensitively detect a real-time position of the load 2 in the vertical direction. In this embodiment, the position sensor is preferably an Inertial Measurement Unit (IMU). Preferably, the sensor is protected from external mechanical high-frequency vibration (the high-frequency vibration can be regarded as "noise" of the sensor) to mainly recognize low-frequency vertical fluctuation caused by the stepping of the photographer, four damper balls 42 for damping external mechanical high-frequency vibration are mounted between the load support plate 13 and the sensor mount 41, and the damper balls 42 are interposed between the load support plate 13 and the sensor mount 41 so as to be disposed at four corners of the plate-shaped sensor mount 41, as shown in fig. 1.

At the same time, the vertical vernier arrangement also comprises an adjustment mechanism 30 operatively connected to the gravity balancer 10, where the adjustment mechanism 30 comprises a motor 31, wherein the motor 31 is fixedly connected to the connection plate 19 by means of a motor mount 37 so as not to move undesirably relative to the support cylinder 11. The output end of the motor is preferably connected via a coupling 36 to a ball screw 32 which is inserted through the connecting plate 19 and which is pivotably inserted through the connecting plate 19 by means of a bearing 35 in order to ensure that the ball screw reliably rotates relative to the connecting plate 19. A screw nut 33 is screwed to an upper end of the ball screw 32, and the screw nut 33 is fixedly installed in a mounting seat 34 connected to the load support plate 13. Meanwhile, the vertical fine adjustment device further includes a position controller, which may be, for example, a printed circuit board built in the motor 31, configured to compare an actual position from the position sensor with a preset position to derive a vertical deviation and output a control signal outward based on the vertical deviation. At the same time, the control signal is transmitted to the motor 31 which is in communication with the controller to move the load in the opposite direction of the vertical offset based on the control signal, thereby positioning the load in a determined position in the vertical direction.

The present invention is directed to an active vertical positioning device, which is configured to measure a vertical position of a load by a sensor mounted on a sensor mounting base 41 to obtain an actual vertical position of the load. Further, as a preferred way, a preset vertical position of the load may be set or stored in the position controller and, in the event of a vertical shock to the load, the position controller is designed to control the motor 31 to pivot according to a vertical offset between the preset vertical position and the actual vertical position, so that the load is moved via the action of the motor 31 in the direction opposite to the direction of the shock, as a result of which the load is positioned in a determined position in the vertical direction, so that the load can have a substantially constant absolute position in the vertical direction.

Specifically, when the load vibrates vertically (for example, due to slight undulation caused by a photographer's step), the position sensor acquires the actual vertical position of the load and transmits a signal of the actual vertical position to the position controller. Here, the embodiment of the present invention provides a position sensor for acquiring an actual vertical position of a load in real time (or periodically) and transmitting the actual vertical position to a position controller, which has preset vertical position information therein and determines whether there is a vertical deviation between the actual vertical position and a preset vertical position based on a received signal of the actual vertical position. When the actual vertical position is higher than the preset vertical position, which means that the load has a rapid upward lifting motion, the position controller rotates the driving motor 31 counterclockwise to drive the lead screw nut 33 to drive the load supporting plate 13 to move downward (i.e. to move in the direction opposite to the vibration direction), so as to counteract the vertical shaking of the load and position the load at a certain position in the vertical direction. Similarly, when the actual vertical position is lower than the predetermined vertical position, which means that the load has a rapid downward falling motion, the position controller drives the lead screw nut 33 to move the load upward (i.e. in the direction opposite to the vibration direction) by rotating the driving motor 31 clockwise, which also counteracts the vertical vibration of the load and positions the load at a certain position in the vertical direction. The active stability augmentation mode using the position sensor, the position controller and the motor has shorter response time and can carry out accurate displacement compensation. The effect of improving the minute up-and-down fluctuation is also remarkable.

It is to be noted that, according to the vertical positioning apparatus of the present invention, the load is always in a state where its gravity is substantially balanced or in a state of weightlessness, and therefore the motor 82 does not need to bear the gravity of any load at the time of the rotational motion in this case, and therefore, in the vertical position adjustment here, a micro motor or a small servo motor is feasible. The motor has the advantages of being fast and accurate in regulation and control, and meanwhile, the required energy consumption and heat dissipation capacity of the motor are small, so that unacceptable burden can not be caused to products such as a stabilizer or an unmanned aerial vehicle.

Further preferably, in order to ensure that the gravity balancer 10 and the vertical fine adjustment device 20 always apply a force in the vertical direction to avoid an adverse effect of uneven application of force on the vertical positioning effect, it is preferable that the vertical positioning apparatus further comprises at least one linear guide mechanism 17, as shown in fig. 1-2, wherein the linear guide mechanism comprises a guide rail 173 fixedly disposed at an upper end of the constant pressure cylinder 15, wherein a linear bearing 172 is fixedly disposed on the guide rail 173. Accordingly, a linear bearing seat 171 cooperating with the linear bearing 172 is fixedly provided on the load support plate 13, so as to allow the load support plate 13 and the gravity balancer 10 and the vertical fine adjustment device 20 connected thereto to be vertically moved all the time by the guiding action of the linear guide mechanism 17 in the event of vertical vibration. This is very beneficial for a stable operation of the vertical positioning device for a long time. Further preferably, as shown in fig. 1, a falling off prevention stopper 174 is provided at the top end of the guide rail 173 to prevent the load supporting plate 13 from slipping off the guide rail 173.

In accordance with another aspect of the present invention, another air-floating gravity balancer 10 of the present invention is shown in fig. 3. Unlike the air-floating gravity balancer in fig. 1, a second air charging port 14B is also provided in the upper portion of the air cylinder 11A in fig. 3, and an air charging port 14A is provided in the lower portion of the air cylinder 11A. In operation, the gas supply passage 16A supplies gas at the same pressure to the

gas charging ports

14A and 14B, respectively, at which time the cross-sectional area of the upper portion of the support cylinder is different from that of the lower portion of the support cylinder in order to ensure that the plunger rod 12 can balance the static gravity of the load with the same gas pressure on the upper and lower sides. Specifically, the piston at the lower end of the plunger rod 12 at this time may be divided into two sides by the cylinder 11A: i.e. the lower piston part without the plunger rod 12 and the upper piston part with the plunger rod 12, since the areas of the two are different to allow an upward force under gas pressure to provide a vertical supporting load. This solution is less costly than the embodiment of fig. 1, since the constant pressure cylinder 15 can be omitted.

Further, in addition to the air-floating type gravity balancer 10, a magnetic type gravity balancer is also possible. Specifically, in the magnetic-type gravity balancer, instead of the pressure chamber and the plunger, a center post magnet surrounded by at least two tile-shaped magnets whose magnetizing directions are designed in the center post magnet axial direction may be provided on the lid plunger rod. Correspondingly, an outer wall sleeved on the outer side of the plunger rod is arranged, wherein the outer wall is provided with at least one ring magnet which is magnetized in the proceeding direction, and both the tile-shaped magnet and the ring magnet can be made of neodymium iron boron materials. Therefore, under the action of a stable radial magnetic field formed by the ring magnets, the ring magnets can always interact with the central column magnet and provide a stable basic magnetic suspension force, so that the effect of gravity compensation is also achieved.

In order to be suitable for loads with different weights, the magnetic force of the magnetic force type gravity balancer is adjustable, specifically, the tile-shaped magnets of the central column magnet can move far or close in a radial magnetic field formed by the ring magnets along the radial direction, so that a magnetic circuit between the central column magnet and the ring magnets is changed, the function of adjusting basic magnetic force is achieved, the magnetic force gravity balance value of the gravity balancer is mechanically adjustable within a certain range, and the universality of vertical positioning equipment is facilitated.

It will be appreciated that the different types of vertical positioning apparatus described above for damping vertical vibrations from a support structure may be used for stabilisers for imaging apparatus, such as but not limited to hand-held stabilisers, drones, unmanned vehicles and the like. And it is understood that the above-described vertical shock absorbing device for absorbing vertical shock from the housing can be also used for a photographing apparatus, such as a VR video photographing robot or a movie trolley, etc.

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.

The above description is only exemplary of the present invention, and is not intended to limit the scope of the present invention. Without departing from the concept and principles of the present invention, equivalent changes, modifications and combinations that may be made by those skilled in the art should be considered within the scope of the present invention.

Claims

1. An active vertical positioning apparatus for positioning a load at a determined position in a vertical direction, the vertical positioning apparatus comprising:

a gravity balancer vertically supporting a load, configured to balance gravity of the load at a substantially constant force when the load is static;

a vertical fine adjustment device disposed in parallel with the gravity balancer and configured to fine adjust a load vertically, comprising:

a position sensor for measuring a vertical position of the load;

a position controller configured to compare an actual position from the position sensor with a preset position to derive a vertical deviation and to output a control signal outward based on the vertical deviation;

an adjustment mechanism operatively connected to the gravity balancer and communicatively connected to the position controller to move the load in a direction opposite the vertical offset based on the control signal to position the load at a determined position in the vertical direction.

2. The active vertical positioning apparatus of claim 1, wherein the gravity balancer is an air-floating gravity balancer comprising:

the bottom of the supporting cylinder is provided with a pressure chamber communicated with a gas path of a gas supply source through a gas charging port;

the free end of the plunger rod, which is accommodated in the supporting cylinder and extends out of the supporting cylinder, is connected with a load supporting plate for supporting a load.

3. The active vertical positioning device of claim 2, wherein the gas supply source comprises a constant pressure cylinder storing a constant pressure gas, wherein the constant pressure cylinder is arranged side by side with the support cylinder and supplies gas to the pressure chamber of the support cylinder by means of a gas supply line.

4. The active vertical positioning device of claim 3, further comprising at least one linear guide mechanism comprising a linear bearing block fixedly disposed on the load bearing plate and a linear bearing fixedly disposed on a guide rail, wherein the guide rail is fixedly supported by the constant pressure cylinder.

5. The active vertical positioning device of claim 2, wherein the support cylinder further comprises a second inflation port located in an upper portion and the piston of the plunger rod causes the cross-sectional area of the upper portion of the support cylinder to be different from the lower portion of the support cylinder to allow vertical support of a load.

6. The active vertical positioning apparatus of claim 2, wherein the adjustment mechanism comprises: the output end of the motor is connected with a ball screw;

and the screw nut is in threaded connection with the ball screw and is fixedly arranged in the mounting seat connected with the load bearing plate.

7. The active vertical positioning apparatus of claim 1, wherein the gravity balancer is a magnetic levitation type gravity balancer comprising:

the plunger rod is connected with a load bearing plate for bearing load at the free end and is at least partially provided with a center column magnet, wherein the magnetizing direction of the center column magnet is axial;

the shell is sleeved on the outer side of the plunger rod, and the shell is provided with at least one ring magnet with the radial magnetizing direction so as to provide magnetic suspension force for balancing the gravity of the plunger rod in a static state of the load.

8. The active vertical positioning device of claim 7, wherein the center post magnet is surrounded by at least two tile magnets, wherein the tile magnets can move radially farther or closer together to change the magnetic path between the center post magnet and the ring magnet and thus change the magnetic levitation force applied to the plunger rod.

9. The active vertical positioning apparatus of any of claims 1 to 8, wherein the position sensor is an inertial measurement unit.

10. A stabilizer for an imaging apparatus, comprising a stabilization device capable of stabilizing the imaging apparatus in at least two axes and a vertical positioning apparatus for vertically supporting the stabilization device, wherein the vertical positioning apparatus is the active vertical positioning apparatus according to any one of claims 1 to 9.