WO2017132801A1 - 竖向增稳机构及云台装置和拍摄设备 - Google Patents

竖向增稳机构及云台装置和拍摄设备 Download PDF

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Publication number
WO2017132801A1
WO2017132801A1 PCT/CN2016/073075 CN2016073075W WO2017132801A1 WO 2017132801 A1 WO2017132801 A1 WO 2017132801A1 CN 2016073075 W CN2016073075 W CN 2016073075W WO 2017132801 A1 WO2017132801 A1 WO 2017132801A1
Authority
WO
WIPO (PCT)
Prior art keywords
carrier
pan
vertical
stabilizing mechanism
mounting member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/073075
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English (en)
French (fr)
Inventor
尹承禹
宾朋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201680007022.8A priority Critical patent/CN107241912B/zh
Priority to PCT/CN2016/073075 priority patent/WO2017132801A1/zh
Publication of WO2017132801A1 publication Critical patent/WO2017132801A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the invention relates to the field of film and television shooting, in particular to a vertical stabilization mechanism, a pan/tilt device and a photographing device for photographing.
  • the pan/tilt heads generally have a stabilizing function in the direction of rotation.
  • the three-axis head can be used on the pitch axis (pitch axis) and the heading axis (yaw axis).
  • the rotation direction of the roll axis compensates for the shake of the pan/tilt, but the pan/tilt does not have an ideal compensation effect for the jitter in the direction of gravity. If the pan/tilt is shaken or vibrated in the vertical direction, it will affect the image quality of the shooting device.
  • the vertical stabilizing mechanism comprises a mounting member, a bearing member and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the carrier member, so that the mounting member generates vibration Or when dithered, the constant force elastic member absorbs the vibration or the energy of the vibration to deform, thereby preventing the vibration or the shaking motion from being transmitted to the carrier.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the
  • the constant force elastic member is shortened or elongated.
  • the senor is an inertial measurement unit
  • the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking.
  • the carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • a pan-tilt device for supporting an imaging device.
  • the pan/tilt device includes a vertical stabilizing mechanism, and the vertical stabilizing mechanism includes a mounting member, a bearing member, and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the
  • the carrier member causes the constant force elastic member to absorb the vibration or the energy of the vibration to generate deformation when the vibration or the vibration is generated, so as to prevent the vibration or the shaking motion from being transmitted to the carrier.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the
  • the constant force elastic member is shortened or elongated.
  • the senor is an inertial measurement unit
  • the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking.
  • the carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the carrier is provided with a first pan/tilt connection
  • the axial stabilization device includes a second pan/tilt connection
  • the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.
  • a photographing apparatus includes an image forming apparatus, a pan/tilt head device, and a supporting device.
  • the pan/tilt device includes a vertical stabilizing mechanism, and the vertical stabilizing mechanism includes a mounting member, a bearing member, and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the
  • the carrier member causes the constant force elastic member to absorb the vibration or the energy of the vibration to generate deformation when the vibration or the vibration is generated, so as to prevent the vibration or the shaking motion from being transmitted to the carrier.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the
  • the constant force elastic member is shortened or elongated.
  • the senor is an inertial measurement unit
  • the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking.
  • the carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • the photographing apparatus further includes a supporting device, and the support member is detachably disposed on the supporting device.
  • the supporting device includes a first joint, and the supporting member is provided with a second joint adapted to the first joint, and the first joint and the second joint cooperate to realize the shaft Mechanical connection or/and electrical connection to the stabilizing mechanism and the support device.
  • the supporting device is a hand-held supporting device or an unmanned aerial vehicle.
  • the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the carrier is provided with a first pan/tilt connection
  • the axial stabilization device includes a second pan/tilt connection
  • the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.
  • a vertical stabilization mechanism for supporting loads.
  • the vertical stabilizing mechanism includes a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving member; the vertical stabilizing mechanism further comprises a controller for sensing attitude information of the vertical stabilization mechanism, and the controller controlling the driving member to drive when the sensor detects vibration or jitter of the mounting member
  • the carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.
  • the senor is an inertial measurement unit.
  • controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.
  • the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • a pan-tilt device for supporting an imaging device.
  • the pan/tilt device includes a vertical stabilizing mechanism including a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving device
  • the vertical stabilizing mechanism further includes a controller for sensing attitude information of the vertical stabilizing mechanism, and the controller detecting that the mount is generated by the sensor When vibrating or shaking, the driving member is controlled to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.
  • the senor is an inertial measurement unit.
  • controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.
  • the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the carrier is provided with a first pan/tilt connection
  • the axial stabilization device includes a second pan/tilt connection
  • the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.
  • a photographing apparatus includes an image forming apparatus, a pan/tilt head device, and a supporting device.
  • the pan/tilt device includes a vertical stabilizing mechanism including a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving device
  • the vertical stabilizing mechanism further includes a controller for sensing attitude information of the vertical stabilizing mechanism, and the controller detecting that the mount is generated by the sensor When vibrating or shaking, the driving member is controlled to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.
  • the senor is an inertial measurement unit.
  • controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.
  • the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.
  • the constant force elastic member is a constant force coil spring or a constant force coil spring.
  • the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.
  • the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.
  • the driving member is an electric motor
  • the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.
  • the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.
  • the guiding assembly is a linear guiding mechanism.
  • the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.
  • the guiding component is a space linkage mechanism.
  • the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.
  • first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.
  • first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.
  • the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.
  • the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.
  • the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.
  • the photographing apparatus further includes a supporting device, and the support member is detachably disposed on the supporting device.
  • the supporting device includes a first joint, and the supporting member is provided with a second joint adapted to the first joint, and the first joint and the second joint cooperate to realize the shaft Mechanical connection or/and electrical connection to the stabilizing mechanism and the support device.
  • the supporting device is a hand-held supporting device or an unmanned aerial vehicle.
  • the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the carrier is provided with a first pan/tilt connection
  • the axial stabilization device includes a second pan/tilt connection
  • the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.
  • the photographing device and the pan/tilt device can eliminate the influence of the vertical direction of the photographing device on the photographing by setting the vertical stabilizing mechanism, and can ensure the quality and effect of photographing.
  • FIG. 1 is a perspective view of a photographing apparatus according to a first embodiment of the present invention.
  • FIG. 2 is a schematic view of another perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 2 is a schematic view of another perspective of the photographing apparatus shown in FIG. 1.
  • FIG. 3 is a schematic perspective view of a photographing apparatus according to a second embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the photographing apparatus 500 of the first embodiment of the present invention includes an image acquisition device 300 , a pan-tilt device 100 , and a support device 200 .
  • the pan-tilt device 100 is disposed between the image acquisition device 300 and the support device 200 for changing a shooting angle of the image acquisition device 300 and eliminating the influence of jitter on the image acquisition device 300.
  • the image acquisition device 300 is used to capture an image/video.
  • the image acquisition device 300 may be an imaging device such as a digital camera or a video camera, or may be a portable communication device such as a mobile phone or a tablet computer having an imaging function.
  • the support device 200 is used to support the image acquisition device 300 and the pan/tilt device 100.
  • the supporting device 200 is a hand-held supporting device, that is, the user can hold the supporting device 200 for shooting.
  • a shooting function key (not shown) is provided on the supporting device 200, and the shooting function key allows a user to operate to control shooting, for example, controlling a shooting mode of the image capturing device 300, and capturing the image capturing device 300. Angle, etc.
  • the support device 200 further includes a first joint 204 for connecting the pan-tilt device 100.
  • the support device 200 can be mechanically and/or electrically connected to the pan-tilt device 100 and/or the image acquisition device 300 via the first joint 204.
  • the pan-tilt device 100 includes an axial stabilization mechanism 60 and a vertical stabilization mechanism 40.
  • the vertical stabilization mechanism 40 is disposed between the support device 200 and the axial stabilization mechanism 60.
  • the vertical stabilization mechanism 40 is for eliminating the influence of the vertical shake of the photographing apparatus 500 on the image acquisition device 300.
  • the axial stabilization mechanism 60 is configured to mount the image acquisition device 300 and to eliminate the influence of the axial shake of the imaging device 500 on the image acquisition device 300.
  • the vertical jitter generally refers to jitter having a vertical component, that is, as long as the jitter of the photographing apparatus 500 has a component in the vertical direction, it may be referred to as vertical jitter, in other words, the vertical shake photographing apparatus 500.
  • the direction of macroscopic motion is not necessarily vertical, but may also have a certain angle with the vertical direction.
  • the vertical stabilization mechanism 40 includes a support assembly 42, a guide assembly 44, and a stabilizing assembly 46.
  • the support assembly 42 is disposed on the support device 200, and the guide assembly 44 and the stabilization assembly 46 are disposed on the support assembly 42.
  • the guide assembly 44 is used to mount the axial stabilization mechanism 60 and to guide the direction of movement of the axial stabilization mechanism 60 relative to the support assembly 42.
  • the stabilizing component 46 is for eliminating the influence of the shaking or vibration of the photographing apparatus 500 in the vertical direction on the image capturing device 300.
  • the support assembly 42 is detachably mounted at one end of the support device 200 and includes a second joint 421 , a support member 423 , and a mounting member 425 .
  • the second joint 421 is adapted to the first joint 204 to integrally mount the support assembly 42 on the support device 200.
  • the second joint 421 can be snap-fitted, screwed or interference-fitted to the first joint 204.
  • the support member 423 is substantially in the shape of a bent rod that is disposed on the support device 200. Specifically, one end of the support member 423 is connected to the support device 200 through the second joint 421, and the other end of the support member 423 extends in a direction away from the support device 200.
  • the mounting member 425 is disposed on the support member 423 for mounting the guide assembly 44 and the stabilizing assembly 46.
  • the mounting member 425 is substantially plate-shaped and is adjustably disposed at an end of the support member 423 that faces away from the support device 200, and the mounting member 425 is capable of opposing the support Pieces 423 rotate.
  • the mounting angle of the mounting member 425 By adjusting the mounting angle of the mounting member 425, the mounting angle of the guiding assembly 44 and the stabilizing assembly 46 can be adjusted, so that the stabilizing assembly 46 can be disposed along the vertical direction to achieve a vertical direction. Anti-shake function.
  • the guide assembly 44 is disposed on the mounting member 425 for limiting the direction of movement of the axial stabilizing mechanism 60 such that the axial stabilizing mechanism 60 is only movable in the vertical direction described above.
  • the guide assembly 44 is a space linkage mechanism.
  • the guide assembly 44 includes a first link set 441, a second link set 443, and a carrier 445.
  • the first link set 441 and the second link set 443 are respectively disposed on two sides of the mounting member 425, and the two are substantially symmetrically disposed with respect to the mounting member 425.
  • the first link set 441 includes a first link 4411 and a second link 4413.
  • the first link 4411 and the second link 4413 are each substantially a wide and flat rod-shaped bracket.
  • One end of the first link 4411 is pivotally connected to one side of the mounting member 425 via a connecting shaft 447, and the other end of the first connecting rod 4411 extends in a direction away from the mounting member 425.
  • the second link 4413 is rotatably coupled to the first link 4411. Specifically, one end of the second link 4413 is pivotally connected to one end of the first link 4411 away from the mounting member 425 through another connecting shaft 447.
  • the second link set 443 is disposed on the other side of the mounting member 425, and the structure of the second link set 443 is substantially the same as the structure of the first link set 441. Similar to the first link set 441, the second link set 443 includes a third link 4431 pivotally connected to the mounting member 425 and a third pivotally connected to the third link 4431. Four-link 4433.
  • the carrier 445 is disposed on the first link set 441 and the second link set 443 for mounting the axial stabilization mechanism 60.
  • the carrier 445 is substantially in the shape of a plate that is substantially parallel to the mounting member 425 and is located on a side of the mounting member 425 that is adjacent to the support device 200.
  • Two ends of the carrier 445 are respectively pivotally connected to the second link 4413 and the fourth link 4433.
  • one end of the carrier 445 is pivotally connected to one end of the second link 4413 away from the first link 4411 through a connecting shaft, and the other end of the carrier 445 is pivotally connected through a connecting shaft.
  • the pivoting of the fourth link 4433 is away from an end of the third link 4431.
  • a first pan/tilt connector 449 is disposed on the carrier 445, and the first pan-tilt connector 449 is adapted to be coupled with a portion of the structure of the axial stabilization mechanism 60 to achieve the axial increase.
  • the first link set 441, the second link set 443 and the carrier 445 constitute a space link mechanism, and the execution end of the space link mechanism only has a translational freedom in one direction to define The direction of motion of the axial stabilization mechanism 60 is described.
  • the carrier 445 acts as an actuator end of the space linkage mechanism that is only movable in a direction perpendicular to the mounting member 425. When the supporting device 200 is placed in the vertical direction and the mounting member 425 is disposed in the horizontal direction, the carrier 445 can only move in the vertical direction.
  • the stabilizing component 46 is disposed on the mounting member 425 for vertical stabilization of the axial stabilizing mechanism 60 and the image capturing device 300.
  • the stabilizing assembly 46 includes a mounting seat 461 , a constant force elastic member 463 , and a limiting member 465 .
  • the mounting seat 461 is disposed on the mounting member 425
  • the constant force elastic member 463 is coupled between the mounting seat 461 and the carrier 445 .
  • the mount 461 includes a base 4611 and a pivot 4613 disposed on the base 4611.
  • the number of the bases 4611 is two, and the two bases 4611 are spaced apart from each other on the mounting member 425, and are located at a side of the mounting member 425 facing away from the carrier 445. side.
  • the base 4611 and the mounting member 425 are assembled together. It can be understood that in other embodiments, the base 4611 and the mounting member 425 may be integrally formed;
  • the mount 461 can be omitted, and the constant force elastic member 463 is directly disposed on the mount 425.
  • the pivot 4613 is disposed on the two bases 4611 for mounting the constant force elastic member 463.
  • the constant force elastic member 463 is a constant force spring. One end of the constant force elastic member 463 is wound around the pivot shaft 4613, and the other end of the constant force elastic member 463 is coupled to the carrier member 445. When the constant force elastic member 463 is deformed, its elastic force does not substantially change with the magnitude of the deformation amount. In other words, when the constant force elastic member 463 is a constant force spring, and the length of the constant force elastic member 463 is maintained within a predetermined range, the elastic force thereof does not substantially change with the change in length. By adjusting the length of the constant force elastic member 463, the distance between the carrier 445 and the mounting member 425 can be adjusted, that is, the axial stabilization mechanism 60 and the image acquisition device 300 are adjusted.
  • the speed or acceleration of the axial stabilizing mechanism 60 and the image capturing device 300 in the vertical direction does not occur. Significant changes, thereby ensuring stability of the image acquisition device 300 in the vertical direction.
  • the elastic pulling force of the constant force elastic member 463 may be selected according to the weight of the load thereof, thereby controlling the mounting distance of the image capturing device 300 with respect to the mounting member 425.
  • the vertical stabilizing mechanism 40 can select the pulling force of the constant force elastic member 463 according to the weight of the load that it needs to carry, and therefore, the vertical stabilizing mechanism 40 can be different according to different models and types.
  • the load flexibly adjusts the tension and length of the constant force elastic member 463.
  • the load is the image acquisition device 300 and the axial stabilization mechanism 60. In some cases, the load may include only the image acquisition device 300.
  • the limiting member 465 is disposed on the carrier 445 for limiting the distance between the carrier 445 and the mounting member 425. Specifically in the illustrated embodiment, the limiting member 465 is disposed on a side of the carrier 445 that faces the mounting member 425. When the carrier 445 is moved to the extreme position toward the mounting member 425, the limiting member 465 abuts against the mounting member 425 to stop the movement of the carrier 445. It can be understood that the limiting member 465 can also be disposed at other locations. For example, the limiting member 465 can be disposed on the mounting member 425 or disposed on the first link group 441 or the The second link set 443 is configured to limit the distance between the carrier 445 and the mounting member 425.
  • the limiting member 465 can also be provided with a buffering member (not shown), the cushioning member is made of a material having certain elasticity for buffering the mounting member 425 and the carrier member. Shock shock between 445.
  • the cushioning member may be an elastic member such as a buffer foam, an intersection, a spring or a spring. It can be understood that the cushioning member can also be disposed at other parts, for example, the cushioning member can be disposed on the mounting member 425 or disposed on the first link group 441 or the second link group. 443 superior.
  • the axial stabilizing mechanism 60 is disposed on the carrier 445 and on a side of the carrier 445 that faces away from the mounting member 425.
  • the axial stabilization mechanism 60 is configured to mount the image acquisition device 300 and adjust the shooting direction and the shooting angle of the image acquisition device 300.
  • the axial stabilization mechanism 60 is a three-axis support device, and more specifically, the axial stabilization mechanism 60 is a three-axis pan/tilt that can be wound around the first axis a1 (eg, heading ( The yaw) axis, the second axis a2 (eg, a roll axis), and the third axis a3 (eg, a pitch axis) adjust the angle of the image acquisition device 300.
  • the axial stabilization mechanism 60 includes a first shaft drive unit 61, a first bracket 63, a second shaft drive unit 65, a second bracket 67, and a third shaft drive unit 69.
  • the first bracket 63 is connected to the first shaft driving unit 61 and is rotatable around the first axis a1 by the first shaft driving unit 61; the second shaft driving unit 65 is fixedly disposed on The first bracket 63 is away from the end of the first shaft driving unit 61; the second bracket 67 is connected to the second shaft driving unit 65 and can be driven by the second shaft driving unit 65 The second axis a2 is rotated; the third axis driving unit 69 is disposed at an end of the second bracket 67 away from the second axis driving unit 65, and the image acquiring device 300 and the third axis driving unit 69 Connected and rotatable about the third axis a3 by the third shaft drive unit 69.
  • the first shaft drive unit 61, the second shaft drive unit 65, and the third shaft drive unit 69 are brushless motor assemblies.
  • the pan-tilt device 100 may further include a sensor (not shown) and a controller (not shown).
  • the sensor is used to sense attitude information of the photographing device 500.
  • the sensor may be an inertial measurement unit (IMU).
  • the controller is configured to control at least one of the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 to rotate according to the sensed information of the sensor to eliminate The influence of the axial shake of the photographing apparatus 500 on the image acquisition device 300.
  • the senor is configured to sense posture information of the photographing apparatus 500, and determine whether the photographing apparatus 500 generates jitter about a rotation direction of an axis, and if yes, the controller controls the first A corresponding one of the one-axis driving unit 61, the second-axis driving unit 65, and the third-axis driving unit 69 rotates in a direction opposite to the axial shaking direction of the photographing apparatus 500 to eliminate the photographing apparatus The effect of the axial jitter of 500 on the image acquisition device 300.
  • the controller can also control at least one rotation of the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 in response to a user's instruction information, and adjust the The photographing direction or photographing angle of the image capturing device 300.
  • the axial stabilization mechanism 60 further includes a second pan-tilt connection 611 fixedly connected to the first shaft drive unit 61, and the second pan-tilt connection 611 is configured to connect the vertical stabilization mechanism 40. .
  • the second pan/tilt connection 611 can be engaged, screwed or interference fit with the vertical stabilizer mechanism 40.
  • the second pan-tilt connector 611 further includes an electrical connection portion (not shown), and when the axial stabilization mechanism 60 and the vertical stabilization mechanism 40 are connected to each other, the electrical connection portion can
  • the image acquiring device 300 and/or the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 are electrically connected to other electronic components (for example, disposed in the supporting device) Power, controller, processor, etc.).
  • the axial stabilization mechanism 60 can also be a single-axis pan/tilt, a two-axis pan/tilt or other types of pan/tilt.
  • the length of the constant force elastic member 463 is first adjusted according to the image acquiring device 300 and the axial stabilization mechanism 60 (the axial stabilization mechanism 60 may be omitted in some cases).
  • the vertical stabilization mechanism 40 is capable of balancing the weight of the image acquisition device 300 and the axial stabilization mechanism 60 by the tensile force of the constant force elastic member 463.
  • the vertical stabilization mechanism 40 can support the image acquisition device 300 and the axial stabilization mechanism 60; when the support device 200 has vertical jitter, the support The device 200 simultaneously drives the support assembly 42 of the vertical stabilization mechanism 40, the change in the initial position of the image acquisition device 300 has hysteresis due to the effect of inertia, and the movement of the support assembly 42 causes the constant
  • the image capturing device 300 is substantially maintained at the initial position, and at this time, the constant force elastic member 463 absorbs the energy of the shaking by deformation, thereby eliminating the vertical shake.
  • the effect on the image acquisition device 300 ensures the effect of the shooting.
  • the supporting device 200 since the two ends of the constant force elastic member 463 are respectively connected to the mounting seat 461 and the carrier 445, the supporting device 200 generates a vertical shaking or vibration.
  • the constant force elastic member 463 can absorb the energy of the vibration or vibration to deform, but the elastic force of the constant force elastic member 463 does not change significantly, which can prevent or hinder the vertical vibration or jitter from being transmitted to
  • the image acquisition device 300 and due to the presence of inertia, the image acquisition device 300 maintains the initial position substantially unchanged, thereby ensuring that the image acquisition device 300 is stable in the vertical direction.
  • FIG. 3 is a schematic diagram of the mechanism of the photographing apparatus 600 according to the second embodiment of the present invention.
  • the structure of the photographing apparatus 600 is substantially the same as that of the photographing apparatus 500 of the first embodiment, except that the stabilizing component 86 of the photographing apparatus 600 further includes a driving member 867.
  • the driving member 867 is disposed on the base 8611 of the mounting seat 861 and connected to the rotating shaft 8613.
  • the driving member 867 is configured to drive the rotating shaft 8613 to rotate to drive the constant force elastic member 863 to wind up or unfold, thereby adjusting the length of the constant force elastic member 863 to adjust the image capturing device 400 relative to the mounting member 425. Installation distance.
  • the driving member 867 is a brushless motor.
  • the stabilizing component 86 further includes an electronic governor 869 disposed on the mounting seat 861 and configured to adjust the rotational speed and the rotational direction of the driving member 867.
  • the pan/tilt device of the photographing apparatus 600 may further include a sensor (not shown) and a controller (not shown) as described above.
  • the sensor is configured to sense attitude information of the photographing device 600.
  • the sensor may be an inertial measurement unit (IMU).
  • the controller is configured to control the driving member 867 to drive the constant force elastic member 863 to wind up or unfold according to the sensed information of the sensor to eliminate vertical shaking of the photographing device 600 to obtain the image. The impact of device 400.
  • the senor is configured to sense posture information of the photographing device 600, and determine whether the photographing device 600 generates vertical shake, and if so, the controller controls the driving member 867 to drive the constant
  • the force elastic member 863 is wound or unfolded to move the image acquiring device 400 relative to the supporting device in a direction opposite to the vertical shaking direction, so that the position of the image capturing device 400 relative to the external reference object remains substantially unchanged. Thereby, the influence of the vertical shake of the photographing apparatus 600 on the image acquisition device 400 is eliminated.
  • the supporting device 200 is in a vertical state, that is, the longitudinal direction of the supporting device 200 is disposed in a vertical direction; the mounting member 425 is horizontal. a state in which the stabilizing assembly 46 is placed in the vertical state when the support assembly 42 is disposed, thereby being realized by the self-gravity and inertia of the axial stabilization mechanism 60 and the image acquisition device 300 Vertical anti-shake function.
  • the third embodiment of the present invention further provides a photographing apparatus (not shown), and the structure of the photographing apparatus of the third embodiment is substantially the same as that of the photographing apparatus 600 of the second embodiment, and the difference is that the third embodiment
  • the photographing apparatus of the mode omits the constant force elastic member 863 in the second embodiment, and connects the driving member to the guide assembly, so that the guide assembly can drive the axial stabilization under the driving of the driving member
  • the device and the image acquisition device move.
  • the vertical stabilization mechanism of the photographing apparatus specifically includes a support component, a guide component, and a stabilizing component
  • the stabilizing component includes a mounting seat and a driving component
  • the mounting seat is disposed in the On the support assembly
  • the driving member is disposed on the mounting seat
  • the guiding assembly is coupled to the driving end of the driving member.
  • the driving member is capable of driving the guiding assembly to move to drive the axial stabilization device and the image capturing device to move.
  • the pan/tilt device of the photographing apparatus may further include a sensor (not shown) and a controller (not shown) as described above.
  • the sensor is configured to sense posture information of the photographing device, and specifically, the sensor may be an inertial measurement unit (IMU).
  • the controller is configured to control the driving component to drive the guiding component to move according to the sensed information of the sensor to eliminate the influence of the vertical shaking of the photographing device on the image acquiring device.
  • the senor is configured to sense posture information of the photographing device, and determine whether the photographing device generates vertical shake, and if yes, the controller controls the driving member to drive the guide assembly to expand or Retracting, moving the image acquiring device relative to the supporting device in a direction opposite to the vertical shaking direction, so that the position of the image capturing device relative to the external reference object remains substantially unchanged, thereby eliminating the vertical position of the photographing device The effect of jitter on the image acquisition device.
  • the guiding component can be omitted, and the carrier is connected to the driving end of the driving component, so that the driving component can drive the carrier to drive the image acquiring device.
  • the driving member may be a linear driver such as a linear motor, a cylinder, or a screw nut mechanism.
  • the photographing apparatus and the pan/tilt head device provided by the embodiments of the present invention can eliminate the influence of the vertical direction of the photographing device on the photographing by setting the vertical stabilizing mechanism, and can ensure the quality of the photographing. And effects.
  • the constant force spring is an inner diameter mounting manner. It can be understood that in other embodiments, the constant force spring can be disposed in an outer diameter mounting manner.
  • the structure of the mounting base 461 and the mounting base 461 can also be modified accordingly.
  • the mounting seat 461 may be a unitary structure, and a receiving portion for receiving the constant force spring is disposed thereon, and the constant force spring is disposed in the receiving portion in an OD mounting manner, and Connected to the carrier 445.
  • the structure of the constant force elastic member is not limited to the constant force spring structure, and may be other constant force elastic members or constant force elastic mechanisms.
  • the constant force elastic member may be a constant force coil spring, a constant force coil spring or a constant force elastic component, and the two ends of the constant force elastic member are respectively connected to the mounting seat and the carrier.
  • the supporting device generates a vertical direction of shaking or vibration
  • the constant force elastic member can absorb the energy of the shaking or shaking to generate deformation to prevent the vibration or the vibration from being transmitted to the image acquiring device, thereby ensuring The image acquisition device is stable in the vertical direction.
  • the structure of the above described guide assembly is not limited to the spatial linkage described above, but may be provided as other linear guide structures.
  • the guide assembly is a slide rail structure.
  • the guide assembly includes a slide rail disposed on the support assembly and a slider slidably disposed on the slide rail, the carrier member is disposed on the slider, and is capable of The slider slides along the slide rail.
  • controller for controlling the movement of the drive member described above may be independent of the controller of the pan/tilt device described above, in other words, a controller for controlling the movement of the drive member and
  • the corresponding sensor may be a component of the vertical stabilization mechanism, and the controller and the sensor serve as dedicated controllers and sensors of the vertical stabilization mechanism for implementing vertical protection of the photographing device Shake function.
  • the above supporting device is not limited to the hand-held supporting device, and may also be other movable supporting devices, such as an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and the like.
  • the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments of the present invention. Neither should the spirit and scope of the technical solutions of the present invention be deviated. Those skilled in the art can also make other variations and the like in the spirit of the present invention for use in the design of the present invention as long as it does not deviate from the technical effects of the present invention. All changes made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

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Abstract

一种竖向增稳机构(40)及使用该竖向增稳机构(40)的云台装置(100)和拍摄设备(500)。所述竖向增稳机构(40)包括安装件(425)、承载件(445)以及恒力弹性件(463)，所述恒力弹性件(463)的两端分别连接在所述安装件(425)及所述承载件(445)上，使所述安装件(425)在产生震动或抖动时，该恒力弹性(463)件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件(445)。

Description

竖向增稳机构及云台装置和拍摄设备 技术领域
本发明涉及影视拍摄领域，尤其涉及一种用于拍摄的竖向增稳机构、云台装置及拍摄设备。
背景技术
为实现稳定拍摄的目的，很多拍摄设备都搭配云台装置使用，云台装置一般都具有旋转方向上增稳功能，例如，三轴云台可以在俯仰轴（pitch轴）、航向轴（yaw轴）和横滚轴（roll轴）旋转方向补偿云台的抖动，但是，所述云台对于重力方向上的抖动并没有理想的补偿效果。若云台发生竖直方向的抖动或者震动，将会影响拍摄设备所拍摄的图像质量。
发明内容
有鉴于此，有必要提供一种避免上述问题的竖向增稳机构、云台装置及拍摄设备。
一种竖向增稳机构，用于支撑负载。所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
进一步地，所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
一种云台装置，用于支撑成像装置。所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
进一步地，所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
进一步地，所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
进一步地，所述轴向增稳机构为三轴云台。
进一步地，所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
一种拍摄设备，包括成像装置、云台装置以及支撑装置。所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
进一步地，所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
进一步地，所述拍摄设备还包括支撑装置，所述支撑件能够拆卸地设置于所述支撑装置上。
进一步地，所述支撑装置包括第一接头，所述支撑件上设置有与所述第一接头相适配的第二接头，所述第一接头与所述第二接头相互配合实现所述轴向增稳机构与所述支撑装置的机械连接或/及电连接。
进一步地，所述支撑装置为手持式支撑装置或者无人飞行器。
进一步地，所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
进一步地，所述轴向增稳机构为三轴云台。
进一步地，所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
一种竖向增稳机构，用于支撑负载。所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述传感器为惯性测量单元。
进一步地，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
一种云台装置，用于支撑成像装置。所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述传感器为惯性测量单元。
进一步地，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
进一步地，所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
进一步地，所述轴向增稳机构为三轴云台。
进一步地，所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
一种拍摄设备，包括成像装置、云台装置以及支撑装置。所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述传感器为惯性测量单元。
进一步地，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
进一步地，所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
进一步地，所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
进一步地，所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
进一步地，所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
进一步地，所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
进一步地，所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
进一步地，所述导向组件为直线型导向机构。
进一步地，所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
进一步地，所述导向组件为空间连杆机构。
进一步地，所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
进一步地，所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
进一步地，所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
进一步地，所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
进一步地，所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
进一步地，所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
进一步地，所述拍摄设备还包括支撑装置，所述支撑件能够拆卸地设置于所述支撑装置上。
进一步地，所述支撑装置包括第一接头，所述支撑件上设置有与所述第一接头相适配的第二接头，所述第一接头与所述第二接头相互配合实现所述轴向增稳机构与所述支撑装置的机械连接或/及电连接。
进一步地，所述支撑装置为手持式支撑装置或者无人飞行器。
进一步地，所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
进一步地，所述轴向增稳机构为三轴云台。
进一步地，所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
相对于现有技术，所述拍摄设备及云台装置通过设置所述竖向增稳机构，能够消除拍摄设备竖直方向的抖动对拍摄造成的影响，能够保证拍摄的品质和效果。
 附图说明
图1为本发明第一实施方式提供的拍摄设备立体示意图。
图2为图1所示的拍摄设备另一视角的示意图。
图3为本发明第二实施方式提供的拍摄设备的立体示意图。
主要元件符号说明
拍摄设备 500，600
图像获取装置 300，400
支撑装置 200
第一接头 204
云台装置 100
竖向增稳机构 40
支撑组件 42
第二接头 421
支撑件 423
安装件 425
导向组件 44
第一连杆组 441
第一连杆 4411
第二连杆 4413
第二连杆组 443
第三连杆 4431
第四连杆 4433
承载件 445
连接轴 447
第一云台连接件 449
增稳组件 46，86
安装座 461，861
基座 4611，8611
枢轴 4613，86113
恒力弹性件 463，863
限位件 465
轴向增稳机构 60
第一轴驱动单元 61
第二云台连接件 611
第一支架 63
第二轴驱动单元 65
第二支架 67
第三轴驱动单元 69
驱动件 867
电子调速器 869
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或／及”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1及图2，本发明第一实施方式的拍摄设备500包括图像获取装置300、云台装置100以及支撑装置200。所述云台装置100设置于所述图像获取装置300以及支撑装置200之间，用于改变所述图像获取装置300的拍摄角度并消除抖动对所述图像获取装置300的影响。
所述图像获取装置300用于拍摄图像/视频。所述图像获取装置300可以为数码相机、摄像机等成像装置，也可以为具有摄像功能的手机、平板电脑等便携式通讯装置。
所述支撑装置200用于支撑所述图像获取装置300以及所述云台装置100。在本实施方式中，所述支撑装置200为手持式支撑装置，即用户可以手持所述支撑装置200进行拍摄。所述支撑装置200上设置有拍摄功能键(图未示出)，所述拍摄功能键允许用户操作以控制拍摄，例如控制所述图像获取装置300的拍摄模式、所述图像获取装置300的拍摄角度等。所述支撑装置200还包括第一接头204，所述第一接头204用于连接所述云台装置100。通过所述第一接头204，所述支撑装置200能够与所述云台装置100及/或所述图像获取装置300机械连接或/及电连接。
所述云台装置100包括轴向增稳机构60以及竖向增稳机构40。所述竖向增稳机构40设置在所述支撑装置200与所述轴向增稳机构60之间。所述竖向增稳机构40用于消除所述拍摄设备500的竖向抖动对所述图像获取装置300的影响。所述轴向增稳机构60用于装设所述图像获取装置300，并用于消除所述拍摄设备500的轴向抖动对所述图像获取装置300的影响。应该注意，所述竖向抖动泛指具有竖向分量的抖动，即只要所述拍摄设备500的抖动在竖直方向具有分量，即可称作竖向抖动，换言之，竖向抖动的拍摄设备500的宏观运动方向并不一定是竖直方向的，也可以与竖直方向具有一定的夹角。
所述竖向增稳机构40包括支撑组件42、导向组件44以及增稳组件46。具体在图示的实施例中，所述支撑组件42设置在所述支撑装置200上，所述导向组件44及所述增稳组件46设置在所述支撑组件42上。所述导向组件44用于装设所述轴向增稳机构60，并用于导正所述轴向增稳机构60相对所述支撑组件42的运动方向。所述增稳组件46用于消除所述拍摄设备500在竖直方向的抖动或震动对所述图像获取装置300产生的影响。
所述支撑组件42可拆卸地装设于所述支撑装置200的一端，其包括第二接头421、支撑件423以及安装件425。
所述第二接头421与所述第一接头204相适配以将所述支撑组件42整体装设在所述支撑装置200上。所述第二接头421可以于所述第一接头204卡合连接、螺纹连接或者过盈配合连接。
所述支撑件423大致呈弯折的杆状，其设置在所述支撑装置200上。具体地，所述支撑件423的一端通过所述第二接头421与所述支撑装置200相连接，所述支撑件423的另一端朝背离所述支撑装置200的方向延伸。
所述安装件425设置在所述支撑件423上，其用于装设所述导向组件44及所述增稳组件46。具体在图示的实施例中，所述安装件425大致呈板状，其可调节地设置在所述支撑件423背离所述支撑装置200的一端，且所述安装件425能够相对所述支撑件423转动。通过调整所述安装件425的安装角度，可以调整所述导向组件44及所述增稳组件46的安装角度，使所述增稳组件46能够沿着竖直方向设置，以实现竖直方向的防抖功能。
所述导向组件44设置在所述安装件425上，其用于限制所述轴向增稳机构60的运动方向，使所述轴向增稳机构60仅能够沿着上述的竖直方向运动。在本实施方式中，所述导向组件44为空间连杆机构。所述导向组件44包括第一连杆组441、第二连杆组443以及承载件445。
所述第一连杆组441、所述第二连杆组443分别设置在所述安装件425的两侧，且二者大致关于所述安装件425对称设置。
所述第一连杆组441包括第一连杆4411及第二连杆4413。在本实施方式中，所述第一连杆4411及所述第二连杆4413均大致呈宽扁的杆状支架。所述第一连杆4411的一端通过连接轴447枢接于所述安装件425的一侧，所述第一连杆4411的另一端朝背离所述安装件425的方向延伸。所述第二连杆4413转动连接在所述第一连杆4411上。具体而言，所述第二连杆4413的一端通过另一连接轴447枢接于所述第一连杆4411远离所述安装件425的一端。
所述第二连杆组443设置在所述安装件425的另一侧，所述第二连杆组443的结构与所述第一连杆组441的结构大致相同。与所述第一连杆组441相类似，所述第二连杆组443包括枢接在所述安装件425上的第三连杆4431以及枢接在所述第三连杆4431上的第四连杆4433。
所述承载件445设置在所述第一连杆组441及所述第二连杆组443上，其用于装设所述轴向增稳机构60。在本实施方式中，所述承载件445大致呈板状，其大致平行于所述安装件425，且位于所述安装件425靠近所述支撑装置200的一侧。所述承载件445的两端分别枢接于所述第二连杆4413及所述第四连杆4433上。具体而言，所述承载件445的一端通过一连接轴枢接于所述第二连杆4413远离所述第一连杆4411的一端，所述承载件445的另一端通过一连接轴枢接于所述枢接于所述第四连杆4433远离所述第三连杆4431的一端。
所述承载件445上设置有第一云台连接件449，所述第一云台连接件449用于与所述轴向增稳机构60的部分结构相适配，以实现所述轴向增稳机构60与所述竖向增稳机构40的机械连接或/及电连接。
所述第一连杆组441、所述第二连杆组443以及所述承载件445构成一空间连杆机构，该空间连杆机构的执行端仅具有一个方向的平移自由度，以限定所述轴向增稳机构60的运动方向。具体在图示的实施例中，所述承载件445作为所述空间连杆机构的执行端，其仅能沿垂直于所述安装件425的方向运动。当所述支撑装置200沿竖直方向放置，且所述安装件425沿水平方向设置时，所述承载件445仅能沿竖直方向运动。
所述增稳组件46设置于所述安装件425上，其用于对所述轴向增稳机构60及所述图像获取装置300进行竖向增稳。所述增稳组件46包括安装座461、恒力弹性件463以及限位件465。具体在图示的实施例中，所述安装座461设置在所述安装件425上，所述恒力弹性件463连接在所述安装座461与所述承载件445之间。
所述安装座461包括基座4611以及设置于所述基座4611上的枢轴4613。在本实施方式中，所述基座4611的数量为两个，两个所述基座4611彼此间隔设置于所述安装件425上，并位于所述安装件425背离所述承载件445的一侧。在本实施方式中，所述基座4611与所述安装件425组装于一起，可以理解，在其他的实施例中，所述基座4611与所述安装件425可以为一体成型；甚至，所述安装座461可以省略，而直接将所述恒力弹性件463设置在所述安装件425上。所述枢轴4613设置于两个所述基座4611上，其用于装设所述恒力弹性件463。
在本实施方式中，所述恒力弹性件463为恒力发条。所述恒力弹性件463的一端卷绕设置在所述枢轴4613上，所述恒力弹性件463的另一端连接在所述承载件445上。所述恒力弹性件463产生形变时，其弹性力基本不会随着形变量的大小而变化。换言之，当所述恒力弹性件463为恒力发条，所述恒力弹性件463的长度保持在一预定的范围内时，其弹性力基本不会随着长度的变化而变化。通过调整所述恒力弹性件463的长度，可以调节所述承载件445与所述安装件425之间的距离，即调节所述轴向增稳机构60与所述图像获取装置300与所述安装件425之间的距离，从而保证所述图像获取装置300发生竖直方向的抖动时，所述轴向增稳机构60与所述图像获取装置300在竖直方向的速度或加速度不会发生明显改变，进而保证所述图像获取装置300在竖直方向的稳定。
所述恒力弹性件463的弹性拉力可以根据其负载的重量不同选择，从而控制所述图像获取装置300相对所述安装件425的装设距离。具体而言，所述竖向增稳机构40能够依据其所需承载的负载的重量选择所述恒力弹性件463的拉力，因此，所述竖向增稳机构40能够依据不同型号和种类的负载灵活调整其恒力弹性件463的拉力以及长度。在本实施方式中，所述负载为所述图像获取装置300及所述轴向增稳机构60，某些情形下，所述负载可以只包括所述图像获取装置300。
所述限位件465设置于所述承载件445上，其用于限制所述承载件445与所述安装件425之间的距离。具体在图示的实施例中，所述限位件465设置在所述承载件445朝向所述安装件425的一侧。当所述承载件445朝向所述安装件425运动至极限位置时，所述限位件465抵顶于所述安装件425上，以止挡所述承载件445的运动。可以理解的是，所述限位件465还可以设置在其他的部位，如，所述限位件465可以设置在所述安装件425上，或者设置在所述第一连杆组441或所述第二连杆组443上，用以限制所述承载件445与所述安装件425之间的距离。可以理解，所述限位件465上还可设置有缓冲件（图中未示出），所述缓冲件由具有一定弹性的材料制成，用于缓冲所述安装件425与所述承载件445之间的冲击震动。所述缓冲件可以为缓冲泡棉、相交、弹簧或弹片等弹性元件。可以理解，所述缓冲件还可以设置在其他的部位，如，所述缓冲件可以设置在所述安装件425上，或者设置在所述第一连杆组441或所述第二连杆组443上等。
所述轴向增稳机构60设置在所述承载件445上，并位于所述承载件445背离所述安装件425的一侧。所述轴向增稳机构60用于装设所述图像获取装置300，并用于调整所述图像获取装置300的拍摄方向和拍摄角度。
在本实施方式中，所述轴向增稳机构60为三轴支撑装置，更具体地，所述轴向增稳机构60为三轴云台，其可以绕第一轴a1（例如，航向（yaw）轴）、第二轴a2（例如，横滚（roll）轴）以及第三轴a3（例如，俯仰（pitch）轴）调整所述图像获取装置300的角度。所述轴向增稳机构60包括第一轴驱动单元61、第一支架63、第二轴驱动单元65、第二支架67以及第三轴驱动单元69。所述第一支架63与所述第一轴驱动单元61相连并能够在所述第一轴驱动单元61的带动下绕所述第一轴a1旋转；所述第二轴驱动单元65固定设置于所述第一支架63远离所述第一轴驱动单元61的末端；所述第二支架67与所述第二轴驱动单元65相连并能够在所述第二轴驱动单元65的带动下绕所述第二轴a2旋转；所述第三轴驱动单元69设置于所述第二支架67远离所述第二轴驱动单元65的末端，所述图像获取装置300与所述第三轴驱动单元69相连并能够在所述第三轴驱动单元69的带动下绕所述第三轴a3旋转。在本实施方式中，所述第一轴驱动单元61、所述第二轴驱动单元65以及所述第三轴驱动单元69为无刷电机组件。
本实施方式中，所述云台装置100还可以包括传感器（图未示）以及控制器（图未示）。所述传感器用于感测所述拍摄设备500的姿态信息，具体地，所述传感器可以为惯性测量单元（IMU）。所述控制器用于依据所述传感器的所感测到的信息控制所述第一轴驱动单元61、所述第二轴驱动单元65以及所述第三轴驱动单元69中的至少一个转动，以消除所述拍摄设备500的轴向抖动对所述图像获取装置300的影响。具体而言，所述传感器用于感测所述拍摄设备500的姿态信息，并判断所述拍摄设备500是否产生绕某一个轴的旋转方向的抖动，若是，则所述控制器控制所述第一轴驱动单元61、所述第二轴驱动单元65以及所述第三轴驱动单元69中的对应轴沿与所述拍摄设备500的轴向抖动方向相反的方向转动，以消除所述拍摄设备500的轴向抖动对所述图像获取装置300的影响。
可以理解，所述控制器还可以响应用户的指令信息控制所述第一轴驱动单元61、所述第二轴驱动单元65以及所述第三轴驱动单元69中的至少一个转动，调整所述图像获取装置300的拍摄方向或者拍摄角度。
所述轴向增稳机构60还包括与所述第一轴驱动单元61固定相连的第二云台连接件611，所述第二云台连接件611用于连接所述竖向增稳机构40。所述第二云台连接件611可以与所述竖向增稳机构40卡合连接、螺纹连接或者过盈配合连接。另外，所述第二云台连接件611还包括电连接部（图未示），在所述轴向增稳机构60与所述竖向增稳机构40相互连接时，所述电连接部能够将所述图像获取装置300及/或所述第一轴驱动单元61、所述第二轴驱动单元65、第三轴驱动单元69电连接至其他电子元件（例如，设置于所述支撑装置内的电源、控制器、处理器等）。
可以理解，所述轴向增稳机构60也可以为单轴云台、双轴云台或者其他类型的云台。
在使用时，首先根据所述图像获取装置300及所述轴向增稳机构60（所述轴向增稳机构60在某些情况下可以省略）调整所述恒力弹性件463的长度，使所述竖向增稳机构40能够借助于所述恒力弹性件463的拉力平衡所述图像获取装置300及所述轴向增稳机构60的重量。使用时，当没有竖向抖动发生时，所述竖向增稳机构40能够支撑所述图像获取装置300以及所述轴向增稳机构60；当支撑装置200具有竖向抖动时，所述支撑装置200同时带动所述竖向增稳机构40的支撑组件42运动，所述由于惯性的作用，所述图像获取装置300初始位置的改变具有迟滞性，当所述支撑组件42运动使所述恒力弹性件463长度拉长时，所述图像获取装置300基本保持在初始位置，此时，所述恒力弹性件463通过发生形变吸收了所述抖动的能量，从而消除了所述竖向抖动对所述图像获取装置300的影响，保证拍摄的效果。
综上所述，由于所述恒力弹性件463的两端分别连接在所述安装座461及所述承载件445上，使得所述支撑装置200在产生竖直方向的抖动或震动时，所述恒力弹性件463能够吸收该抖动或震动的能量而产生形变，然而所述恒力弹性件463的弹性力并未发生明显变化，其能够阻止或阻碍该竖直方向的震动或抖动传递至所述图像获取装置300，且由于惯性的存在，所述图像获取装置300保持初始位置基本不变，从而保证所述图像获取装置300在竖直方向的稳定。
请同时参阅图3，图3示出了本发明第二实施方式提供的拍摄设备600的机构示意图。在第二实施方式中，所述拍摄设备600的结构与第一实施方式的拍摄设备500的结构及功能大致相同，其不同在于：所述拍摄设备600的增稳组件86还包括驱动件867。
所述驱动件867设置在安装座861的基座8611上，并与转轴8613相连接。所述驱动件867用于驱动所述转轴8613转动，以带动恒力弹性件863收卷或展开，从而调整所述恒力弹性件863的长度，以调节图像获取装置400相对于安装件425的装设距离。
在本发明第二实施方式中，所述驱动件867为无刷电机。进一步地，所述增稳组件86还包括电子调速器869，所述电子调速器869设置于所述安装座861上，并用于调节所述驱动件867的转动速度及转动方向。
进一步地，在本发明第二实施方式中，所述拍摄设备600的云台装置还可以包括如上文所述的传感器（图未示）以及控制器（图未示）。所述传感器用于感测所述拍摄设备600的姿态信息，具体地，所述传感器可以为惯性测量单元（IMU）。所述控制器用于依据所述传感器的所感测到的信息控制所述驱动件867带动所述恒力弹性件863收卷或展开，以消除所述拍摄设备600的竖向抖动对所述图像获取装置400的影响。具体而言，所述传感器用于感测所述拍摄设备600的姿态信息，并判断所述拍摄设备600是否产生竖向抖动，若是，则所述控制器控制所述驱动件867带动所述恒力弹性件863收卷或展开，使所述图像获取装置400相对支撑装置沿与该竖向抖动方向相反的方向运动，以使所述图像获取装置400相对外界参照物的位置基本保持不变，从而消除所述拍摄设备600的竖抖动对所述图像获取装置400的影响。
本发明图1至图3所示的所示拍摄设备500中，所述支撑装置200处于竖持状态，即，所述支撑装置200的长度方向沿竖直方向设置；所述安装件425处于水平状态，使所述增稳组件46设置在所述支撑组件42上时处于竖直状态，由此，可以借由所述轴向增稳机构60及所述图像获取装置300的自身重力及惯性实现竖直方向的防抖功能。
本发明第三实施方式还提供一种拍摄设备（图中未示出），第三实施方式的拍摄设备的结构和第二实施方式的拍摄设备600的结构大致相同，其不同在于，第三实施方式的所述拍摄设备省略了第二实施方式中的恒力弹性件863，而将驱动件连接至导向组件上，使得所述导向组件能够在所述驱动件的驱动下，带动轴向增稳装置以及图像获取装置运动。
具体在本实施例中，所述拍摄设备的竖向增稳机构具体地包括支撑组件、导向组件以及增稳组件，所述增稳组件包括安装座以及驱动件，所述安装座设置在所述支撑组件上，所述驱动件设置在所述安装座上，所述导向组件连接于所述驱动件的驱动端。所述驱动件能够驱动所述导向组件运动，以带动轴向增稳装置以及图像获取装置运动。
进一步地，在本发明第三实施方式中，所述拍摄设备的云台装置还可以包括如上文所述的传感器（图未示）以及控制器（图未示）。所述传感器用于感测所述拍摄设备的姿态信息，具体地，所述传感器可以为惯性测量单元（IMU）。所述控制器用于依据所述传感器的所感测到的信息控制所述驱动件带动所述导向组件运动，以消除所述拍摄设备的竖向抖动对所述图像获取装置的影响。具体而言，所述传感器用于感测所述拍摄设备的姿态信息，并判断所述拍摄设备是否产生竖向抖动，若是，则所述控制器控制所述驱动件带动所述导向组件展开或收合，使所述图像获取装置相对支撑装置沿与该竖向抖动方向相反的方向运动，以使所述图像获取装置相对外界参照物的位置基本保持不变，从而消除所述拍摄设备的竖抖动对所述图像获取装置的影响。
可以理解，在第三实施方式中，所述导向组件可以省略，而将所述承载件连接在所述驱动件的驱动端，使所述驱动件能够驱动所述承载件带动所述图像获取装置沿竖直方向运动。此时，所述驱动件可以为直线电机、气缸、丝杠螺母机构等直线驱动器。
相对于现有技术，本发明实施方式提供的所述拍摄设备及云台装置通过设置所述竖向增稳机构，能够消除拍摄设备竖直方向的抖动对拍摄造成的影响，能够保证拍摄的品质和效果。
在上述的第一、第二实施方式中，所述恒力发条为内径式安装方式，可以理解的是，在其他的实施例中，所述恒力发条可以以外径式安装方式设置在所述安装座461上，而安装座461的结构也可以据此作出相应的变通。例如，所述安装座461可以为一体式结构，其上开设有用于收容所述恒力发条的容置部，所述恒力发条以外径式安装方式设置在所述容置部内，并连接至所述承载件445上。
可以理解，所述恒力弹性件的结构不局限于恒力发条结构，其还可为其他的恒力弹性件或者恒力弹性机构。例如，所述恒力弹性件可以为恒力螺旋弹簧、恒力卷簧或者恒力弹性组件等，并将该恒力弹性件的两端分别连接在所述安装座及所述承载件上，使得所述支撑装置在产生竖直方向的抖动或震动时，所述恒力弹性件能够吸收该抖动或震动的能量而产生形变，以阻止该震动或抖动传递至所述图像获取装置，从而保证所述图像获取装置在竖直方向的稳定。
可以理解，上述的导向组件的结构不局限于上文所描述的空间连杆机构，其还可以设置为其他的直线型导向结构。例如，所述导向组件为滑轨结构。具体而言，所述导向组件包括设置于所述支撑组件上的滑轨以及可滑动地设置在所述滑轨上的滑块，所述承载件设置在所述滑块上，并能够随所述滑块沿所述滑轨滑动。
可以理解，上文所述的用于控制所述驱动件运动的控制器可以独立于上文所述的云台装置的控制器之外，换言之，用于控制所述驱动件运动的控制器以及相应的传感器可以是所述竖向增稳机构的组成部件，所述控制器及所述传感器作为所述竖向增稳机构的专用控制器及传感器，用于实现所述拍摄设备的竖向防抖功能。
可以理解，上述的支撑装置并不限于手持式支撑装置，其也可以为其他可移动的支撑装置，例如，无人飞行器、无人车、无人船等。以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (126)

  1. 一种竖向增稳机构，用于支撑负载，其特征在于：所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
  2. 如权利要求1所述的竖向增稳机构，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  3. 如权利要求2所述的竖向增稳机构，其特征在于：所述导向组件为直线型导向机构。
  4. 如权利要求3所述的竖向增稳机构，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  5. 如权利要求3所述的竖向增稳机构，其特征在于：所述导向组件为空间连杆机构。
  6. 如权利要求3所述的竖向增稳机构，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  7. 如权利要求6所述的竖向增稳机构，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  8. 如权利要求6所述的竖向增稳机构，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  9. 如权利要求2所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  10. 如权利要求9所述的竖向增稳机构，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  11. 如权利要求1所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  12. 如权利要求11所述的竖向增稳机构，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  13. 如权利要求1所述的竖向增稳机构，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  14. 如权利要求1所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
  15. 如权利要求14所述的竖向增稳机构，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  16. 如权利要求14所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
  17. 如权利要求16所述的竖向增稳机构，其特征在于：所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  18. 如权利要求1所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  19. 一种云台装置，用于支撑成像装置，其特征在于，所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
  20. 如权利要求19所述的云台装置，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  21. 如权利要求20所述的云台装置，其特征在于：所述导向组件为直线型导向机构。
  22. 如权利要求21所述的云台装置，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  23. 如权利要求21所述的云台装置，其特征在于：所述导向组件为空间连杆机构。
  24. 如权利要求21所述的云台装置，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  25. 如权利要求24所述的云台装置，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  26. 如权利要求24所述的云台装置，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  27. 如权利要求20所述的云台装置，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  28. 如权利要求27所述的云台装置，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  29. 如权利要求19所述的云台装置，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  30. 如权利要求29所述的云台装置，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  31. 如权利要求19所述的云台装置，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  32. 如权利要求19所述的云台装置，其特征在于：所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
  33. 如权利要求32所述的云台装置，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  34. 如权利要求32所述的云台装置，其特征在于：所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
  35. 如权利要求34所述的云台装置，其特征在于：所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  36. 如权利要求19所述的云台装置，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  37. 如权利要求19所述的云台装置，其特征在于：所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
  38. 如权利要求37所述的云台装置，其特征在于：所述轴向增稳机构为三轴云台。
  39. 如权利要求37所述的云台装置，其特征在于：所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
  40. 一种拍摄设备，包括成像装置、云台装置以及支撑装置，其特征在于：所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及恒力弹性件，所述恒力弹性件的两端分别连接在所述安装件及所述承载件上，使所述安装件在产生震动或抖动时，该恒力弹性件吸收该震动或抖动的能量而产生形变，以防止该震动或抖动运动传递至该承载件。
  41. 如权利要求40所述的拍摄设备，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  42. 如权利要求40所述的拍摄设备，其特征在于：所述导向组件为直线型导向机构。
  43. 如权利要求41所述的拍摄设备，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  44. 如权利要求42所述的拍摄设备，其特征在于：所述导向组件为空间连杆机构。
  45. 如权利要求42所述的拍摄设备，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  46. 如权利要求42所述的拍摄设备，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  47. 如权利要求45所述的拍摄设备，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  48. 如权利要求45所述的拍摄设备，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  49. 如权利要求41所述的拍摄设备，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  50. 如权利要求48所述的拍摄设备，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  51. 如权利要求40所述的拍摄设备，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  52. 如权利要求50所述的拍摄设备，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  53. 如权利要求40所述的拍摄设备，其特征在于：所述竖向增稳机构还包括驱动件，所述驱动件连接于所述恒力弹性件上，并能够驱动所述恒力弹性件缩短或伸长。
  54. 如权利要求40所述的拍摄设备，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  55. 如权利要求53所述的拍摄设备，其特征在于：所述竖向增稳机构还包括控制器以及传感器，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件运动，以驱动所述恒力弹性件缩短或伸长。
  56. 如权利要求53所述的拍摄设备，其特征在于：所述传感器为惯性测量单元，所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述恒力弹性件运动，使所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  57. 如权利要求55所述的拍摄设备，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  58. 如权利要求40所述的拍摄设备，其特征在于：所述拍摄设备还包括支撑装置，所述支撑件能够拆卸地设置于所述支撑装置上。
  59. 如权利要求57所述的拍摄设备，其特征在于：所述支撑装置包括第一接头，所述支撑件上设置有与所述第一接头相适配的第二接头，所述第一接头与所述第二接头相互配合实现所述轴向增稳机构与所述支撑装置的机械连接或/及电连接。
  60. 如权利要求58所述的拍摄设备，其特征在于：所述支撑装置为手持式支撑装置或者无人飞行器。
  61. 如权利要求58所述的拍摄设备，其特征在于：所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
  62. 如权利要求40所述的拍摄设备，其特征在于：所述轴向增稳机构为三轴云台。
  63. 如权利要求61所述的拍摄设备，其特征在于：所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
  64. 一种竖向增稳机构，用于支撑负载，其特征在于：所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  65. 如权利要求64所述的竖向增稳机构，其特征在于：所述传感器为惯性测量单元。
  66. 如权利要求65所述的竖向增稳机构，其特征在于：所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  67. 如权利要求64所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
  68. 如权利要求67所述的竖向增稳机构，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  69. 如权利要求67所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  70. 如权利要求69所述的竖向增稳机构，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  71. 如权利要求64所述的竖向增稳机构，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  72. 如权利要求64所述的竖向增稳机构，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  73. 如权利要求72所述的竖向增稳机构，其特征在于：所述导向组件为直线型导向机构。
  74. 如权利要求73所述的竖向增稳机构，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  75. 如权利要求73所述的竖向增稳机构，其特征在于：所述导向组件为空间连杆机构。
  76. 如权利要求73所述的竖向增稳机构，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  77. 如权利要求76所述的竖向增稳机构，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  78. 如权利要求76所述的竖向增稳机构，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  79. 如权利要求72所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  80. 如权利要求79所述的竖向增稳机构，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  81. 如权利要求64所述的竖向增稳机构，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  82. 一种云台装置，用于支撑成像装置，其特征在于，所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  83. 如权利要求82所述的云台装置，其特征在于：所述传感器为惯性测量单元。
  84. 如权利要求83所述的云台装置，其特征在于：所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  85. 如权利要求82所述的云台装置，其特征在于：所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
  86. 如权利要求85所述的云台装置，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  87. 如权利要求85所述的云台装置，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  88. 如权利要求87所述的云台装置，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  89. 如权利要求82所述的云台装置，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  90. 如权利要求82所述的云台装置，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  91. 如权利要求90所述的云台装置，其特征在于：所述导向组件为直线型导向机构。
  92. 如权利要求91所述的云台装置，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  93. 如权利要求91所述的云台装置，其特征在于：所述导向组件为空间连杆机构。
  94. 如权利要求91所述的云台装置，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  95. 如权利要求94所述的云台装置，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  96. 如权利要求94所述的云台装置，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  97. 如权利要求90所述的云台装置，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  98. 如权利要求97所述的云台装置，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  99. 如权利要求82所述的云台装置，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  100. 如权利要求82所述的云台装置，其特征在于：所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
  101. 如权利要求100所述的云台装置，其特征在于：所述轴向增稳机构为三轴云台。
  102. 如权利要求100所述的云台装置，其特征在于：所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
  103. 一种拍摄设备，包括成像装置、云台装置以及支撑装置，其特征在于：所述云台装置包括竖向增稳机构，所述竖向增稳机构包括安装件、承载件以及驱动件，所述驱动件设置在所述安装件上，所述承载件连接于所述驱动件上；所述竖向增稳机构还包括控制器以及传感器，所述传感器用于感测所述竖向增稳机构的姿态信息，所述控制器在所述传感器检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  104. 如权利要求103所述的拍摄设备，其特征在于：所述传感器为惯性测量单元。
  105. 如权利要求104所述的拍摄设备，其特征在于：所述控制器在所述惯性测量单元检测到所述安装件产生震动或抖动时，控制所述驱动件带动所述承载件相对所述安装件沿所述震动或抖动方向的反方向运动。
  106. 如权利要求103所述的拍摄设备，其特征在于：所述竖向增稳机构还包括设置于所述驱动件与所述承载件之间的恒力弹性件，所述控制器用于根据所述传感器检测的所述竖向增稳机构的姿态信息，控制所述驱动件驱动所述恒力弹性件缩短或伸长，以带动所述承载件运动。
  107. 如权利要求106所述的拍摄设备，其特征在于：所述恒力弹性件为恒力螺旋弹簧或恒力卷簧。
  108. 如权利要求106所述的拍摄设备，其特征在于：所述竖向增稳机构还包括设置于所述安装件上的安装座，所述恒力弹性件为设置在所述安装座上的恒力发条。
  109. 如权利要求108所述的拍摄设备，其特征在于：所述安装座包括设置于所述安装件上的基座及设置在所述基座上的枢轴，所述恒力发条的一端卷绕在所述枢轴上，另一端连接在所述承载件上。
  110. 如权利要求103所述的拍摄设备，其特征在于：所述驱动件为电机，所述竖向增稳机构还包括电子调速器，所述电子调速器连接于所述驱动件上。
  111. 如权利要求103所述的拍摄设备，其特征在于：所述增稳机构还包括导向组件，所述导向组件设置于所述安装件及所述承载件之间，所述导向组件用于导正所述承载件相对所述安装件的运动方向。
  112. 如权利要求111所述的拍摄设备，其特征在于：所述导向组件为直线型导向机构。
  113. 如权利要求112所述的拍摄设备，其特征在于：所述导向组件包括设置于所述安装件上的滑轨以及设置于所述滑轨上的滑块，所述承载件设置在所述滑块上。
  114. 如权利要求112所述的拍摄设备，其特征在于：所述导向组件为空间连杆机构。
  115. 如权利要求112所述的拍摄设备，其特征在于：所述导向组件包括第一连杆组以及第二连杆组，所述第一连杆组的两端分别枢接于所述安装件及所述承载件上，所述第二连杆组的两端分别枢接于所述安装件及所述承载件上。
  116. 如权利要求115所述的拍摄设备，其特征在于：所述第一连杆组及所述第二连杆组关于所述安装件及所述承载件对称设置。
  117. 如权利要求115所述的拍摄设备，其特征在于：所述第一连杆组包括枢接于所述安装件上的第一连杆及枢接于所述第一连杆上的第二连杆，所述第二连杆组包括枢接于所述安装件上的第三连杆及枢接于所述第三连杆上的第四连杆；所述承载件的两端分别枢接于所述第二连杆及所述第四连杆上。
  118. 如权利要求111所述的拍摄设备，其特征在于：所述竖向增稳机构还包括限位件，所述限位件用于限制所述承载件相对所述安装件运动的极限位移。
  119. 如权利要求118所述的拍摄设备，其特征在于：所述限位件设置在所述承载件上，所述限位件上还设置有缓冲件，所述缓冲件用于缓冲所述承载件及所述安装件之间的冲击震动。
  120. 如权利要求103所述的拍摄设备，其特征在于：所述竖向增稳机构还包括支撑件，所述安装件能够转动地设置在所述支撑件上。
  121. 如权利要求120所述的拍摄设备，其特征在于：所述拍摄设备还包括支撑装置，所述支撑件能够拆卸地设置于所述支撑装置上。
  122. 如权利要求121所述的拍摄设备，其特征在于：所述支撑装置包括第一接头，所述支撑件上设置有与所述第一接头相适配的第二接头，所述第一接头与所述第二接头相互配合实现所述轴向增稳机构与所述支撑装置的机械连接或/及电连接。
  123. 如权利要求121所述的拍摄设备，其特征在于：所述支撑装置为手持式支撑装置或者无人飞行器。
  124. 如权利要求103所述的拍摄设备，其特征在于：所述云台装置还包括轴向增稳机构，所述轴向增稳机构与所述成像装置以及所述竖向增稳机构相连，用于补偿所述云台装置的轴向抖动。
  125. 如权利要求124所述的拍摄设备，其特征在于：所述轴向增稳机构为三轴云台。
  126. 如权利要求124所述的拍摄设备，其特征在于：所述承载件上设置有第一云台连接件，所述轴向增稳装置包括第二云台连接件，所述第二云台连接件与所述第一云台连接件相互配合实现所述轴向增稳机构与所述竖向增稳机构的机械连接或/及电连接。
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