WO2017132801A1 - Mécanisme de stabilisation vertical ainsi que dispositif de tête de trépied et équipement de prise de vue - Google Patents

Mécanisme de stabilisation vertical ainsi que dispositif de tête de trépied et équipement de prise de vue 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
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WO
WIPO (PCT)
Prior art keywords
carrier
pan
vertical
stabilizing mechanism
mounting member
Prior art date
Application number
PCT/CN2016/073075
Other languages
English (en)
Chinese (zh)
Inventor
尹承禹
宾朋
Original Assignee
深圳市大疆灵眸科技有限公司
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 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201680007022.8A priority Critical patent/CN107241912B/zh
Priority to PCT/CN2016/073075 priority patent/WO2017132801A1/fr
Publication of WO2017132801A1 publication Critical patent/WO2017132801A1/fr

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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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un mécanisme de stabilisation vertical (40) ainsi qu'un dispositif de tête de trépied (100) et un équipement de prise de vue (500) qui utilisent le mécanisme de stabilisation vertical (40). Le mécanisme de stabilisation vertical (40) comprend une pièce de montage (425), une pièce de support (445) et une pièce élastique à force constante (463). Deux extrémités de la pièce élastique à force constante (463) sont connectées à la pièce de montage (425) et à la pièce de support (445), respectivement, de telle sorte que la pièce élastique à force constante (463) se déforme en absorbant l'énergie de vibrations ou de secouement lorsque la pièce de montage (425) vibre ou est secouée, de manière à empêcher le transfert d'un mouvement de vibrations ou de secouement à la pièce de support (445).
PCT/CN2016/073075 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical ainsi que dispositif de tête de trépied et équipement de prise de vue WO2017132801A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680007022.8A CN107241912B (zh) 2016-02-01 2016-02-01 竖向增稳机构及云台装置和拍摄设备
PCT/CN2016/073075 WO2017132801A1 (fr) 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical ainsi que dispositif de tête de trépied et équipement de prise de vue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/073075 WO2017132801A1 (fr) 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical ainsi que dispositif de tête de trépied et équipement de prise de vue

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CN113566081A (zh) * 2018-03-23 2021-10-29 深圳市大疆创新科技有限公司 竖向增稳机构
CN110325784B (zh) * 2018-03-23 2021-06-11 深圳市大疆创新科技有限公司 竖向增稳机构和竖向增稳装置
EP4019823A1 (fr) 2018-03-23 2022-06-29 SZ DJI Technology Co., Ltd. Appareil de stabilisation de charge
EP3779262A4 (fr) * 2018-03-28 2021-11-10 SZ DJI Technology Co., Ltd. Appareil d'entraînement à engrenages différentiels, mécanisme de stabilisation, appareil de panoramique-inclinaison et dispositif de photographie
WO2020042135A1 (fr) * 2018-08-31 2020-03-05 深圳市大疆创新科技有限公司 Procédé de commande pour appareil d'augmentation de stabilité verticale, appareil d'augmentation de stabilité verticale et dispositif de capture d'image
WO2020087354A1 (fr) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Mécanisme d'augmentation de stabilité verticale et son procédé de commande, ainsi que dispositif mobile
CN109869588B (zh) * 2019-02-01 2024-06-07 桂林智神信息技术股份有限公司 一种竖向减振装置
CN109681755B (zh) * 2019-02-01 2024-04-09 桂林智神信息技术股份有限公司 一种具备竖向减振功能的手持四轴稳定器
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CN112901960B (zh) * 2021-03-11 2022-09-30 桂林智神信息技术股份有限公司 一种手持摄影器材
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