WO2017132814A1

WO2017132814A1 - Vertical stability augmentation mechanism, cradle head apparatus, and photographing device

Info

Publication number: WO2017132814A1
Application number: PCT/CN2016/073120
Authority: WO
Inventors: 宾朋; 王鹏; 尹承禹
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2016-02-01
Filing date: 2016-02-01
Publication date: 2017-08-10
Also published as: CN107250654B; CN107250654A

Abstract

A vertical stability augmentation mechanism (22, 22', 22'') used for supporting a load. The vertical stability augmentation mechanism (22, 22', 22'') comprises a stability augmentation assembly (23). The stability augmentation assembly (23) comprises an elastic component (232, 52), a rotation component (233, 51), and a suspension component (234, 53). The rotation component (233, 51) is connected to the elastic component (232, 52). One end of the suspension component (234, 53) surrounds around the outer circumference of the rotation component (233, 51), and the other end of the suspension component (234, 53) is connected to the load. The rotation of the rotation component (233, 51) drives the elastic component (232, 52) to generate elastic deformation, and the rotation component (233, 51) can convert elastic force of the elastic component (232, 52) into a constant pulling force of the suspension component (234, 53) for the load. The present application also relates to a cradle head apparatus (20) and a photographing device (100, 200, 300, 400, 500, 600).

Description

Vertical stabilization mechanism, pan-tilt device and shooting equipment

Technical field

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.

Background technique

For the purpose of stable shooting, many shooting devices are used with the pan-tilt device. The pan-tilt device generally has a function of increasing the rotation direction. For example, the three-axis pan/tilt can compensate the cloud in the pitch axis, yaw axis and roll axis rotation direction. The jitter of the stage, however, the pan/tilt has no ideal compensation effect for the jitter in the linear direction. If the pan/tilt is shaken or vibrated in the vertical direction, it will affect the shooting quality of the shooting device.

Summary of the invention

In view of this, it is necessary to provide a vertical stabilization mechanism, a pan-tilt device, and a photographing device that avoid the above problems.

A vertical stabilization mechanism for supporting loads. The vertical stabilizing mechanism includes a stabilizing assembly including an elastic member, a rotating member, and a suspension member. The rotating member is connected to the elastic member, and one end of the suspension member is disposed on an outer circumferential surface of the rotating member, and the other end is used for connecting the load. The rotation of the rotating member causes the elastic member to elastically deform, and the rotating member can convert the elastic force of the elastic member into a constant pulling force of the suspension member to the load.

Further, the distance between the outer peripheral surface of the rotary member and the rotational axis of the rotary member gradually increases or decreases in a predetermined rotational direction.

Further, the elastic member is a scroll spring, and one end of the elastic member is connected and fixed to the The rotating member is rotatable or unwound with the rotating member, and the distance between the outer peripheral surface of the rotating member and the rotating shaft center of the rotating member is gradually increased along the winding direction of the elastic member.

Further, the stabilizing assembly includes a support seat, the rotating member is rotatably supported on the support base, and the other end of the elastic member is fixedly connected to the support base.

Further, the support base includes a frame portion and a shaft portion, and the rotating member is rotatably sleeved on the shaft portion, and the other end of the elastic member is fixed to the shaft portion.

Further, the frame portion is a hollow polyhedral frame including a bottom plate and two opposite first side plates connected to the bottom plate, and the shaft portion is disposed between the two first side plates.

Further, each of the first side plates includes a shaft portion, the shaft portion includes a shaft body and two first bearings corresponding to the shaft joint portion, and the first bearing is rotatably sleeved on the The shaft body is fixedly connected to the corresponding shaft joint portion.

Further, the rotating member includes a shaft hole, the shaft portion includes a shaft body and a second bearing corresponding to the shaft hole, and the second bearing is rotatably sleeved on the shaft body and fixedly disposed on the shaft Inside the shaft hole.

Further, the bottom plate and the first side plate are hollow plates.

Further, the support base further includes a cantilever portion for suspending the load at a predetermined position.

Further, the support base further includes a second side plate, and the cantilever portion is fixed to the second side plate.

Further, the cantilever portion includes a first arm and a second arm connected to the first arm, and the first arm is connected to the second arm in a "V" shape.

Further, the cantilever portion further includes a pulley located at an end of the cantilever portion away from the support seat, and the suspension member connects the load around the pulley.

Further, the number of the pulleys includes a plurality of pulleys, and the distance between the plurality of pulleys and the support base are different from each other, and the suspension member is wound around one of the pulleys.

Further, the support base includes an adjusting member, the adjusting member is disposed on the supporting base and connected to the shaft portion, and the adjusting member is capable of rotating the shaft portion to adjust a preloading force of the elastic member .

Further, the adjusting member comprises a worm and a worm gear adapted to the worm, the worm wheel and the shaft portion are fixedly connected to each other, and the rotation of the worm drives the worm wheel to rotate, thereby rotating the shaft portion.

Further, the adjustment member includes a support block, and the worm is rotatably supported on the frame portion by the support block

Further, the stabilizing assembly further includes an adapter that is coupled to the support device.

Further, the adapter includes a sleeve and a connecting surface, and a circumferential wall of the sleeve is provided with an axially extending gap, the gap extending through the inner and outer surfaces of the sleeve and the end surfaces of the both ends, so that The inner diameter of the sleeve can be adjusted by changing the size of the gap.

Further, the sleeve is further provided with an adjustment hole passing through a peripheral wall of the sleeve on both sides of the gap, and the adjustment hole is used for adjusting the size of the gap in cooperation with the fastener.

Further, the rotating member includes a first rotating portion and a second rotating portion disposed coaxially with the first rotating portion, the first rotating portion and the second rotating portion being apart from the first rotating portion and The second rotating portion is pivotally connected to each other at a predetermined distance, the outer peripheral surface of the first rotating portion is a cylindrical surface, and the distance between the outer peripheral surface of the second rotating portion and the rotating axis of the second rotating portion The predetermined direction of rotation gradually increases or decreases.

Further, the elastic member is a coil spring, and the elastic member is stretched and connected to the second rotating portion, and the distance along the rotation axis of the second rotating portion is along the direction of rotation of the elastic member. The predetermined direction of rotation gradually decreases.

Further, the suspension member includes a first suspension portion and a second suspension portion, one end of the first suspension portion is fixed to the first rotating portion, and the other end is connected to the load, the second One end of the suspension portion is fixed to the second rotating portion, and the other end is connected to the elastic member.

Further, the vertical stabilizing mechanism further includes a first pulley and a second pulley, the first suspension portion is connected to the load by bypassing the first pulley, and the second suspension portion bypasses the second pulley Thereafter, it is connected to the elastic member, and the second pulley is located in the longitudinal direction of the elastic member.

Further, the outer peripheral surface of the first rotating portion is provided with a first wire slot, the second rotating portion is provided with a second wire slot, and the first suspension portion is connected to the load by bypassing the first wire slot The second suspension portion is connected to the elastic member around the second wire slot.

Further, the elastic member is positioned at a predetermined position by a positioning assembly.

Further, the positioning assembly includes an adjusting member for positioning the elastic member to adjust an elastic force of the elastic member.

Further, the adjusting member comprises a fixing plate, a baffle and a clamping plate, and the fixing plate is fixedly connected with the connecting member, and the clamping plate is held at a predetermined position of the elastic member and resists the baffle .

Further, the baffle is opened with an opening, and the elastic member is engaged with the card board through the opening.

Further, the holding plate includes a locking piece, the locking piece is recessed away from the top of the fixing plate to form a notch, and/or the clamping piece has a thickness smaller than the thickness of the clamping plate .

Further, the fixing plate is provided with a scale portion having a scale line thereon.

Further, the vertical stabilizing mechanism includes a stabilizing assembly guiding assembly for guiding a direction of movement of the load.

Further, the guiding assembly comprises a first connecting rod assembly, a second connecting rod assembly and a carrier, and the first connecting rod assembly and the second connecting rod assembly are respectively disposed on two sides of the carrying member.

Further, each of the first link assembly and the second link assembly includes a first link and a second link, and the first link and the second link are pivotally connected to each other.

Further, the guide assembly further includes a third link assembly, the third link assembly being located between the first link assembly and the second link assembly, and the third link assembly The axis of rotation is perpendicular to the axes of rotation of the first linkage assembly and the second linkage assembly.

Further, the guiding assembly includes a first guiding rod and a second guiding rod, each of the first guiding rod and the second guiding rod includes a first guiding rod and is sleeved with the first guiding rod The second guiding rod, the first guiding rod and the second guiding rod are relatively slidable for guiding.

Further, each of the first guiding rod and the second guiding rod further includes the limiting member, and the limiting member is disposed at one end of the second guiding rod and the first guiding rod And capable of forming a clamping limit with the first guiding rod.

A pan-tilt device for supporting an imaging device. The pan-tilt device includes a vertical stabilization mechanism, and the vertical stabilization mechanism includes a stabilizing component. The stabilizing assembly includes an elastic member, a rotating member, and a suspension member. The rotating member is connected to the elastic member, and one end of the suspension member is wound around an outer peripheral surface of the rotating member, and the other end is connected to the image forming device. The rotation of the rotating member causes the elastic member to elastically deform, and the rotating member can convert the elastic force of the elastic member into a constant pulling force of the suspension member to the image forming device.

Further, the elastic member is a scroll spring, and one end of the elastic member is connected and fixed to the rotating member and can be wound or unwound with the rotating member, along the winding direction of the elastic member. The distance between the outer peripheral surface of the rotary member and the rotational axis of the rotary member gradually increases.

Further, the bottom plate and the first side plate are hollow plates.

Further, the support base further includes a cantilever portion for suspending the imaging device at a predetermined position.

Further, the cantilever portion further includes a pulley located at an end of the cantilever portion away from the support seat, and the suspension member connects the imaging device around the pulley.

Further, the adjusting member includes a supporting block, and the worm can be rotated by the supporting block Supported on the frame portion

Further, the suspension member includes a first suspension portion and a second suspension portion, one end of the first suspension portion is fixed to the first rotating portion, and the other end is connected to the imaging device, the first One end of the two suspension portion is fixed to the second rotating portion, and the other end is connected to the elastic member.

Further, the pan/tilt device further includes a first pulley and a second pulley, the first suspension portion is connected to the imaging device by bypassing the first pulley, and the second suspension portion is bypassed by the second pulley Connected to the elastic member, the second pulley is located in the longitudinal direction of the elastic member.

Further, the outer peripheral surface of the first rotating portion is provided with a first wire slot, the second rotating portion is provided with a second wire slot, and the first suspension portion bypasses the first wire groove and the image forming device Connected, the second suspension portion is connected to the elastic member around the second wire slot.

Further, the baffle is opened with an opening, and the elastic member passes through the opening and the card position The board is stuck.

Further, the pan-tilt device includes a stabilizing component guiding assembly for guiding a direction of movement of the imaging device.

Further, the pan-tilt device includes an axial stabilizing mechanism connected to the imaging device and the vertical stabilizing mechanism for compensating for axial shake of the pan-tilt device.

Further, the axial stabilization mechanism is a three-axis pan/tilt.

A photographing apparatus includes an image forming apparatus, a pan/tilt head device, and a supporting device. The pan-tilt device includes a vertical stabilization mechanism, and the vertical stabilization mechanism includes a stabilizing component. The stabilizing assembly includes an elastic member, a rotating member, and a suspension member. The rotating member is connected to the elastic member, and one end of the suspension member is wound around an outer peripheral surface of the rotating member, and the other end is connected to the image forming device. The rotation of the rotating member drives the elastic member to elastically deform, and the rotating member can convert the elastic force of the elastic member into a constant pulling force of the suspension member to the image forming device, and the supporting device can Supporting the pan/tilt device.

Further, a distance between an outer peripheral surface of the rotary member and a rotational axis of the rotary member is predetermined The direction of rotation gradually increases or decreases.

Further, the bottom plate and the first side plate are hollow plates.

Further, the adjusting member includes a worm and a worm wheel adapted to the worm, the worm wheel The shaft portion is fixedly connected to each other, and the rotation of the worm drives the worm wheel to rotate, thereby rotating the shaft portion.

Further, the axial stabilization mechanism is a three-axis pan/tilt.

Compared with the prior art, 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.

DRAWINGS

1 is a perspective view of a photographing apparatus according to a first embodiment of the present invention.

2 is an exploded view of the vertical stabilizing mechanism of the photographing apparatus of FIG. 1.

3 is a perspective view showing a partial structure of the vertical stabilizer mechanism of FIG. 2 after assembly.

4 is another perspective view of the vertical stabilization mechanism of FIG. 3.

Figure 5 is a front elevational view of the vertical stabilizing mechanism of Figure 3.

Fig. 6 is a perspective view of a photographing apparatus according to a second embodiment of the present invention.

Fig. 7 is a perspective view showing a partial configuration of a photographing apparatus according to a third embodiment of the present invention.

Fig. 8 is a perspective view showing a partial configuration of a photographing apparatus according to a fourth embodiment of the present invention.

Fig. 9 is a perspective view of a photographing apparatus according to a fifth embodiment of the present invention.

Figure 10 is an exploded view of the elastic member of the photographing apparatus of Figure 9.

Fig. 11 is a perspective view showing a partial configuration of a photographing apparatus according to a sixth embodiment of the present invention.

Main component symbol description

Shooting equipment

100, 200, 300, 400, 500, 600

Imaging device 10, 10'

PTZ device 20

Axial stabilization mechanism 21

First axis drive unit 211

First bracket 212

Second axis drive unit 213

Second bracket 214

First arm 2141

Second arm 2142

Third axis drive unit 215

Third bracket 216

Vertical stabilization mechanism

22, 22', 22"

Stabilizing components 23

Support base 231

Frame part 2311

Base plate 2311a

First side plate 2311b

Second side panel 2311c

Shaft connection 2311d

Shaft 2312

Axis 2312a

First bearing 2312b

Second bearing 2312c

Cantilever 2313

First arm 2313a

Second arm 2313b

Pulley 2313

Elastic parts

232, 52

First end 2321

Second end 2322

Rotating

parts

233, 51

Shaft hole 2331

Outer surface 2332

Winding slot 2333

Connection 2334

Suspension parts

234, 53

Adjustment parts 235

Support block 2351

Worm 2352

Worm gear 2353

Knob 2354

Adapter 236

Sleeve 2361

Connection surface 2362

Connection hole 2362a

Clearance 2363

Adjustment hole 2364

Guide assembly

24, 24', 24", 24"'

First link assembly 241, 241'

First joint 2411

First link 2412

Second link 2413

First connecting shaft 2414

Second connecting shaft 2415

Third connecting shaft 2416

Second link assembly 242, 242'

Carrier 243

Pull hole 2431

Third link assembly 244

First guide rod 245

First guide 2451

Second guide 2452

Limiter 2453

Second guide rod 246

Support means 30, 30', 30", 30"'

Grip 31

Support part 32

Perforation 321

First rotation 511

Outer surface

5111, 5121

First trunking 5111a

Second rotating portion 512

Second slot 5121a

Positioning component 54

Connector 541

Adjustment member 542

Fixed plate 5421

Scale 5421a

Baffle 5422

Opening 5422a

Card holder 5423

Snap into the film 5423a

Notch 5423b

Hold clip 5424

First axis a1

Second axis a2

Third axis a3

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

Referring to FIG. 1 , a photographing apparatus 100 according to an embodiment of the present invention includes an imaging device 10 , a pan-tilt device 20 , and a supporting device 30 . The pan-tilt device 20 is disposed between the imaging device 10 and the support device 30 for changing the shooting angle of the imaging device 20 and eliminating the influence of jitter on the imaging device 10.

The imaging device 10 is used to capture an image/video. The imaging device 10 may be an imaging device such as a digital camera or a video camera, or may be a portable electronic device such as a mobile phone or a tablet computer having an imaging function.

The support device 30 is used to support the imaging device 10 and the pan-tilt device 20. In this embodiment, the support device 30 is a hand-held support device, that is, the user can hold the support device 30 for shooting. The support device 30 includes two grip portions 31 and a support portion 32 connected to the grip portion 31. The grip portions 31 are respectively connected to opposite ends of the support portion 32. Real In the embodiment, the grip portion 31 is connected to the support portion 32 in a substantially "ㄇ" shape. The support portion 32 is a cylindrical rod. It can be understood that the support portion 32 can also be an elliptical cylindrical shape, a prismatic shape or a rod of other shapes. The support portion 32 is provided with a through hole 321 for engaging with a partial structure of the pan-tilt device 20, and the partial structure of the pan-tilt device 20 is passed through.

In other embodiments, a shooting function key (not shown) may be disposed on the supporting device 30, the shooting function key allowing a user to operate to control shooting, for example, controlling a shooting mode of the imaging device 10, the imaging The shooting angle of the device 10, etc., further, the shooting function key may be disposed on the grip portion 31 to facilitate user operation.

The pan-tilt device 20 includes an axial stabilization mechanism 21 and a vertical stabilization mechanism 22. In this embodiment, the axial stabilization mechanism 21 is a three-axis support device, and more specifically, the rotation support device 21 is a three-axis pan/tilt, which can be around the first axis a1 (for example, a yaw axis) The second axis a2 (for example, a roll axis) and the third axis a3 (for example, a pitch axis) adjust the angle of the imaging device 10. The axial stabilizing mechanism 21 includes a first shaft driving unit 211 , a first bracket 212 , a second shaft driving unit 213 , a second bracket 214 , a third shaft driving unit 215 , and a third bracket 216 . The first bracket 212 is coupled to the first shaft driving unit 211 and is rotatable about the first axis a1 by the first shaft driving unit 211. The second shaft driving unit 213 is fixedly disposed at an end of the first bracket 212 away from the first shaft driving unit 211 . The second bracket 214 is coupled to the second shaft driving unit 213 and is rotatable about the second shaft a2 by the second shaft driving unit 213. The third shaft driving unit 215 is fixedly disposed at an end of the second bracket 214 away from the second shaft driving unit 213 . The third bracket 216 is connected to the third shaft driving unit 215 and can be rotated around the third axis a3 by the third shaft driving unit 215, and the imaging device 10 is fixedly disposed on the first The three brackets 216 are rotatable with the rotation of the third bracket 216.

In the embodiment, the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 are brushless motors. It can be understood that the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 can also be a brushed motor or any other suitable type of motor.

In this embodiment, the second bracket 214 includes a first arm 2141 and two second arms 2142 spaced apart from each other by a predetermined distance. The first arm 2141 is connected to the second shaft driving unit 213, and the second arm 2141 extends toward a side of the first arm 2141 facing away from the second shaft driving unit 213, so that the The second bracket 214 has a substantially "ㄇ" shape. Both ends of the third bracket 216 Each of the second arms 2142 is rotatably disposed on one of the second arms 2141, and the third shaft driving unit 215 is disposed on one of the arms 2141 and connected to the third bracket 216. It can be understood that in other embodiments, the third bracket 216 can be omitted, and the imaging device 10 can be directly connected to the third shaft driving unit 215 and the third bracket 214.

It can be understood that the axial stabilization mechanism 21 can also be a single-axis pan/tilt, a two-axis pan/tilt or other types of pan/tilt.

In this embodiment, the pan-tilt device 20 may further include a sensor (not shown) and a controller (not shown). The sensor is used to sense posture information of the photographing apparatus 100. Specifically, the sensor may be an inertial measurement unit (IMU). The controller is configured to control at least one of the first shaft driving unit 211, the second shaft driving unit 213, and the third peripheral driving unit 215 to rotate according to the information sensed by the sensor to eliminate the The influence of the axial shake of the photographing apparatus 100 on the imaging device 10 is described. Specifically, the sensor is configured to sense posture information of the photographing apparatus 100, and determine whether the photographing apparatus 100 generates jitter about a rotation direction of an axis, and if yes, the controller controls the first At least one of the one-axis driving unit 211, the second-axis driving unit 213, and the third-axis driving unit 215 rotates to cancel the jitter caused by the axial shake of the photographing apparatus 100 on the imaging device 10 and / or vibration.

It can be understood that the controller may further control at least one of the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 to rotate according to the instruction information of the user to adjust the The photographing direction and/or angle of the imaging device 10 is described.

The vertical stabilization mechanism 22 is for eliminating the influence of the vertical shake of the photographing apparatus 100 on the imaging device 10. It should be noted that the vertical jitter generally refers to jitter having a vertical component, that is, as long as the jitter of the photographing apparatus 100 has a component in the vertical direction, it may be referred to as vertical jitter, in other words, the photographing of vertical jitter. The macroscopic movement direction of the device 500 is not necessarily vertical, and may have a certain angle with the vertical direction.

The vertical stabilization mechanism 22 includes a stabilizing assembly 23 and a guide assembly 24. Specifically, in the illustrated embodiment, the stabilizing assembly 23 and the guiding assembly 24 are both disposed on the supporting device 30.

Referring to FIG. 2 at the same time, the stabilizing assembly 23 includes a support base 231, an elastic member 232, a rotating member 233, a suspension member 234, and an adjusting member 235. The rotating member 233 is rotatably supported on the support base 231. One end of the elastic member 232 is fixedly connected to the support base 231, and the other end is fixedly connected to the rotating member 233. The elastic member 232 can be Elastic shape as the rotation of the rotating member 233 change. The suspension member 234 is fixed at one end to the rotating member 233, and the other end can suspend the imaging device 10.

The support base 231 includes a frame portion 2311, a shaft portion 2312, and a cantilever portion 2313. In the present embodiment, the frame portion 2311 is a hollow polyhedral frame, and includes a bottom plate 2311a, two opposite first side plates 2311b, and a second side plate 2311c. The first side plates 2311b are parallel to each other and substantially perpendicularly connected to the bottom plate 2311a, and the second side plates 2311c are substantially perpendicularly connected to the first side plates 2311b and the bottom plate 2311a. The bottom plate 2311a is for supporting the first side plate 2311b and the second side plate 2311c. In the present embodiment, the bottom plate 2311a is a rectangular plate. Each of the first side plates 2311b includes a shaft portion 2311d for connecting the shaft portion 2312. In the present embodiment, the shaft portion 2311d is a sleeve in which a housing space is provided.

In the embodiment, the bottom plate 2311a, the first side plate 2311b, and the second side plate 2311c are hollow plates, so that the overall weight of the support base 231 can be reduced. It can be understood that the bottom plate 2311a, the first side plate 2311b, and the second side plate 2311c may also be a solid board, and the connecting member (not shown) or other objects may be opened as needed. Through hole.

The shaft portion 2312 is for supporting the rotating member 233 and allowing the rotating member 233 to rotate about the axis of the shaft portion 2312 with respect to the frame portion 2311. The shaft portion 2312 includes a shaft body 2312a, two first bearings 2312b corresponding to the shaft joint portions 2311d, and a second bearing 2312c. The first bearing 2312b and the second bearing 2312c are respectively rotatably coupled to the shaft body 2312a. Two of the first bearings 2312b are respectively located at both ends of the shaft portion 2312, and the second bearing 2312c is located between the two first bearings 2312b.

The cantilever portion 2313 is for suspending the imaging device 10 at a predetermined position. The cantilever portion 2313 extends a predetermined distance with respect to the support base 2311 in a predetermined direction to suspend the imaging device 10 at a predetermined position. In this embodiment, the cantilever portion 2313 includes a first arm 2313a and a second arm 2313b connected to the first arm 2313a, and the first arm 2313a and the second arm 2313b are substantially connected in a "V" shape. . The cantilever portion 2313 further includes a plurality of pulleys 2313, the distance between the plurality of pulleys 2313 and the support base 2311 are different from each other, and the plurality of the pulleys 2313 can respectively suspend the imaging device 10 from different At the scheduled location. In the present embodiment, the number of the pulleys 2313 is two. It can be understood that the number of the pulleys 2313 may also be three, four or more. Further, when the imaging device 10 has no different requirements for the suspension position, the number of the pulleys 2313 may be only one.

The elastic member 232 is used to generate a force that balances the gravity of the imaging device 10. In this embodiment, the elastic member 232 is a scroll spring that can be wound or unwound in the spiral direction. The elastic member 232 is located at the inner first end 2321 and the outer second end 2322.

The rotating member 233 is substantially in the form of a disk, and includes a shaft hole 2331 and an outer peripheral surface 2332. The shaft hole 2331 is a hole that can be engaged with the second bearing 2312c. In this embodiment, the rotating member 233 is a spatial spiral cam, that is, a certain rotating direction, and the distance of the outer peripheral surface 2332 with respect to the center of the shaft hole 2331 is gradually increased or gradually decreased. Specifically, along the direction A in which the elastic member 232 is spiraled inward, the distance between at least a portion of the outer peripheral surface 2332 with respect to the center of the shaft hole 2331 is gradually increased. A winding groove 2333 is formed in the outer peripheral surface 2332, and the winding groove 2333 is opened in a spiral direction of the outer peripheral surface 2332. The rotating member 233 is provided with a connecting portion 2334 for fixing the second end 2322 of the elastic member 232. In this embodiment, the connecting portion 2334 is a protrusion protruding from a surface of the rotating member 233 facing the elastic member 232. It can be understood that in other embodiments, the connecting portion 2334 may also be annular. Or any other suitable shape such as a sheet.

The suspension member 234 is for connecting the rotating member 233 and suspending the imaging device 10. The suspension member 233 is a bendable linear structure, and the suspension member 233 has a high rigidity in the longitudinal direction, that is, the suspension member 233 is not easily deformed in the longitudinal direction to prevent the longitudinal vibration of itself from causing the imaging device 10 to be caused. influences. In this embodiment, the suspension member 234 is a steel wire.

The adjusting member 235 is a pre-tightening force for adjusting the elastic member 232. In the embodiment, the adjusting member 235 includes a supporting block 2351, a worm 2352, a worm wheel 2353 adapted to the worm 2352, and a knob 2354. The support block 2351 is configured to rotatably support the worm 2352. In the embodiment, the number of the support blocks 2351 is two, and each of the support blocks 2351 is provided with a pivot hole 2351a. Both ends of the worm 2352 are rotatably connected to the support block 2351, respectively. The knob 2354 is fixedly coupled to one end of the worm 2352, and the worm 2352 can be rotated by rotating the knob 2354.

The stabilizing assembly 23 further includes an adapter 236 for connecting the support base 231 to the support device 30. In this embodiment, the adapter 236 includes a sleeve 2361 and a connecting surface 2362. An axially extending gap 2363 is defined in the peripheral wall of the sleeve 2361. The gap 2363 extends through the inner and outer surfaces of the sleeve 2361 and the end surfaces of the ends, so that the inner diameter of the sleeve 2361 can be changed by changing the gap. 2363 size adjustment. The sleeve 2361 is also provided with an adjustment hole 2364, the adjusting hole 2364 passes through the peripheral wall of the sleeve 2361 located on both sides of the gap 2363. In the embodiment, the adjusting hole 2364 is substantially perpendicular to the gap, and the adjusting hole 2364 is a threaded hole. The adjusting hole 2364 can change the size of the gap 2363 by cooperating with a bolt member (not shown) to further adjust the inner diameter of the sleeve 2361. In this embodiment, the number of the adjustment holes 2364 is two. It can be understood that the number of the adjustment holes 2364 is not limited to two, and may be more than two or only one. A plurality of connecting holes 2362a are defined in the connecting surface 2362. The connecting holes 2362a can cooperate with a connecting member (not shown) to connect the adapter 236 and the supporting base 231 to each other.

Referring to FIG. 2, FIG. 3, FIG. 4 and FIG. 5, the support block 2351 is fixedly disposed on the bottom plate 2311 during assembly; the rotating member 233 and the elastic member 232 are sleeved on the shaft. The second bearing 2312c is fixed in the shaft hole 2331, the first end 2321 of the elastic member 232 is fixed on the shaft portion, and the second end 2322 is fixedly connected to the connecting portion 2334. The worm wheel 2353 is fixedly sleeved on the shaft portion 2312; the shaft portion 2312 is rotatably disposed between the two first side plates 2311b, and the two first bearings 2312b are respectively The shaft portion 2311d is fixedly coupled, the worm wheel 2353 is engaged with the worm 2352; the second arm 2313b of the first arm 2313a of the cantilever portion 2313 is fixed to the second side plate 2311c; One end of the pulling member 234 is fixed to the rotating member 233, and the other end is wound along the winding groove 2333 to pass through the second side plate 2311c and bypass one of the pulleys 2313c. The adapter 236 is fixedly connected to the support base 231. Specifically, the adapter 236 is fixedly coupled to the bottom plate 2311a.

In general, the tensile force of the elastic member is proportional to its elastic shape, that is, the greater the elastic deformation of the elastic member, the greater the elastic force of the elastic member. Specifically, in the present embodiment, referring to FIG. 5 , it is assumed that the load acts on the suspension member 234 as a tensile force N (in the present embodiment, the tensile force N is the guiding mechanism 24, and the axial stabilization is stabilized. The device 21 and the vertical force of the imaging device 10 acting on the suspension member 234, the cutting point of the suspension member 234 and the outer peripheral surface 2332 of the rotating member 233 to the rotation of the rotating member 233 The distance of the center is L, so the torque N is N*L to the rotating member 233, since the rotating member 233 is a spatial spiral cam, and the direction A of the inward spiral of the elastic member 232, The distance of at least a portion of the outer peripheral surface 2332 with respect to the center of rotation gradually increases, and therefore, when the rotating member 233 is rotated in the direction B illustrated by the direction, the L is gradually increased, and the pulling force N is The torque of the rotating member 233 also increases, but when the rotating member 233 rotates, the elastic deformation of the elastic member 232 gradually becomes larger, and the force acting on the rotating member 233 is also the same. It gets bigger. Therefore, as long as the spiral shape of the outer peripheral surface of the rotating member 233 is properly designed, the elastic force acting on the rotating member 233 of the elastic member 232 can always balance the pulling force N acting on the rotating member 233. That is, the rotating member 233 can convert the elastic member 233 into a constant force against the suspension member 234.

Referring to FIG. 1 , the support base 231 is fixed to the support device 30 by the adapter 236 . Specifically, the sleeve 2361 is sleeved on the support portion 32 and passes through A bolt member (not shown) of the adjustment hole 2364 is fastened to the support portion 32. The suspension member 234 passes through the through hole 321 .

The guide assembly 24 includes a first link assembly 241, a second link assembly 242, and a carrier 243. The first link assembly 241 and the second link assembly 242 are respectively disposed on two sides of the carrier 243 , and the two are substantially symmetrically disposed about a central axis of the carrier 243 .

The first link assembly 241 includes a first joint 2411, a first link 2412, and a second link 2413. The first joint 2411 is fixedly connected to the supporting device 30. Specifically, the first joint 2411 is connected to the supporting portion 32. In the present embodiment, the first link 2412 and the second link 2413 are each a substantially flat rod-shaped bracket. One end of the first link 2412 is pivotally connected to the first joint 2411 through a first connecting shaft 2414, and the other end is pivotally connected to the second link 2412 via a second connecting shaft 2415. One end of the rod 2413 away from the first link 2412 is pivotally connected to the carrier 243 via a third connecting shaft 2416. The second link assembly 242 has a similar structure to the first link assembly 241 and will not be described in detail.

The carrier 243 is used to carry the axial stabilization mechanism 21 and the imaging device 10. In this embodiment, the carrier 243 is fixedly connected to the first shaft driving unit 211. The carrier 243 is provided with a wire hole 2431, and an end of the suspension member 235 is fixed in the wire hole 2431.

The first link assembly 241, the second link assembly 242 and the carrier 243 together form a space linkage mechanism, and the execution end of the space linkage mechanism only has a translational freedom in one direction, The axial stabilization mechanism 21 and the direction of movement of the imaging device 10 are defined. Specifically in the illustrated embodiment, the carrier 243 acts as an actuator end of the space linkage mechanism that is only movable in a vertical direction.

Before the use of the photographing apparatus 100, the tension of the suspension member 235 of the vertical stabilizer 22 can be adjusted according to the weight of the axial stabilization mechanism 21 and the imaging device 10, so that the carrier 234 is paired The tensile force of the axial stabilization mechanism 21 and the axial stabilization mechanism 21 and the imaging device Set the gravity balance of 10. In use, the user holds the grip portion 31 of the supporting device 30, and when the photographing device 100 has vertical shaking, the supporting device 30 simultaneously drives the supporting base 231 of the vertical stabilizing mechanism 22 To the motion, according to the law of inertia of the object, only the axial stabilization mechanism 21 and the resultant force of the imaging device 10 in the vertical direction are not zero, the axial stabilization mechanism 21 and the imaging device 10 The initial position is changed, however, as described above, since the vertical stabilizer mechanism 22 can convert the elastic force of the elastic member 232 into a constant pulling force of the suspension member 234, even in the photographing apparatus 100 Vertical wobble is generated, and the axial stabilizing mechanism 21 and the image forming apparatus 10 are still able to remain in the initial position without being affected by the vertical shake. Therefore, the photographing device 100 can effectively eliminate the influence of the vertical shake on the imaging device 10 by using the toward-stabilization mechanism 22, and ensure the quality of the image and/or video captured by the imaging device 10.

It can be understood that in other embodiments, the pan-tilt device 20 may include only the vertical stabilization mechanism 22, and the axial stabilization mechanism 21 is omitted. Referring to Fig. 6, the photographing apparatus 200 of the second embodiment of the present invention omits the axial stabilizing mechanism, and directly connects the image forming apparatus 10 to the guide assembly 24' included in the vertical stabilizing mechanism 22'. In this case, the vertical stabilization mechanism 22' only needs to balance the gravity of the imaging device 10' in the vertical direction, and it is also possible to prevent the imaging device 10' from being shaken vertically by the imaging device 200. The purpose of the impact. The photographing apparatus 200 of the present embodiment simplifies the overall structure and reduces the overall weight, and is more convenient for hand-held photographing.

It can be understood that in other embodiments, the guiding component is not limited to the specific structure described in the first embodiment, and may be other guiding components having similar functions and achieving the same effect.

Referring to FIG. 7, a guide assembly 24" of the photographing apparatus 300 of the third embodiment of the present invention adds a third link assembly 244, the structure of the third connection assembly 244 and the first link assembly 241' and The structure of the second link assembly 242' is substantially the same and will not be described in detail. In addition, the axial stabilization mechanism and the photographing apparatus are not shown in the illustrated embodiment, but the photographing apparatus is as described above. The axial stabilization mechanism and the photographing device may be connected, or only the photographing device may be connected to omit the axial stabilizing mechanism. In the present embodiment, the third link assembly 244 is located in the first link assembly 241' and the Between the second link assemblies 242', and the axis of rotation of the third link assembly 244 is substantially perpendicular to the axis of rotation of the first link assembly 241' and the second link assembly 242'. By adding the third link assembly 242', the shooting device 300 of the mode can more accurately limit the moving direction of the photographing device 300, and has an ideal vertical stabilizing effect.

Referring to Figure 8, the guide assembly 24"' of the photographing apparatus 400 of the fourth embodiment of the present invention adopts a slidingly connected sleeve structure. Specifically, the guide assembly 24"' includes a first guide rod 245 and a second guide. The rod 246 is disposed substantially parallel to the second guide rod 246. The first guiding rod 246 includes a first guiding rod 2451, a second guiding rod 2452 sleeved with the first guiding rod 2451, and a limiting member 2453. The second guiding rod 2452 is a hollow cylindrical rod, one end of the first guiding rod 2451 is fixedly connected to the supporting device 30', and the other end is inserted into the second guiding rod 2452 and opposite to the first The two guiding rods 2452 are slidable along the length direction of the second guiding rod 2452, and the second guiding rod 2452 is fixedly connected to the carrier 243' away from the end of the first guiding rod 2451. The limiting member 2453 is disposed at one end of the second guiding rod 2452 and the first guiding rod 2451, and is capable of forming a clamping limit with the first guiding rod 2451, when the first guiding When the rod 2451 is inserted into the end of the second guiding rod 2452 and slides the second guiding rod 2452 toward the end of the first guiding rod 2451, the limiting member 2453 can be opposite to the first guiding rod 2451 The clamping is performed to prevent the first guiding rod 2451 from coming out of the second guiding rod 2452. The second guide bar 246 has a similar structure to the first guide bar 2451 and will not be described in detail. The photographing apparatus 400 of the present embodiment further simplifies the structure of the guide assembly 24"', which is advantageous in reducing the difficulty in production and assembly of the photographing apparatus 400, while at the same time reducing the cost of the photographing apparatus 400.

Further, it should be understood that the vertical stabilizing mechanism is not limited to the above embodiment as long as a constant pulling force can be generated for the load.

Referring to FIG. 9 and FIG. 10, the photographing apparatus 500 of the fifth embodiment of the present invention has a vertical stabilizing mechanism 22" different from the first embodiment. The vertical stabilizing mechanism 22" includes a rotating member 51 and an elastic member. 52 and a suspension member 53 , the rotating member 51 and the elastic member 52 are spaced apart from each other on the supporting device 30 ′′, in particular, the rotating member 51 and the elastic member 52 are disposed on the supporting portion The rotary member 51 includes a first rotation 511 portion and a second rotation portion 512, and the first rotation portion 511 and the second rotation portion 512 are rotatably disposed on the support device 30" In the present embodiment, the first rotating portion 511 overlaps with the rotational axis of the second rotating portion 523. Specifically, the supporting device 30 ′′ is provided with a fixed shaft (not shown), and the first rotating portion 511 and the second rotating portion 512 are respectively rotatably connected to the fixed shaft, and the first The rotating portion 511 and the second rotating portion 512 are spaced apart by a predetermined distance along the fixed axis such that the rotation of the first rotation 511 and the second rotating portion 512 do not affect each other.

The first rotating portion 511 is substantially semi-disc, and the outer peripheral surface 5111 of the first rotating portion 511 The cylindrical surface, that is, the different positions on the outer peripheral surface 5111 are equal to each other with respect to the rotational axis of the first rotating portion 511. A first wire groove 5111a is opened in the outer circumferential surface 5111. The first wire groove 5111a is opened along the circumferential direction of the first rotating portion 511, and the depth of the first wire groove 5111a is uniform.

In this embodiment, the second rotating portion 512 is a spatial spiral cam, that is, a distance from the outer peripheral surface 5121 of the second rotating portion 512 relative to the rotational axis of the second rotating portion 512 in a certain rotational direction. Gradually increase or decrease. Specifically, along the direction of rotation C, the distance of at least a portion of the outer peripheral surface 5121 with respect to the rotational axis of the second rotating portion 512 gradually increases. A second wire groove 5121a is opened in the outer peripheral surface 5121, and the second wire groove 5121a is opened in a spiral direction of the outer circumferential surface 5121.

One end of the first rotating portion 511 and the second rotating portion 512 are rotatably coupled to each other at a predetermined position from the fixed shaft, so that the rotation of the first rotating portion 511 can drive the second rotation The portion 512 rotates.

The elastic member 52 is a coil spring. In this embodiment, the elastic member 52 is disposed on the supporting device 30 ′′ through a positioning component 54. Specifically, the positioning component 54 includes a connecting member 541 and an adjusting member 542. The positioning component 54 passes the The connecting member 541 is fixedly disposed on the supporting device 30 ′′. In the embodiment, the connecting member 541 has a similar structure to the adapter 236 in the first embodiment, and will not be described in detail. The adjusting member 542 is configured to position the elastic member 52 and adjust the elastic force of the elastic member 52. Specifically, the adjusting member 542 includes a fixing plate 5421, a baffle 5422, a locking plate 5423, and a retaining clip 5424. The fixing plate 5421 is fixedly connected to the connecting member 541. The baffle 5422 is disposed on a side surface of the fixing plate 5421 that faces away from the connecting member 541. In the embodiment, the baffle 5422 is substantially perpendicular to the fixing plate 5421. 5422 has an opening 5422a through which the elastic member 52 can pass. Preferably, the opening 5422 is slightly larger than the diameter of the elastic member 52 to enable the elastic member 52 to pass through. But there is no big gap. The card holder 5423 is configured to hold the predetermined position of the elastic member 52 to change the elastic force of the elastic member 52. In the embodiment, the holding plate 5423 includes the engaging piece 5423a, the card. The insertion piece 5423 is recessed away from the top of the fixing plate 5421 to form a notch 5423b, and the thickness of the engaging piece 5423a is smaller than the thickness of the registration plate 5423 so that the elastic member 52 can be more easily caught. The latching plate 5423 is slidably coupled to the fixing plate 5421, and when the latching plate 5423 is slid to the position of the baffle 5422, it can be abutted against the baffle 5422. The retaining clip 5424 is configured to clamp a portion of the elastic member 52 on a side of the latching plate 5432 facing away from the baffle 5422 to prevent the elastic member 52 from coming out of the latching plate 5423.

In the present embodiment, the fixing plate 5421 is provided with a scale portion 5421a having a scale line thereon, and the fixed position of the elastic member 52 is more directly obtained by the scale portion 5421. The scale portion 5421a includes a portion on a side of the baffle 5422 that is already on the other side of the baffle, and the two portions of the scale portion 5421a are used to measure that the elastic member 52 is located at the baffle 5422, respectively. The length of the sides.

In the actual use, the elastic member 52 can be adjusted to elastically output the position of the elastic member 52 by clamping the position plate 5423. Therefore, the vertical stabilization mechanism 22 can be flexibly adjusted according to the load condition. "The pull."

The suspension member 53 includes a first suspension portion 531 and a second suspension portion 532. One end of the first suspension portion 531 is fixed on the first rotating portion 511, and the other end is around the first line. The slot 5111a is connected to the load. One end of the second suspension portion 532 is fixed to the second rotating portion 512, and the other end is connected to the elastic member 52 around the second wire groove 5121a.

In the present embodiment, the vertical stabilization mechanism 22" further includes a first pulley 55 and a second pulley 56. The first suspension portion 531 is connected to the load by bypassing the first pulley 55, the first pulley 55. For changing the direction of the first suspension portion 531 such that the end of the first suspension portion 531 is oriented in a vertical direction. The second suspension portion 532 bypasses the second pulley 56 and is elastic The member 52 is connected, and the second pulley 56 is located in the longitudinal direction of the elastic member 52, and the pulling force of the second suspension portion 532 is always along the length direction of the elastic member 52, avoiding the elastic member 52 along the length It is deformed in other directions outside the longitudinal direction.

According to the foregoing principle, the vertical stabilizing mechanism 22" can also convert the elastic force of the elastic member 52 into a constant pulling force to the load. Specifically, the load acts on the first suspension portion 531. The pulling force acts on the first rotating portion 511 as a torque. Since the outer peripheral surface of the outer peripheral surface 5111 of the first rotating portion 511 is a cylindrical surface, the said rotating portion 511 is rotated during the first rotating portion 511. The torque remains unchanged; when the first rotating portion 511 is rotated in the direction C, the elastic force of the elastic member 52 becomes large, that is, the pulling force of the second hanging portion 532 becomes large, but due to the second The outer peripheral surface 5121 of the rotating portion 512 is a helicoid, and the second hanging portion 532 is at the point of the force of the second rotating portion 512 when the second rotating portion 512 follows the first rotating portion 511 The distance with respect to the rotational axis of the second rotating portion 512 is gradually reduced, and therefore, the second rotating portion 512 is appropriately designed. Corresponding relationship between the spiral shape of the outer peripheral surface 5121 and the tensile force change of the elastic member, that is, the moment of the second suspension portion 532 acting on the second rotating portion 512 and the first suspension The pulling portion 531 acts on the moment balance of the first rotating portion 511. That is, the vertical stabilizing mechanism 22" can convert the elastic force of the elastic member 52 into a constant pulling force to the load.

Before the use of the photographing apparatus 500, the pulling force of the suspension member 53 of the vertical stabilizer 22" may be adjusted according to the weight of the load, so that the load of the carrier 234 against the axial stabilizer mechanism 21 is loaded. Gravity balance. When the photographing apparatus 500 has vertical shaking, since the vertical stabilizing mechanism 22" can convert the elastic force of the elastic member 52 into a constant pulling force of the first suspension portion 531, even if The photographing apparatus 500 generates vertical shake, and the load can still be maintained at the initial position without being affected by the vertical shake. Therefore, the photographing device 500 can effectively eliminate the influence of the vertical shake on the photographing by using the tilting mechanism 22", and ensure the quality of the image and/or video captured by the imaging device 10.

Referring to FIG. 11, the photographing apparatus 600 of the sixth embodiment of the present invention omits the positioning assembly, and directly fixes one end of the elastic member 60 to the supporting device 30"'. The photographing apparatus 600 simplifies design and is advantageous for reducing production. The difficulty of assembly and making the photographing device 600 more lightweight and portable.

By providing the vertical stabilization mechanism, the photographing device can eliminate the influence of the shaking of the vertical direction of the photographing device on the photographing, and can ensure the quality and effect of photographing.

It is to be understood that those skilled in the art can 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.

Claims

A vertical stabilizing mechanism for supporting a load, characterized in that: the vertical stabilizing mechanism comprises a stabilizing assembly, the stabilizing assembly comprising an elastic member, a rotating member and a suspension member, the rotating member and the rotating member The elastic members are connected, one end of the suspension member is disposed on the outer circumferential surface of the rotating member, and the other end is used for connecting the load, and the rotation of the rotating member drives the elastic member to elastically deform. The rotating member can convert the elastic force of the elastic member into a constant pulling force of the suspension member to the load.
A vertical stabilizer according to claim 1, wherein a distance between an outer peripheral surface of said rotary member and a rotational axis of said rotary member is gradually increased or decreased in a predetermined rotational direction.
The vertical stabilizing mechanism according to claim 2, wherein the elastic member is a scroll spring, and one end of the elastic member is coupled to the rotating member and is rotatable with the rotating member. Or unwinding, the distance between the outer peripheral surface of the rotary member and the rotational axis of the rotary member gradually increases along the winding direction of the elastic member.
The vertical stabilizing mechanism according to claim 3, wherein said stabilizing assembly comprises a support base, said rotary member being rotatably supported on said support base, and the other end of said elastic member The support seats are fixedly connected.
The vertical stabilizing mechanism according to claim 4, wherein the support base comprises a frame portion and a shaft portion, and the rotating member is rotatably sleeved on the shaft portion, and the elastic member is The other end is fixed to the shaft portion.
The vertical stabilizing mechanism according to claim 5, wherein the frame portion is a hollow polyhedral frame, comprising a bottom plate and two opposite first side plates connected to the bottom plate, wherein the shaft portion is disposed on two Between the first side panels.
A vertical stabilizer according to claim 6, wherein each of said first side plates includes a shaft portion, said shaft portion includes a shaft body and two first portions corresponding to said shaft portion The bearing is rotatably sleeved on the shaft body and fixedly connected to the corresponding shaft joint portion.
A vertical stabilizer according to claim 5, wherein said rotating member comprises a shaft hole, said shaft portion comprising a shaft body and a second bearing corresponding to said shaft hole, said second bearing The grounding sleeve is sleeved on the shaft body and fixedly disposed in the shaft hole.
The vertical stabilizer according to claim 6, wherein the bottom plate and the first side plate are hollow plates.
A vertical stabilizer according to claim 4, wherein said support base further comprises a cantilever portion for suspending said load at a predetermined position.
The vertical stabilizer according to claim 10, wherein the support base further comprises a second side plate, and the cantilever portion is fixed to the second side plate.
A vertical stabilizer according to claim 10, wherein said cantilever portion includes a first arm and a second arm coupled to said first arm, said first arm being coupled to said second arm It is "V" shaped.
A vertical stabilizer according to claim 10, wherein said cantilever portion further includes a pulley, said pulley being located at an end of said cantilever portion away from said support base, said suspension member bypassing said A pulley connects the load.
The vertical stabilizing mechanism according to claim 13, wherein the number of the pulleys includes a plurality of pulleys, and the distance between the plurality of pulleys and the support base are different from each other, and the suspension member Winding on one of the pulleys.
The vertical stabilizing mechanism according to claim 5, wherein the support base comprises an adjusting member, the adjusting member is disposed on the supporting base and connected to the shaft portion, and the adjusting member is rotatable The shaft portion adjusts a preload of the elastic member.
The vertical stabilizing mechanism according to claim 15, wherein the adjusting member comprises a worm and a worm wheel adapted to the worm, the worm wheel and the shaft portion are fixedly connected to each other, and the worm is rotated The worm wheel is rotated to rotate the shaft portion.
A vertical stabilizer according to claim 16, wherein said adjusting member comprises a supporting block, said worm being rotatably supported by said frame portion by said supporting block
The vertical stabilization mechanism of claim 1 wherein said stabilizing assembly further comprises an adapter, said adapter being coupled to the support device.
The vertical stabilizing mechanism according to claim 18, wherein the adapter comprises a sleeve and a connecting surface, and a peripheral wall of the sleeve is provided with a gap extending in the axial direction, the gap penetrating through The inner and outer surfaces of the sleeve and the end faces at both ends are such that the inner diameter of the sleeve can be adjusted by changing the size of the gap.
The vertical stabilizer according to claim 19, wherein said sleeve is further opened There is an adjustment aperture that passes through a peripheral wall of the sleeve on either side of the gap, the adjustment aperture for mating with a fastener to adjust the size of the gap.
A vertical stabilizer according to claim 2, wherein said rotating member includes a first rotating portion and a second rotating portion disposed coaxially with said first rotating portion, said first rotating portion The second rotation is pivotally connected to each other at a predetermined distance from the first rotating portion and the second rotating portion, and an outer peripheral surface of the first rotating portion is a cylindrical surface, and an outer peripheral surface of the second rotating portion The distance from the rotational axis of the second rotating portion gradually increases or decreases in a predetermined rotational direction.
The vertical stabilizing mechanism according to claim 21, wherein the elastic member is a coil spring, and the elastic member is stretched and coupled to the second rotating portion to stretch the rotating direction of the elastic member The distance of the rotation axis of the second rotating portion gradually decreases in a predetermined rotation direction.
The vertical stabilizing mechanism according to claim 21, wherein said suspension member comprises a first suspension portion and a second suspension portion, one end of said first suspension portion being fixed to said first The other end of the rotating portion is connected to the load, and one end of the second suspension portion is fixed to the second rotating portion, and the other end is connected to the elastic member.
The vertical stabilizer according to claim 23, wherein said vertical stabilizing mechanism further comprises a first pulley and a second pulley, said first suspension portion being connected to the load by bypassing the first pulley, The second suspension portion is connected to the elastic member after bypassing the second pulley, and the second pulley is located in a longitudinal direction of the elastic member.
The vertical stabilizing mechanism according to claim 23, wherein the outer peripheral surface of the first rotating portion is provided with a first wire slot, and the second rotating portion is provided with a second wire slot, the first hanging The pulling portion is connected to the load around the first wire groove, and the second hanging portion is connected to the elastic member around the second wire groove.
The vertical stabilizer according to claim 21, wherein said elastic member is positioned at a predetermined position by a positioning assembly.
A vertical stabilizer according to claim 26, wherein said positioning assembly includes an adjustment member for positioning said elastic member to adjust an elastic force of said elastic member.
The vertical stabilizing mechanism according to claim 27, wherein the adjusting member comprises a fixing plate, a baffle and a latching plate, wherein the fixing plate is fixedly connected with the connecting member, and the latching plate is clamped to The elastic member is predetermined and abutted against the baffle.
The vertical stabilizer according to claim 28, wherein said baffle is opened An opening through which the elastic member is engaged with the card holder.
The vertical stabilizing mechanism according to claim 28, wherein the holding plate comprises a snap-in piece, and the engaging piece is recessed away from a top of the fixing plate to form a notch, and/or The thickness of the snap-in piece is smaller than the thickness of the card holder.
A vertical stabilizer according to claim 28, wherein said fixing plate is provided with a scale portion having a scale line thereon.
The vertical stabilizing mechanism of claim 1 wherein said vertical stabilizing mechanism comprises a stabilizing assembly guide assembly for guiding the direction of movement of said load.
A vertical stabilizer according to claim 32, wherein said guide assembly comprises a first link assembly, a second link assembly and a carrier, said first link assembly, said second connection The rod assemblies are respectively disposed on both sides of the carrier.
A vertical stabilizer according to claim 33, wherein each of said first link assembly and said second link assembly includes a first link and a second link, said A link and the second link are pivotally connected to each other.
A vertical stabilizer according to claim 33, wherein said guide assembly further comprises a third link assembly, said third link assembly being located in said first link assembly and said second link Between the rod assemblies, and the axis of rotation of the third link assembly is perpendicular to the axes of rotation of the first link assembly and the second link assembly.
A vertical stabilizer according to claim 33, wherein said guide assembly comprises a first guide bar and a second guide bar, each of said first guide bar and said second guide bar comprising a first guiding rod and a second guiding rod that is sleeved with the first guiding rod, and the first guiding rod and the second guiding rod are relatively slidable for guiding.
A vertical stabilization mechanism according to claim 36, wherein each of said first guiding rod and said second guiding rod further comprises said limiting member, said limiting member being disposed at An end of the two guiding rods sleeved with the first guiding rod and capable of forming a clamping limit with the first guiding rod.
A pan-tilt device for supporting an imaging device, the pan-tilt device comprising a vertical stabilizing mechanism, the vertical stabilizing mechanism comprising a stabilizing component comprising an elastic member, a rotating member and a suspension The rotating member is connected to the elastic member, one end of the suspension member is disposed on an outer circumferential surface of the rotating member, and the other end is used for connecting the imaging device, and the rotating member rotates The elastic member is elastically deformed, and the rotating member is capable of converting the elastic force of the elastic member into the A constant pulling force of the suspension member to the imaging device.
A gimbal apparatus according to claim 38, wherein a distance between an outer peripheral surface of said rotary member and a rotational axis of said rotary member is gradually increased or decreased in a predetermined rotational direction.
The pan/tilt head device according to claim 39, wherein the elastic member is a scroll spring, and one end of the elastic member is coupled to the rotating member and can be rotated or unloaded with the rotating member. The roll, along the winding direction of the elastic member, the distance between the outer peripheral surface of the rotary member and the rotational axis of the rotary member gradually increases.
A pan/tilt head device according to claim 40, wherein said stabilizing assembly comprises a support base, said rotary member being rotatably supported on said support base, and the other end of said elastic member and said support The seat is fixedly connected.
A pan/tilt head device according to claim 41, wherein said support base comprises a frame portion and a shaft portion, said rotary member being rotatably sleeved on said shaft portion, said other of said elastic members One end is fixed to the shaft portion.
A pan/tilt head device according to claim 42, wherein said frame portion is a hollow polyhedral frame comprising a bottom plate and two opposite first side plates connected to the bottom plate, said shaft portions being disposed at two places Between the first side panels.
A platform apparatus according to claim 43, wherein each of said first side plates includes a shaft portion, said shaft portion includes a shaft body and two first bearings corresponding to said shaft joint portions, The first bearing is rotatably sleeved on the shaft body and fixedly connected to the corresponding shaft joint portion.
A pan/tilt head according to claim 42, wherein said rotating member includes a shaft hole, said shaft portion includes a shaft body and a second bearing corresponding to said shaft hole, said second bearing and said pivotable The sleeve is sleeved on the shaft body and fixedly disposed in the shaft hole.
A pan/tilt head device according to claim 43, wherein said bottom plate and said first side plate are hollow plates.
A pan/tilt head according to claim 41, wherein said support base further comprises a cantilever portion for suspending said image forming apparatus at a predetermined position.
A pan/tilt head according to claim 47, wherein said support base further comprises a second side panel, said cantilever portion being fixed to said second side panel.
A pan/tilt head according to claim 47, wherein said cantilever portion includes first An arm and a second arm coupled to the first arm, the first arm being coupled to the second arm in a "V" shape.
A pan/tilt head device according to claim 47, wherein said cantilever portion further includes a pulley, said pulley being located at an end of said cantilever portion away from said support base, said suspension member being connected around said pulley The imaging device.
The pan/tilt head device according to claim 50, wherein the number of the pulleys includes a plurality of pulleys, and the distance between the plurality of pulleys and the support base are different from each other, and the suspension member is wound around With one of the pulleys on it.
A pan/tilt head device according to claim 42, wherein said support base includes an adjusting member, said adjusting member is disposed on said support base and connected to said shaft portion, said adjusting member being capable of rotating said The shaft portion adjusts a preload of the elastic member.
The pan/tilt head device according to claim 52, wherein the adjusting member comprises a worm and a worm wheel adapted to the worm, the worm wheel and the shaft portion are fixedly connected to each other, and the rotating portion of the worm is driven The worm wheel rotates to further rotate the shaft portion.
A pan/tilt head according to claim 53, wherein said adjusting member comprises a supporting block, said worm being rotatably supported by said frame portion by said supporting block
A pan/tilt head according to claim 38, wherein said stabilizing assembly further comprises an adapter, said adapter being coupled to the support means.
The pan/tilt head device according to claim 55, wherein the adapter member comprises a sleeve and a connecting surface, and a peripheral wall of the sleeve is provided with a gap extending in the axial direction, the gap extending through the sleeve The inner and outer surfaces of the barrel and the end faces at both ends are such that the inner diameter of the sleeve can be adjusted by changing the size of the gap.
A pan/tilt head device according to claim 56, wherein said sleeve is further provided with an adjustment hole, said adjustment hole passing through a peripheral wall of said sleeve on both sides of said gap, said adjustment hole being for The size of the gap is adjusted in conjunction with a fastener.
A pan-tilt device according to claim 39, wherein said rotating member includes a first rotating portion and a second rotating portion disposed coaxially with said first rotating portion, said first rotating portion and said The second rotation is pivotally connected to each other at a predetermined distance from the first rotating portion and the second rotating portion, the outer peripheral surface of the first rotating portion is a cylindrical surface, and the outer peripheral surface of the second rotating portion is The distance of the rotation axis of the second rotating portion gradually increases or decreases in a predetermined rotation direction.
A pan/tilt head according to claim 58, wherein said elastic member is a spiral The spring is elastically connected to the second rotating portion, and the distance of the rotating shaft center of the second rotating portion is gradually decreased in a predetermined rotating direction along the rotating direction of the elastic member.
A pan/tilt device according to claim 58, wherein said suspension member includes a first suspension portion and a second suspension portion, one end of said first suspension portion being fixed to said first rotating portion The other end is connected to the image forming apparatus, and one end of the second suspension portion is fixed to the second rotating portion, and the other end is connected to the elastic member.
A pan/tilt device according to claim 60, wherein said pan-tilt device further comprises a first pulley and a second pulley, said first suspension portion being connected to the imaging device by means of the first pulley, said The second suspension portion is connected to the elastic member after bypassing the second pulley, and the second pulley is located in the longitudinal direction of the elastic member.
The pan/tilt head device according to claim 60, wherein the outer peripheral surface of the first rotating portion is provided with a first wire groove, and the second rotating portion is provided with a second wire groove, the first hanging portion The first wire trough is connected to the image forming device, and the second suspension portion is connected to the elastic member around the second wire groove.
A pan/tilt head according to claim 58, wherein said elastic member is positioned at a predetermined position by a positioning assembly.
A pan/tilt head according to claim 63, wherein said positioning assembly includes an adjustment member for positioning said elastic member to adjust an elastic force of said elastic member.
The pan/tilt head device according to claim 64, wherein the adjusting member comprises a fixing plate, a baffle plate and a latching plate, wherein the fixing plate is fixedly connected to the connecting member, and the card retaining plate is clamped to the The resilient member is predetermined and abuts against the baffle.
The pan/tilt head device according to claim 65, wherein the baffle is open with an opening, and the elastic member is engaged with the card holder through the opening.
A pan/tilt device according to claim 65, wherein said holding plate comprises a snap-in piece, said snap-in piece being recessed away from a top of said fixed plate to form a recess, and/or said card The thickness of the sheet is smaller than the thickness of the card.
A pan/tilt head according to claim 65, wherein said fixed plate is provided with a scale portion having a scale line thereon.
A pan-tilt device according to claim 38, wherein said pan-tilt means comprises a stabilizing assembly guiding assembly for guiding the direction of movement of said imaging device.
The pan/tilt head according to claim 69, wherein said guide assembly comprises a first link assembly, a second link assembly, and a carrier, said first link assembly, said second link assembly They are respectively disposed on both sides of the carrier.
A pan/tilt device according to claim 70, wherein each of said first link assembly and said second link assembly includes a first link and a second link, said first connection The rod and the second link are pivotally connected to each other.
A pan/tilt head according to claim 70, wherein said guide assembly further comprises a third link assembly, said third link assembly being located in said first link assembly and said second link assembly And an axis of rotation of the third link assembly is perpendicular to an axis of rotation of the first link assembly and the second link assembly.
A pan/tilt head according to claim 70, wherein said guide assembly comprises a first guide bar and a second guide bar, each of said first guide bar and said second guide bar comprising a first a guide rod and a second guide rod that is sleeved with the first guide rod, the first guide rod and the second guide rod are relatively slidable for guiding.
The pan/tilt head device according to claim 73, wherein each of said first guide bar and said second guide bar further comprises said limiting member, and said limiting member is disposed at said second guiding An end of the rod sleeved with the first guiding rod and capable of forming a clamping limit with the first guiding rod.
A pan-tilt device according to claim 38, wherein said pan-tilt means comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming apparatus and said vertical stabilizing mechanism, Compensating for the axial jitter of the pan-tilt device.
A pan/tilt head according to claim 75, wherein said axial stabilizing mechanism is a three-axis pan/tilt.
A photographing apparatus includes an image forming apparatus, a pan and tilt apparatus, and a supporting apparatus, the pan tilting apparatus including a vertical stabilizing mechanism, the vertical stabilizing mechanism including a stabilizing component, the stabilizing component including an elastic member, and a rotation And a rotating member connected to the elastic member, one end of the suspension member is disposed on an outer circumferential surface of the rotating member, and the other end is used for connecting the imaging device, the rotating member Rotation of the elastic member to elastically deform, the rotating member capable of converting the elastic force of the elastic member into a constant pulling force of the suspension member to the image forming device, the supporting device capable of supporting the cloud Table device.
A photographing apparatus according to claim 77, wherein: an outer peripheral surface of said rotary member The distance from the rotational axis of the rotary member gradually increases or decreases in a predetermined rotational direction.
The photographing apparatus according to claim 78, wherein the elastic member is a scroll spring, and one end of the elastic member is coupled to the rotating member and can be wound or unwound with the rotating member. The distance between the outer peripheral surface of the rotary member and the rotational axis of the rotary member gradually increases along the winding direction of the elastic member.
The photographing apparatus according to claim 79, wherein said stabilizing assembly comprises a support base, said rotary member being rotatably supported on said support base, and the other end of said elastic member and said support base Fixedly connected.
The photographing apparatus according to claim 80, wherein said support base comprises a frame portion and a shaft portion, said rotary member being rotatably sleeved on said shaft portion, said other end of said elastic member And fixed to the shaft portion.
A photographing apparatus according to claim 81, wherein said frame portion is a hollow polyhedral frame, comprising a bottom plate and two opposite first side plates connected to the bottom plate, said shaft portion being disposed in said two Between the first side panels.
A photographing apparatus according to claim 82, wherein each of said first side plates includes a shaft portion, said shaft portion includes a shaft body and two first bearings corresponding to said shaft joint portions, The first bearing is rotatably sleeved on the shaft body and fixedly connected to the corresponding shaft joint portion.
A photographing apparatus according to claim 81, wherein said rotating member includes a shaft hole, said shaft portion includes a shaft body and a second bearing corresponding to said shaft hole, said second bearing and said rotatable sleeve The shaft body is disposed on the shaft body and fixedly disposed in the shaft hole.
A photographing apparatus according to claim 82, wherein said bottom plate and said first side plate are hollow plates.
A photographing apparatus according to claim 80, wherein said support base further comprises a cantilever portion for suspending said image forming apparatus at a predetermined position.
A photographing apparatus according to claim 86, wherein said support base further comprises a second side panel, and said cantilever portion is fixed to said second side panel.
A photographing apparatus according to claim 86, wherein said cantilever portion includes a first arm and a second arm connected to said first arm, said first arm being connected to said second arm as "V "shape.
A photographing apparatus according to claim 86, wherein said cantilever portion further includes a pulley, The pulley is located at an end of the cantilever portion away from the support base, and the suspension member connects the imaging device around the pulley.
The photographing apparatus according to claim 89, wherein the number of the pulleys includes a plurality of pulleys, and the distance between the plurality of pulleys and the support base are different from each other, and the suspension member is wound around One of the pulleys.
The photographing apparatus according to claim 81, wherein said support base includes an adjusting member, said adjusting member is disposed on said support base and connected to said shaft portion, said adjusting member being capable of rotating said shaft To adjust the preload of the elastic member.
A photographing apparatus according to claim 91, wherein said adjusting member comprises a worm and a worm wheel adapted to said worm, said worm wheel being fixedly coupled to said shaft portion, said worm rotating said The worm wheel rotates to further rotate the shaft portion.
A photographing apparatus according to claim 92, wherein said adjusting member comprises a supporting block, said worm being rotatably supported by said frame portion by said supporting block
The photographing apparatus according to claim 77, wherein said stabilizing assembly further comprises an adapter, said adapter being coupled to the support means.
The photographing apparatus according to claim 94, wherein the adapter comprises a sleeve and a connecting surface, and a peripheral wall of the sleeve is provided with a gap extending in the axial direction, the gap extending through the sleeve The inner and outer surfaces and the end faces are such that the inner diameter of the sleeve can be adjusted by changing the size of the gap.
The photographing apparatus according to claim 93, wherein said sleeve is further provided with an adjustment hole, said adjustment hole passing through a peripheral wall of said sleeve on both sides of said gap, said adjustment hole being used for The fasteners cooperate to adjust the size of the gap.
The photographing apparatus according to claim 78, wherein said rotating member includes a first rotating portion and a second rotating portion disposed coaxially with said first rotating portion, said first rotating portion and said first portion The two rotations are pivotally connected to each other at a predetermined distance from the first rotating portion and the second rotating portion, the outer peripheral surface of the first rotating portion is a cylindrical surface, and the outer peripheral surface of the second rotating portion is The distance of the rotation axis of the second rotating portion gradually increases or decreases in a predetermined rotational direction.
A photographing apparatus according to claim 97, wherein said elastic member is a coil spring, said elastic member being operatively coupled to said second rotating portion, along said direction of rotation of said elastic member, said The distance of the rotation axis of the second rotating portion gradually decreases in a predetermined rotational direction.
A photographing apparatus according to claim 97, wherein said suspension member comprises a first suspension portion and a second suspension portion, one end of said first suspension portion being fixed to said first rotating portion The other end is connected to the image forming apparatus, and one end of the second suspension portion is fixed to the second rotating portion, and the other end is connected to the elastic member.
A photographing apparatus according to claim 99, wherein said pan-tilt means further comprises a first pulley and a second pulley, said first suspension portion being connected to the image forming means by the first pulley, said second The suspension portion is connected to the elastic member after bypassing the second pulley, and the second pulley is located in the longitudinal direction of the elastic member.
The photographing apparatus according to claim 99, wherein the outer peripheral surface of the first rotating portion is provided with a first wire groove, and the second rotating portion is provided with a second wire groove, the first hanging portion The first wire trough is connected to the image forming device, and the second suspension portion is connected to the elastic member around the second wire groove.
A photographing apparatus according to claim 97, wherein said elastic member is positioned at a predetermined position by a positioning member.
A photographing apparatus according to claim 102, wherein said positioning assembly includes an adjusting member for positioning said elastic member to adjust an elastic force of said elastic member.
The photographing apparatus according to claim 103, wherein the adjusting member comprises a fixing plate, a baffle and a card holder, and the fixing plate is fixedly connected to the connecting member, and the latching plate is engaged with the elastic The predetermined position is abutted against the baffle.
The photographing apparatus according to claim 104, wherein said baffle is opened with an opening, and said elastic member is engaged with said card holder through said opening.
The photographing apparatus according to claim 104, wherein said holding plate comprises a snap-in piece, said snap-in piece being recessed away from a top of said fixing plate to form a recess, and/or said snap-in The thickness of the sheet is less than the thickness of the card holder.
The photographing apparatus according to claim 104, wherein said fixing plate is provided with a scale portion having a scale line thereon.
A photographing apparatus according to claim 77, wherein said pan-tilt means comprises a stabilizing means guide assembly for guiding a direction of movement of said image forming means.
A photographing apparatus according to claim 108, wherein said guide assembly comprises a first link assembly, a second link assembly, and a carrier, said first link assembly, said second link The rod assemblies are respectively disposed on both sides of the carrier.
A photographing apparatus according to claim 109, wherein each of said first link assembly and said second link assembly includes a first link and a second link, said first link And the second link is pivotally connected to each other.
A photographing apparatus according to claim 109, wherein said guide assembly further comprises a third link assembly, said third link assembly being located in said first link assembly and said second link assembly And the rotation axis of the third link assembly is perpendicular to the rotation axes of the first link assembly and the second link assembly.
A photographing apparatus according to claim 109, wherein said guide assembly includes a first guide bar and a second guide bar, each of said first guide bar and said second guide bar including a first guide a rod and a second guide rod that is sleeved with the first guide rod, the first guide rod and the second guide rod are relatively slidable for guiding.
The photographing apparatus according to claim 112, wherein each of said first guiding rod and said second guiding rod further comprises said limiting member, and said limiting member is disposed on said second guiding rod An end that is sleeved with the first guiding rod and capable of forming a clamping limit with the first guiding rod.
A photographing apparatus according to claim 77, wherein said pan-tilt means comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming apparatus and said vertical stabilizing mechanism for Compensating for the axial jitter of the pan-tilt device.
A photographing apparatus according to claim 114, wherein said axial stabilizing mechanism is a three-axis pan/tilt.