WO2019019303A1 - 一种多倾角长镜头稳定器 - Google Patents

一种多倾角长镜头稳定器 Download PDF

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Publication number
WO2019019303A1
WO2019019303A1 PCT/CN2017/101700 CN2017101700W WO2019019303A1 WO 2019019303 A1 WO2019019303 A1 WO 2019019303A1 CN 2017101700 W CN2017101700 W CN 2017101700W WO 2019019303 A1 WO2019019303 A1 WO 2019019303A1
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WO
WIPO (PCT)
Prior art keywords
motor
connecting rod
rotating shaft
heading
long lens
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Application number
PCT/CN2017/101700
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English (en)
French (fr)
Inventor
丁赞
Original Assignee
深圳创客派科技有限公司
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Publication date
Priority claimed from CN201720908477.9U external-priority patent/CN206906773U/zh
Priority claimed from CN201710612671.7A external-priority patent/CN107255901A/zh
Application filed by 深圳创客派科技有限公司 filed Critical 深圳创客派科技有限公司
Publication of WO2019019303A1 publication Critical patent/WO2019019303A1/zh

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    • 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
    • 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
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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 present invention relates to the field of imaging stabilization devices, and in particular to a multi-tilt long lens stabilizer.
  • the stabilizer generally has at least two shafts, each of which has a corresponding motor for driving and adjusting the rotational position, and the balance relationship of the camera is destroyed.
  • the central processor analyzes the signals fed back by the sensors such as the gyroscope, acceleration, and magnetic field in the stabilizer, and forms a correction signal through the corresponding correction algorithm to control the effect of the motor finally reaching the corrected balance position. As shown in FIG.
  • a Chinese patent document CN201620642845.5 discloses a camera gyro and a system including the same, the camera gyro comprising a stabilizer body and a control unit, the stabilizer body comprising: a support arm, And a horizontal motor, a roll motor, and a vertical motor connected by the support arm, wherein the vertical motor is provided with a support plate corresponding to the roll motor, and the camera is disposed on the support plate, the horizontal motor It is detachably connected to the control unit.
  • the stabilizer uses a three-axis orthogonal gyro composed of a pitch motor, a roll motor, and a heading motor to achieve attitude maintenance, because the orthogonal three axes and their connecting arms make the platform space for carrying the camera very Limit, so this stabilizer can not support the telephoto lens camera.
  • This structure will also block the real-time viewfinder display of the photographic equipment.
  • the orthogonal structure connects the connecting arm between the pitch motor and the roll motor for a long time, which makes it stable. The size of the device is large and it is not easy to carry.
  • the object of the present invention is to provide a multi-tilt long lens stabilizer for solving the existing real-time viewfinder display device of the occlusion device, the telephoto lens camera and the stabilizer are large in size and difficult to carry. problem.
  • the present invention provides a multi-tilt long lens stabilizer including a handhold portion, a mount for mounting a photographing apparatus, a steering device, and for controlling the steering device a control device for adjusting a position of the photographing device;
  • the steering device includes a heading motor, a roll motor, a pitch motor, a first connecting rod and a second connecting rod, wherein the control device is respectively connected with the heading motor, the roll motor, and the pitch motor Connecting, the heading motor is fixedly mounted on an upper end of the hand-held portion, one end of the first connecting rod is connected to a rotating shaft of the heading motor, and the other end of the first connecting rod is provided with a first cavity,
  • the roll motor is installed in the first cavity, one end of the second connecting rod is connected to the rotating shaft of the roll motor, and the other end of the second connecting rod is provided with a second cavity, and the pitch motor is installed In the second cavity,
  • the fixing bracket is coupled to a rotating shaft of the pitch motor; an axis of the heading motor
  • one end of the first connecting rod and the rotating shaft of the heading motor, one end of the second connecting rod and the rotating shaft of the rolling motor are connected by a clamping device, and the clamping device comprises a base And a clamping block, the base is provided with a notch on one side thereof, the clamping block is mounted on the base by a bolt passing through the clamping block, and the twisting bolt can change the between the clamping block and the side of the notch distance.
  • the fixing frame includes a connecting member, a pressing block, a guide rail and a mounting substrate; one end of the connecting member is connected to a rotating shaft of the pitch motor by a clamping device, and the connecting member is The other end is connected to the guide rail, and the mounting substrate is movably attached to the guide rail through a card slot disposed at a back surface thereof, and the pressing block is detachably pivoted at an edge of the card slot by a bolt.
  • the first connecting rod, the second connecting rod and both sides of one end of the connecting member are provided with scales.
  • the hand-held portion has a cavity inside, a power module is installed in the cavity, and a surface of the hand-held portion is provided with a charging interface electrically connected to the power module.
  • the control device comprises a posture detector, three driving modules, three magnetic encoders, a first control module, a human-machine switching device and three ring magnets;
  • the posture detector is for sensing acceleration of the photographic device and The angle data is converted into an electrical signal and sent to the first control module for processing and calculation.
  • the first control module is electrically connected to the posture detector, the three driving modules, the three magnetic encoders, and the human-machine switching device, respectively.
  • the three driving modules are respectively electrically connected to the heading motor, the roll motor and the pitch motor, and the three ring magnets are respectively sleeved on the rotating shafts of the heading motor, the roll motor and the pitch motor.
  • the posture detector is a nine-axis gyroscope.
  • the human-machine switching device comprises a second control module, a rocker for adjusting the posture of the photographing device, a mode adjusting button for adjusting the working mode of the stabilizer, an opening key and a communication interface, and the second control
  • the module is electrically connected to the rocker, the first control module, the mode adjustment button, the switch key, and the communication interface.
  • the human-machine switching device further includes a wireless communication module for receiving a work instruction sent by the user terminal, the wireless communication module is electrically connected to the second control module, and the wireless communication module is a Bluetooth module and a WiFi. Module or 2.4GHz wireless transceiver.
  • the hand-held portion is further provided with an indicator light, and the indicator light is electrically connected to the second control module.
  • the present invention has the advantage that the multi-tilt long lens stabilizer of the present invention has the advantages of a small size, a live view display that does not obstruct the photographic apparatus, and a camera that can support a telephoto lens.
  • Fig. 1 is a front view showing the structure of a stabilizer disclosed in Chinese Patent Publication No. CN201620642845.5.
  • FIG. 2 is a front view showing the structure of a multi-tilt long lens stabilizer according to the present invention.
  • FIG. 3 is a schematic structural view showing a portion enlarged in FIG.
  • Fig. 4 is a structural schematic view showing a state in which the portion A in Fig. 2 is partially enlarged and disassembled.
  • FIG. 5 is a schematic top plan view of a multi-tilt long lens stabilizer according to the present invention.
  • FIG. 6 is a schematic top plan view of the multi-tilt long lens stabilizer of the present invention after the photographic apparatus is mounted.
  • Fig. 7 is a side view showing the structure of the fixing frame of the present invention.
  • FIG. 8 is a structural block diagram of a circuit portion of a multi-tilt long lens stabilizer according to the present invention.
  • the multi-tilt long lens stabilizer comprises a hand portion 1, a fixing frame 4, a steering device 2 and a control device.
  • the multi-tilt long lens stabilizer of the present invention has a small volume and does not block the real-time operation of the photographic device 5.
  • the hand-held portion 1 has a cavity inside, and a power module is installed in the cavity.
  • the surface of the hand-held portion 1 is provided with a charging interface 12 electrically connected to the power module.
  • the lower end of the hand-held portion 1 is provided with a threaded hole, and can be held by a bolt through use.
  • An external display is separately mounted on the lower end of the portion 1, and an ergonomic recess 13 is provided in the middle of the hand-held portion 1, so that the user can hold the hand-held portion 1 in a comfortable state without taking a finger.
  • the steering device 2 includes a heading motor, a roll motor, a pitch motor, a first connecting rod 21, and a second connecting rod 22.
  • the heading motor, the roll motor, and the pitch motor are all brushless motors.
  • the upper end of the hand-held portion 1 is provided with a motor cavity 28, and the heading motor is fixedly mounted in the motor cavity 28.
  • the one end of the first connecting rod 21 is connected with the rotating shaft of the heading motor through the first clamping device 25, and the clamping device comprises Base 251 and clamping block 252, base 251 and motor
  • the rotating shaft is connected, one side of the base 251 is provided with a notch 253, and the clamping block 252 is mounted on the edge of the base 251 by a bolt passing through the clamping block 252, and the twisting bolt can change the side of the clamping block 252 and the notch 253
  • the clamping block 252 of the first clamping device 25 can clamp one end of the first connecting rod 21 into the notch 253 thereof, thereby realizing one end of the first connecting rod 21 and the heading motor.
  • the rotating shaft is connected, and after the bolt is loosened, the position where the first clamping device 25 is stuck on the first connecting rod 21 can be adjusted. Further, both sides of one end of the first connecting rod 21 are provided with scales, and by setting the scale, it is convenient to accurately adjust the position of the first clamping device 25 on the first connecting rod 21.
  • the rotating shaft of the heading motor drives the first connecting rod 21 to rotate about the axis of its rotation.
  • the axis is recorded as the X axis, and the other end of the first connecting rod 21 is provided with the first cavity 23, and the rolling motor is installed.
  • the first connecting rod 21 is internally provided with a threading passage, and the rolling motor is electrically connected to the control device through a wire in the threading passage, and the base of the second clamping device 26 is connected to the rotating shaft of the rolling motor.
  • the second clamping device 26 clamps one end of the second connecting rod 22 into the notch of the base thereof, thereby realizing the connection between one end of the second connecting rod 22 and the rotating shaft of the rolling motor, and the rotating shaft of the rolling motor rotates.
  • the rotating shaft of the rolling motor drives the second connecting rod 22 to rotate about the axis of the rotating shaft, the axis is referred to as the Y axis, the other end of the second connecting rod 22 is provided with the second cavity 24, and the pitch motor is mounted in the second cavity 24 Inside, the second connecting rod 22 is also provided with a threading passage, and the pitching motor is electrically connected to the control device through a wire in the threading passage. Further, both sides of one end of the second connecting rod 22 are provided with scales, and by setting the scale, it is convenient to accurately adjust the position of the second clamping device 26 on the second connecting rod 22.
  • the base of the third clamping device 27 is connected to the rotating shaft of the pitch motor, and the third clamping device 27 clamps one end of the connecting member into the notch of the base thereof, thereby realizing the connection of the fixed frame 4 and the pitch motor of the pitch motor, and the pitch motor
  • the rotating shaft of the pitching motor drives the fixing frame 4 to rotate about the axis of the rotating shaft, and the axis is referred to as the Z axis, wherein the X axis is perpendicular to the Y axis, and the Y axis is at an angle ⁇ with the Z axis, 10° ⁇ 90
  • the mounting area of the multi-tilt long lens stabilizer of the present embodiment is larger, and thus it is possible to carry a larger telephoto lens.
  • the device 5 does not block the live view display screen of the photographing device 5, so that the user can observe the display screen in real time, and at the same time, the length of the second connecting rod 22 is greatly reduced, and the tilt lens length lens stabilizer is used. Space, easy to carry.
  • the fixing frame 4 includes a connecting member 41, a pressing block 42, a guide rail 43, and a mounting substrate 44;
  • the connecting member 41 is L-shaped, and both sides of the connecting member 41 are provided with scales, and the connecting member 41 is further One end is fixedly connected to the guide rail 43 by a screw.
  • the guide rail 43 is a metal plate provided with a through groove in the middle.
  • the mounting substrate 44 is movably attached to the guide rail 43 through a slot provided on the back surface thereof, and the pressing block 42 is detachably attached by a bolt.
  • the mounting screw is pressed to the edge of the card slot, and the pressing block 42 presses the edge of the rail 43 to fix the mounting substrate 44 to any position on the rail 43.
  • the mounting substrate 44 is used to fix the photographing device 5, and the mounting substrate 44 is disposed.
  • the control device is configured to adjust the position of the photographing device 5 by controlling the action of the steering device 2.
  • the control device includes a posture detector 31, three driving modules 32, three magnetic encoders 33, a first control module 34, The human-machine switching device 35 and three ring magnets; the first control module 34 is electrically connected to the posture detector 31, the three driving modules 32, the three magnetic encoders 33, the power module, and the human-machine switching device 35, respectively.
  • the module 32 is electrically connected to the heading motor, the roll motor, and the pitch motor, respectively.
  • the posture detector 31 is a nine-axis gyroscope MPU6050 in this embodiment, and the posture detector 31 is fixedly disposed inside the base of the third clamping device 27.
  • the acceleration and angle data for the inductive photographic device 5 are used and converted into electrical signals for transmission to the first control module 34 for processing and calculation, thereby obtaining a real-time attitude of the photographic device 5.
  • the first control module 34 outputs a three-way trapezoidal wave signal having a phase difference to respectively control the three driving modules 32, and the three driving modules 32 respectively drive the heading motor according to the received command, and roll
  • the motor and pitch motor rotate at a certain angle.
  • the three ring magnets are respectively sleeved on the rotating shafts of the heading motor, the roll motor and the pitch motor, and the three magnetic encoders 33 are respectively fixedly arranged on the three driving circuit boards, and are respectively opposite to the three ring magnets.
  • the magnetic encoder 33 is a magnetic encoder AS5600, and a series of magnetic poles are preset on the axial surface of the ring magnet.
  • the encoder 33 converts the ring magnet angle change value into a voltage signal, and then sends the voltage signal to the first control module 34 through the UART communication interface, thereby Now the first control module 34 controls the closed loop of the three motors respectively.
  • the human-machine switching device 35 includes a second control module 352, a rocker 351, a mode adjustment key 353, an opening key 354, and a communication interface 355.
  • the rocker 351, the mode adjustment key 353, the opening key 354, and the communication interface 355 are all disposed in the handheld portion.
  • the second control module 352 is electrically connected to the rocker 351, the first control module 34, the mode adjustment key 353, the power module, the switch key 354, and the communication interface 355, respectively.
  • the rocker 351 is used to adjust the posture of the photographing device 5, and the heading motor, the roll motor, and the pitch motor are respectively controlled by the dialing lever 351, the mode adjusting key 353 is used to adjust the working mode of the stabilizer, and the opening key 354 is controlled.
  • the human-machine switching device 35 is further provided with an infrared transmitting tube and a triode electrically connected to the second control module 352, in order to control the photographic apparatus 5.
  • the second control module 352 controls the infrared transmitting tube to be amplified by the triode current, thereby controlling the infrared wireless shutter of the photographing device 5, and can realize the function control of photographing, photographing, starting, stopping, and the like of the photographing device 5.
  • the human-machine switching device 35 further includes a wireless communication module 357 for receiving a work instruction sent by the user terminal, the wireless communication module 357 is electrically connected to the second control module 352, and the wireless communication module 357 is a Bluetooth module, a WiFi module, or 2.4.
  • the GHz wireless transceiver sends a work command sent by the user terminal to the second control module 352 through the wireless communication module 357.
  • the second control module 352 sends the work command to the first control module 34, and the first control module 34 follows the work command. Control three motor rotations separately.
  • the handheld unit 1 is further provided with an indicator light 356, and the indicator light 356 is electrically connected to the second control module 352.
  • the indicator light 356 can intuitively understand the working state of the multi-tilt long lens stabilizer and the wireless communication module and the user terminal. Connection situation.
  • the fixing bolt 45 is engaged with the threaded hole at the bottom of the photographing device 5, thereby fixing the photographing device 5 to the fixing frame 4, respectively passing through the first clamping device 25 and the second clamp.
  • the bolts of the holding device 26 and the third clamping device 27 adjust the position of the center of gravity of the photographing device 5, and after the opening key 354 is opened, the multi-tilt long lens stabilizer starts to work, and the first control module 34 outputs a three-way trapezoidal wave signal having a phase difference.
  • the three driving modules 32 are separately controlled, and the three driving modules 32 respectively drive the heading motor, the roll motor, and the pitch motor to a preset angular position according to the received command, and the posture detector 31 senses the acceleration of the photographing device 5 in real time.
  • the degree and angle data when the posture of the photographic device 5 changes, the posture detector 31 converts the amount of change in the acceleration and angle of the photographic device 5 into an electrical signal and sends it to the first control module 34 for processing.
  • the first control module 34 By calculating and comparing the attitude values of the photographic device 5 at a previous moment, the respective rotation directions and angular rotation amounts of the three motors are obtained, and the first control module 34 respectively outputs the three-way trapezoidal wave signals having the phase difference to respectively control the three driving.
  • the module 32 and the three driving modules 32 respectively drive the heading motor, the roll motor and the pitch motor to rotate a certain angle according to the received command, thereby achieving the purpose of adjusting the posture of the photographing device 5.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种多倾角长镜头稳定器，包括手持部(1)、固定架(4)、转向装置(2)和控制装置；转向装置(2)包括航向电机、横滚电机、俯仰电机、第一连接杆(21)和第二连接杆(22)，控制装置分别与航向电机、横滚电机、俯仰电机电连接；第一连接杆(21)的一端与航向电机的转轴连接，第一连接杆(21)的另一端设置有第一空腔(23)，横滚电机安装在第一空腔(23)内，第二连接杆(22)的另一端设置第二空腔(24)，俯仰电机安装在第二空腔(24)内，固定架(4)与俯仰电机的转轴连接；航向电机转轴的轴线与横滚电机转轴的轴线垂直，俯仰电机转轴的轴线与横滚电机转轴的轴线成一夹角α，10°＜α＜90°。多倾角长镜头稳定器具有体积小、不会遮挡摄影设备的实时取景显示屏以及可支持长焦镜头相机的优点。

Description

一种多倾角长镜头稳定器 技术领域
本发明涉及摄像稳定设备技术领域，具体涉及一种多倾角长镜头稳定器。
背景技术
随着时代的进步和发展，人们利用拍摄装置进行拍照或摄像的需求越来越多。现有技术中开始出现各种各样的自拍杆来作为拍摄装置的辅助工具，然而自拍杆无法对人手的抖动进行补偿，拍摄效果较差；另外，自拍杆结构简单，无法实现对人脸的自动追踪拍摄，当需要对某一运动的人进行持续拍摄时，需要人手不断的来回调整对准，才能使被拍摄人的脸位于拍摄装置显示屏的合适位置，这导致操作不便。
现有技术中开始出现利用稳定器来作为拍摄装置的辅助工具，稳定器一般具有至少两个轴，每个轴都有对应的马达用于驱动和调节转动位置，一旦摄像机的平衡关系遭到破坏，中央处理器就会分析稳定器内部陀螺仪，加速度，磁场等传感器反馈的信号，通过相应的修正算法形成修正信号控制上述马达最终达到修正平衡位置的效果。如图1所示，中国专利文献CN201620642845.5公开了一种相机陀螺仪及包括该相机陀螺仪的系统，该相机陀螺仪包括稳定器体及控制单元，所述稳定器体包括：支撑臂，及通过所述支撑臂连接的水平电机、横滚电机及竖直电机，所述竖直电机上对应于所述横滚电机设置有支撑板，相机设置于所述支撑板上，所述水平电机与所述控制单元可拆卸地连接。但是该稳定器采用俯仰电机、横滚电机、航向电机构成的三轴正交结合陀螺仪来实现姿态保持，正因为正交的三个轴及其连接臂使搭载相机的平台空间十分有 限，因此这种稳定器不能支持长焦镜头相机，此结构还会造成摄影设备的实时取景显示屏的遮挡，另外正交结构连接俯仰电机与横滚电机之间的连接臂较长，使得稳定器尺寸较大，不便于携带。
发明内容
本发明的目的在于提供一种多倾角长镜头稳定器，用以解决现有的稳定器存在遮挡摄影设备的实时取景显示屏、不能支持长焦镜头相机以及稳定器体积较大，不便于携带的问题。
为实现上述目的，本发明提供一种多倾角长镜头稳定器，所述多倾角长镜头稳定器包括手持部、用于安装摄影设备的固定架、转向装置和用于通过控制所述转向装置动作来调整摄影设备位置的控制装置；所述转向装置包括航向电机、横滚电机、俯仰电机、第一连接杆和第二连接杆，所述控制装置分别与航向电机、横滚电机、俯仰电机电连接；所述航向电机固定安装在所述手持部的上端，所述第一连接杆的一端与所述航向电机的转轴连接，所述第一连接杆的另一端设置有第一空腔，所述横滚电机安装在第一空腔内，所述第二连接杆的一端与所述横滚电机的转轴连接，所述第二连接杆的另一端设置第二空腔，所述俯仰电机安装在所述第二空腔内，所述固定架与所述俯仰电机的转轴连接；所述航向电机转轴的轴线与横滚电机转轴的轴线垂直，所述俯仰电机转轴的轴线与横滚电机转轴的轴线成一夹角α，10°＜α＜90°。
优选的，所述第一连接杆的一端与所述航向电机的转轴、所述第二连接杆的一端与所述横滚电机的转轴均通过夹持装置连接，所述夹持装置包括基座和夹持块，所述基座一侧设置有缺口，所述夹持块通过穿过夹持块的螺栓安装在基座上，通过扭动螺栓可改变夹持块与缺口侧边之间的距离。
优选的，所述固定架包括连接件、压紧块、导轨和安装基板；所述连接件的一端通过夹持装置与所述俯仰电机的转轴连接，所述连接件的 另一端与所述导轨连接，所述安装基板通过设置在其背面的卡槽活动卡设在导轨上，所述压紧块通过螺栓可拆卸地安转在卡槽的边缘。
优选的，第一连接杆、第二连接杆以及连接件一端的两侧面均设置有刻度。
优选的，所述手持部内部具有空腔，所述空腔内安装有电源模块，所述手持部的表面设置有与所述电源模块电连接的充电接口。
优选的，所述控制装置包括姿势检测器、三个驱动模块、三个磁编码器、第一控制模块、人机交换装置和三个环形磁铁；所述姿势检测器用于感应摄影设备的加速度和角度数据并将其转化成电信号发送给第一控制模块进行处理和计算，所述第一控制模块分别与姿势检测器、三个驱动模块、三个磁编码器、人机交换装置电连接，三个所述驱动模块分别与航向电机、横滚电机、俯仰电机电连接，三个所述环形磁铁分别套设在航向电机、横滚电机、俯仰电机的转轴上。
优选的，所述姿势检测器为九轴陀螺仪。
优选的，所述人机交换装置包括第二控制模块、用于调节所述摄影设备姿势的摇杆、用于调节稳定器工作模式的模式调节键、开关键和通讯接口，所述第二控制模块分别与摇杆、第一控制模块、模式调节键、开关键、通讯接口电连接。
优选的，所述人机交换装置还包括用于接收用户终端发送的工作指令的无线通讯模块，所述无线通讯模块与所述第二控制模块电连接，所述无线通讯模块为蓝牙模块、WiFi模块或2.4GHz的无线收发器。
优选的，所述手持部上还设置有指示灯，所述指示灯与所述第二控制模块电连接。
本发明具有如下优点：本发明的多倾角长镜头稳定器具有体积小、不会遮挡摄影设备的实时取景显示屏以及可支持长焦镜头相机的优点。
附图说明
图1为中国专利文献CN201620642845.5公开的稳定器的主视结构示意图。
图2为本发明多倾角长镜头稳定器的主视结构示意图。
图3为图2中A处局部放大后的结构示意图。
图4为图2中A处局部放大后拆解状态下的结构示意图。
图5为本发明多倾角长镜头稳定器的俯视结构示意图。
图6为本发明多倾角长镜头稳定器搭载摄影设备后的俯视结构示意图。
图7为本发明固定架的侧视结构示意图。
图8为本发明多倾角长镜头稳定器线路部分的结构框图。
具体实施方式
以下实施例用于说明本发明，但不用来限制本发明的范围。
实施例1
如图2所示，该多倾角长镜头稳定器包括手持部1、固定架4、转向装置2和控制装置，本发明的多倾角长镜头稳定器具有体积小、不会遮挡摄影设备5的实时取景显示屏以及可支持长焦镜头相机的优点。
手持部1内部具有空腔，空腔内安装有电源模块，手持部1的表面设置有与电源模块电连接的充电接口12，手持部1的下端设置有螺纹孔，使用时通过螺栓可在手持部1的下端单独安装一个外置显示器，手持部1的中部设置有符合人体工学原理的凹部13，使用户在舒适的状态下握住手持部1进行拍摄而不会出现手指酸痛的情况。
如图3、4、5所示，转向装置2包括航向电机、横滚电机、俯仰电机、第一连接杆21和第二连接杆22，航向电机、横滚电机、俯仰电机均为无刷电机，手持部1的上端设置有电机空腔28，航向电机固定安装在该电机空腔28内，第一连接杆21的一端与航向电机的转轴通过第一夹持装置25连接，夹持装置包括基座251和夹持块252，基座251与电机 的转轴连接，基座251的一侧设置有缺口253，夹持块252通过穿过夹持块252的螺栓安装在基座251的边缘，扭动螺栓可改变夹持块252与缺口253侧边之间的距离，当扭紧螺栓，第一夹持装置25的夹持块252可将第一连接杆21的一端卡在其缺口253内，从而实现第一连接杆21的一端与航向电机的转轴连接，松动螺栓后，可调节第一夹持装置25卡在第一连接杆21上的位置。进一步的，第一连接杆21的一端的两侧面均设置有刻度，通过设置刻度，便于准确调节第一夹持装置25卡在第一连接杆21上的位置。当航向电机转动时，航向电机的转轴带动第一连接杆21围绕其周转的轴线转动，该轴线记作X轴线，第一连接杆21的另一端设置有第一空腔23，横滚电机安装在第一空腔23内，第一连接杆21内部设置有穿线通道，横滚电机通过穿线通道内的导线与控制装置电连接，第二夹持装置26的基座与横滚电机的转轴连接，第二夹持装置26将第二连接杆22的一端卡在其基座的缺口内，从而实现第二连接杆22的一端与横滚电机转轴之间的连接，横滚电机的转轴转动时，横滚电机的转轴带动第二连接杆22围绕其转轴的轴线转动，该轴线记作Y轴线，第二连接杆22的另一端设置第二空腔24，俯仰电机安装在第二空腔24内，第二连接杆22内同样也设置有穿线通道，俯仰电机通过穿线通道内的导线与控制装置电连接。进一步的，第二连接杆22的一端的两侧面均设置有刻度，通过设置刻度，便于准确调节第二夹持装置26卡在第二连接杆22上的位置。第三夹持装置27的基座与俯仰电机的转轴连接，第三夹持装置27将连接件的一端卡在其基座的缺口内，从而实现固定架4与俯仰电机的转轴连接，俯仰电机转动时，俯仰电机的转轴带动固定架4围绕其转轴的轴线转动，该轴线记作Z轴线，其中，X轴线与Y轴线垂直，Y轴线与Z轴线成一夹角α，10°＜α＜90°，通过将Y轴线与Z轴线设计成非正交结构，相对于三轴相互垂直，本实施例的使多倾角长镜头稳定器的搭载区域更大，因而能够搭载体积更大的长焦摄影设备5，不会遮挡摄影设备5的实时取景显示屏，便于用户实时观察显示屏，同时，也使第二连接杆22的长度大大减少，减少倾角长镜头稳定器占用的 空间，便于携带。
如图7所示，固定架4包括连接件41、压紧块42、导轨43和安装基板44；连接件41呈L型，连接件41一端的两侧面均设置有刻度，连接件41的另一端通过螺钉与导轨43固定连接，导轨43为一块中部设置有贯穿槽的金属板，安装基板44通过设置在其背面的卡槽活动卡设在导轨43上，压紧块42通过螺栓可拆卸地安转在卡槽的边缘，拧紧螺栓，压紧块42挤压导轨43的边缘，从而将安装基板44固定在导轨43上任意位置，安装基板44用于固定摄影设备5，安装基板44上设置有用于固定摄影设备5的固定螺栓45，使用时通过固定螺栓45与摄影设备5底部的螺纹孔配合，从而将摄影设备5固定在固定架4上。
如图8所示，控制装置用于通过控制转向装置2动作来调整摄影设备5位置，控制装置包括姿势检测器31、三个驱动模块32、三个磁编码器33、第一控制模块34、人机交换装置35和三个环形磁铁；第一控制模块34分别与姿势检测器31、三个驱动模块32、三个磁编码器33、电源模块、人机交换装置35电连接，三个驱动模块32分别与航向电机、横滚电机、俯仰电机电连接，姿势检测器31在本实施例中为九轴陀螺仪MPU6050，姿势检测器31固定设置在第三夹持装置27的基座内部，用于感应摄影设备5的加速度和角度数据并将其转化成电信号发送给第一控制模块34进行处理和计算，进而得到摄影设备5的实时姿态。当需要调整摄影设备5的姿势时，第一控制模块34输出具有相位差的三路梯形波信号来分别控制三个驱动模块32，三个驱动模块32按照接收到指令分别驱动航向电机、横滚电机、俯仰电机转动一定角度。三个环形磁铁分别套设在航向电机、横滚电机、俯仰电机的转轴上，三个磁编码器33分别固定设置在三个驱动线路板上，并分别与三个环形磁铁正对，本实施例中，磁编码器33为磁编码器AS5600，环形磁铁的轴面上预置有一系列磁极，当任意一个电机转动时，该电机转轴上的环形磁铁随同转动，与该环形磁铁正对的磁编码器33将该环形磁铁角度变化值转化成电压信号，后通过UART通信接口将电压信号发送给第一控制模块34，从而实 现第一控制模块34分别对三个电机的闭环控制。人机交换装置35包括第二控制模块352、摇杆351、模式调节键353、开关键354和通讯接口355，摇杆351、模式调节键353、开关键354以及通讯接口355均设置于手持部1控制区域，第二控制模块352分别与摇杆351、第一控制模块34、模式调节键353、电源模块、开关键354、通讯接口355电连接。摇杆351用于调节摄影设备5的姿势，通过拨通摇杆351可分别控制航向电机、横滚电机、俯仰电机转动，模式调节键353用于调节稳定器的工作模式，开关键354则控制多倾角长镜头稳定器的工作与关闭，进一步的，为了能对摄影设备5进行控制，本实施例中人机交换装置35还设置有与第二控制模块352电连接的红外发射管和三极管，第二控制模块352控制红外发射管通过三极管电流放大，进而对摄影设备5的红外无线快门进行控制，可实现摄影设备5拍照、摄像、开始、停止等功能控制。
进一步的，人机交换装置35还包括用于接收用户终端发送的工作指令的无线通讯模块357，无线通讯模块357与第二控制模块352电连接，无线通讯模块357为蓝牙模块、WiFi模块或2.4GHz的无线收发器，用户终端发送的工作指令通过无线通讯模块357发送给第二控制模块352，第二控制模块352将工作指令发送给第一控制模块34，第一控制模块34再按照工作指令分别控制三个电机转动。
进一步的，手持部1上还设置有指示灯356，指示灯356与第二控制模块352电连接，通过指示灯356可直观的了解多倾角长镜头稳定器的工作状态和无线通讯模块与用户终端的连接情况。
如图6所示，工作原理：使用时，通过固定螺栓45与摄影设备5底部的螺纹孔配合，从而将摄影设备5固定在固定架4上，分别通过第一夹持装置25、第二夹持装置26、第三夹持装置27的螺栓调整摄影设备5的重心位置，打开开关键354后，多倾角长镜头稳定器开始工作，第一控制模块34输出具有相位差的三路梯形波信号来分别控制三个驱动模块32，三个驱动模块32按照接收到指令分别驱动航向电机、横滚电机、俯仰电机转动至预设角度位置，姿势检测器31实时感应摄影设备5的加速 度和角度数据，当摄影设备5的姿态发生变化时，姿势检测器31将摄影设备5的加速度和角度的变化量，转化成电信号发送给第一控制模块34进行处理，第一控制模块34通过计算并比较摄影设备5前一时刻的姿态值，得出三个电机各自的转动方向和角度转动量，第一控制模块34分别输出具有相位差的三路梯形波信号来分别控制三个驱动模块32，三个驱动模块32按照接收到指令分别驱动航向电机、横滚电机、俯仰电机转动一定角度，从而达到调整摄影设备5姿态的目的。
虽然，上文中已经用一般性说明及具体实施例对本发明作了详尽的描述，但在本发明基础上，可以对之做一些修改或改进，这对本领域技术人员而言是显而易见的。因此，在不偏离本发明精神的基础上所做的这些修改或改进，均属于本发明要求保护的范围。

Claims (10)

  1. 一种多倾角长镜头稳定器，所述多倾角长镜头稳定器包括手持部、用于安装摄影设备的固定架、转向装置和用于通过控制所述转向装置动作来调整摄影设备位置的控制装置；其特征在于，所述转向装置包括航向电机、横滚电机、俯仰电机、第一连接杆和第二连接杆，所述控制装置分别与航向电机、横滚电机、俯仰电机电连接；所述航向电机固定安装在所述手持部的上端，所述第一连接杆的一端与所述航向电机的转轴连接，所述第一连接杆的另一端设置有第一空腔，所述横滚电机安装在第一空腔内，所述第二连接杆的一端与所述横滚电机的转轴连接，所述第二连接杆的另一端设置第二空腔，所述俯仰电机安装在所述第二空腔内，所述固定架与所述俯仰电机的转轴连接；所述航向电机转轴的轴线与横滚电机转轴的轴线垂直，所述俯仰电机转轴的轴线与横滚电机转轴的轴线成一夹角α，10°＜α＜90°。
  2. 根据权利要求1所述的多倾角长镜头稳定器，其特征在于，所述第一连接杆的一端与所述航向电机的转轴、所述第二连接杆的一端与所述横滚电机的转轴均通过夹持装置连接，所述夹持装置包括基座和夹持块，所述基座一侧设置有缺口，所述夹持块通过穿过夹持块的螺栓安装在基座上，通过扭动螺栓可改变夹持块与缺口侧边之间的距离。
  3. 根据权利要求2所述的多倾角长镜头稳定器，其特征在于，所述固定架包括连接件、压紧块、导轨和安装基板；所述连接件的一端通过夹持装置与所述俯仰电机的转轴连接，所述连接件的另一端与所述导轨连接，所述安装基板通过设置在其背面的卡槽活动卡设在导轨上，所述压紧块通过螺栓可拆卸地安转在卡槽的边缘。
  4. 根据权利要求3所述的多倾角长镜头稳定器，其特征在于，第一连接杆、第二连接杆以及连接件一端的两侧面均设置有刻度。
  5. 根据权利要求1所述的多倾角长镜头稳定器，其特征在于，所述手持部内部具有空腔，所述空腔内安装有电源模块，所述手持部的表面 设置有与所述电源模块电连接的充电接口。
  6. 根据权利要求1所述的多倾角长镜头稳定器，其特征在于，所述控制装置包括姿势检测器、三个驱动模块、三个磁编码器、第一控制模块、人机交换装置和三个环形磁铁；所述姿势检测器用于感应摄影设备的加速度和角度数据并将其转化成电信号发送给第一控制模块进行处理和计算，所述第一控制模块分别与姿势检测器、三个驱动模块、三个磁编码器、人机交换装置电连接，三个所述驱动模块分别与航向电机、横滚电机、俯仰电机电连接，三个所述环形磁铁分别套设在航向电机、横滚电机、俯仰电机的转轴上。
  7. 根据权利要求6所述的多倾角长镜头稳定器，其特征在于，所述姿势检测器为九轴陀螺仪。
  8. 根据权利要求6所述的多倾角长镜头稳定器，其特征在于，所述人机交换装置包括第二控制模块、用于调节所述摄影设备姿势的摇杆、用于调节稳定器工作模式的模式调节键、开关键和通讯接口，所述第二控制模块分别与摇杆、第一控制模块、模式调节键、开关键、通讯接口电连接。
  9. 根据权利要求8所述的多倾角长镜头稳定器，其特征在于，所述人机交换装置还包括用于接收用户终端发送的工作指令的无线通讯模块，所述无线通讯模块与所述第二控制模块电连接，所述无线通讯模块为蓝牙模块、WiFi模块或2.4GHz的无线收发器。
  10. 根据权利要求8所述的多倾角长镜头稳定器，其特征在于，所述手持部上还设置有指示灯，所述指示灯与所述第二控制模块电连接。
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