WO2019178884A1 - Mécanisme d'amélioration de stabilité verticale, dispositif à cardan et système de capture d'image - Google Patents

Mécanisme d'amélioration de stabilité verticale, dispositif à cardan et système de capture d'image Download PDF

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Publication number
WO2019178884A1
WO2019178884A1 PCT/CN2018/080373 CN2018080373W WO2019178884A1 WO 2019178884 A1 WO2019178884 A1 WO 2019178884A1 CN 2018080373 W CN2018080373 W CN 2018080373W WO 2019178884 A1 WO2019178884 A1 WO 2019178884A1
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WO
WIPO (PCT)
Prior art keywords
vertical
elastic member
adjusting
rocker
load
Prior art date
Application number
PCT/CN2018/080373
Other languages
English (en)
Chinese (zh)
Inventor
耶方明
宾朋
王鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880011240.8A priority Critical patent/CN110382942B/zh
Priority to PCT/CN2018/080373 priority patent/WO2019178884A1/fr
Priority to CN202110699287.1A priority patent/CN113418104B/zh
Priority to EP19772213.5A priority patent/EP3658814B1/fr
Priority to CN202210922941.5A priority patent/CN115264352A/zh
Priority to CN201980020333.1A priority patent/CN111886439B/zh
Priority to EP22152308.7A priority patent/EP4019823A1/fr
Priority to PCT/CN2019/078563 priority patent/WO2019179402A1/fr
Publication of WO2019178884A1 publication Critical patent/WO2019178884A1/fr
Priority to US17/021,926 priority patent/US11603959B2/en
Priority to US18/182,730 priority patent/US20230220951A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • 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
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • 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
    • F16M11/18—Heads with mechanism for moving 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/18—Control arrangements
    • 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
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement

Definitions

  • the invention relates to the field of photography, and in particular to a vertical stabilization mechanism, a pan/tilt device and a photographing system for photographing.
  • the pan-tilt device For the purpose of stable shooting, many shooting devices are used with the pan-tilt device.
  • the pan-tilt device generally has a rotation-stable function for the camera.
  • the three-axis pan/tilt can be rotated in the pitch, yaw, and roll axes. Compensate for camera shake.
  • the pan-tilt device does not have an ideal stabilization function for shooting problems of the imaging device in the direction of gravity, such as jitter.
  • the invention provides a vertical stabilization mechanism, a pan-tilt device and a photographing system.
  • a vertical stabilization mechanism includes:
  • the stabilizing motor is connected to the four-bar linkage through a rocker and can change the angle of the adjacent rod;
  • the rocking bar has two dead point positions, and the first limiting portion and the second limiting position
  • the movable range determined by the part includes the two dead point positions.
  • a pan-tilt device for supporting a photographing device.
  • the pan-tilt device includes a vertical stabilization mechanism and a pan/tilt head as previously described.
  • a photographing system includes a photographing device and a pan/tilt device as described above.
  • FIG. 1 and FIG. 2 are schematic diagrams showing the structure of a photographing system according to an embodiment of the present invention.
  • FIG. 1 is a side view of the photographing system
  • FIG. 2 is a plan view of the photographing system.
  • FIG. 3 to FIG. 5 are schematic structural views of the vertical stabilizing mechanism in the photographing system of FIGS. 1 and 2, wherein FIG. 3 is a side view of the vertical stabilizing mechanism, and FIG. 4 is a cross-sectional view of the vertical stabilizing mechanism.
  • Figure 5 is an exploded perspective view of the vertical stabilizing mechanism.
  • Figures 6 and 7 are schematic views of the state of the vertical stabilizing mechanism when loading different weight loads.
  • Figure 8 is a perspective view of the switching assembly for adjusting the position of the end of the elastic member of Figures 1 and 2
  • Figure 9 is a schematic view showing the state of the vertical stabilizing mechanism in the forward state
  • Figure 10 is the vertical increase in the inverted state. Schematic diagram of the state of the stable mechanism.
  • FIG. 11 and 12 are schematic views showing the operation of the crank rocker mechanism of Figs. 1 and 2.
  • the photographing system 100 of the embodiment of the present invention may include a pan-tilt device 20 and a photographing device C.
  • the pan-tilt device 20 is used to carry the photographing device C, and can be used to change the photographing angle of the photographing device C and to eliminate the influence of the shake on the photographing device C.
  • the photographing device C can be used for capturing images/videos, and can be a camera, a video camera, or a mobile phone or tablet having a camera function.
  • the pan/tilt device 20 can include a vertical stabilization mechanism 22 and a pan/tilt head 24.
  • the gimbal 24 can be a three-axis gimbal.
  • the three-axis pan/tilt can adjust the angle of the camera C around the yaw axis, the roll axis, and the pitch axis.
  • the pan/tilt head 24 may include a first shaft driving unit 241, a first bracket 242, a second shaft driving unit 243, a second bracket 244, and a third shaft driving unit 245.
  • the first bracket 242 is coupled to the first shaft drive unit 241 and is rotatable about the first axis Z1 by the first shaft drive unit 241.
  • the second shaft driving unit 243 is fixedly disposed at an end of the first bracket 242 away from the first shaft driving unit 241.
  • the second bracket 244 is coupled to the second shaft drive unit 243 and is rotatable about the second shaft Z2 by the second shaft drive unit 243.
  • the third shaft driving unit 245 is fixedly disposed at an end of the second bracket 244 away from the second shaft driving unit 243.
  • the photographing device C is connected to the third shaft drive unit 245 and is rotatable about the third axis Z3 by the third shaft drive unit 245.
  • the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 may be brushless motors.
  • the pan-tilt device 20 may further include a sensor (not shown) and a processor (not shown).
  • the sensor is used to sense the attitude information of the pan/tilt head 24 and/or the photographing device C.
  • the sensor may include an inertial measurement unit (IMU) for measuring attitude information such as an angular rate of each of the rotating shafts of the pan/tilt head 24 and an acceleration at the photographing device C; the sensor may also include an articulation angle sensor such as a photoelectric encoder for The angle of rotation at each of the rotating shafts of the pan/tilt head 24 is measured.
  • IMU inertial measurement unit
  • the processor is configured to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 according to the information sensed by the sensor to eliminate the axial shake of the photographing system 100 to the capturing device.
  • the processor may control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 to rotate in a direction opposite to the axial shaking direction of the photographing system 100 to eliminate the photographing system 100.
  • the processor can also be used to control at least one of the first axis driving unit 241, the second axis driving unit 243, and the third axis driving unit 245 in response to the user's instruction information, so as to achieve shooting at an angle/direction desired by the user. the goal of.
  • the pan/tilt head 24 can also include a joint portion 240 that is fixedly coupled to the first shaft drive unit 241 for coupling the load connection portion 80 on the vertical stabilizer mechanism 22.
  • the end of the load connecting portion 80 may be provided with a housing space 87, and the joint portion 240 may be inserted into the housing space 87 to connect the two.
  • the joint portion 240 can be engaged, threaded, or interference fit with the load connection portion 80.
  • the joint portion 240 may further include an electrical connection portion (not shown).
  • the electrical connection portion can electrically connect the photographing device C and/or the first shaft driving unit 241, the second shaft driving unit 243, and the third shaft driving unit 245 to the other Electronic components (for example, power supplies, control panels, processors, etc., installed in other areas).
  • pan/tilt head 24 can also be a single-axis pan/tilt head, a two-axis pan/tilt head or other types of pan/tilt heads.
  • the photographing system 100 can also include a support 60.
  • a support portion 10 for supporting the vertical stabilization mechanism 22, the pan/tilt head 24, and the photographing device C may be disposed on the support member 60.
  • the support portion 10 and the pan/tilt head 24 may be respectively disposed at both ends of the vertical stabilization mechanism 22.
  • the support portion 10 may be a hand-held support device that can be held by a user, or may be a non-hand-held support device, for example, may be provided on an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, etc., for supporting vertical stabilization.
  • the support member 60 or support portion 10 can be considered to be part of the vertical stabilization mechanism 22, the pan/tilt device 20, and the support member 60 or support portion 10 can also be considered to be separate from the components of the platform device 20.
  • the processor may be disposed on the support portion 10, or may be disposed at the vertical stabilization mechanism 22, the pan/tilt head 24, or other portions of the photographing system 100. There are no restrictions here.
  • the vertical stabilization mechanism 22 can use the stabilization motor 62 to drive the pan/tilt head 24 and the camera C disposed on the pan/tilt head 24 to move in the opposite direction (compensating motion) in the vertical direction, mainly for canceling (at least partially offsetting) or compensating
  • the camera C is shaken in the vertical direction. Further, it is possible to improve the phenomenon of picture shake caused by the shake of the imaging device C at the time of shooting.
  • the reverse direction motion here is relative to the vertical shake of the camera C.
  • a detection module (such as a sensor) can be used to obtain the amount of motion or the amount of position change of the camera C in the vertical direction.
  • the sensor may include a motion sensor for sensing a vibration state of the load in a vertical direction.
  • the processor can calculate parameters such as the rotation direction and the amplitude of the stabilization motor 62 according to the magnitude, and generate a control command according to the parameter to control the rotation of the stabilization motor 62.
  • Rotation of the stabilization motor 62 causes the camera C to move a corresponding distance in the opposite direction, thereby compensating or canceling (at least partially offset) the vertical shake of the camera C in time.
  • the stabilizing motor 62 can be any type of motor. This is referred to herein as a stabilizing motor only to better distinguish it from other motors.
  • the above-mentioned active vertical stabilization response time of the motor is shorter.
  • passive vertical stabilization mainly relies on sudden changes in speed to stabilize, and requires high speed changes, which makes it difficult to achieve ideal correction effects for small ups and downs.
  • the above-mentioned active vertical stabilization of the motor is also effective for the improvement of the slight up and down undulation.
  • the passive vertical stabilization usually uses an elastic member (for example, the elastic member 50 appearing later) to constrain the position of the pan/tilt or the camera in the vertical direction, when vertical shake occurs, the pan/tilt or the camera moves vertically In the position, the elastic member uses its own restoring force to reset the pan/tilt or the camera vertically.
  • the mounting position of the stabilizing motor 62 is not limited herein as long as the power of the load motion can be provided.
  • the stabilizing motor 62 can be mounted on the support member 60.
  • the vertical stabilizing mechanism 22 can also include a coupling mechanism 220.
  • the connecting mechanism 220 can be disposed between the stabilizing motor 62 and the load connecting portion 80, and can drive the load connecting portion 80 and the load thereon to move in the vertical direction under the driving of the stabilizing motor 62.
  • the connection mechanism 220 has two main functions. First, the movement of the stabilizing motor 62 is transmitted to the load connecting portion 80 to move the load connecting portion 80. The second is to limit the movement of the load connection 80 and the load thereon to only or primarily in the vertical direction.
  • connection mechanisms 220 that can achieve the above functions, such as a rack and pinion mechanism, a crank slider mechanism, a ball screw, and the like.
  • the attachment mechanism 220 can include a connection assembly 223. One end of the connecting member 223 is connected to the load connecting portion 80, and the other end is rotatably connected to the support member 60.
  • the coupling assembly 223 is rotatable about the support member 60 under the drive of the stabilizing motor 62. Driven by the rotating connection assembly 223, the load connection 80 and the load thereon can be moved vertically.
  • the stabilizing motor 62 By controlling the moving direction and the moving amplitude of the stabilizing motor 62, it is possible to achieve that the amount of vertical movement of the load driven by the stabilizing motor 62 can cancel or partially cancel the amount of jitter in the vertical direction of the load.
  • the attachment assembly 223 includes a four-bar linkage.
  • the four-bar linkage mechanism includes a first crossbar portion 222, a second crossbar portion 224 opposite to the first crossbar portion 222, and a vertical stem portion connected between the first crossbar portion 222 and the second crossbar portion 224. 226.
  • the connection assembly 223 and the load connection portion 80 may be collectively referred to as a load bearing assembly 30.
  • One ends of the first rail portion 222 and the second rail portion 224 are connected to the vertical rod portion 226, and the other ends of the first rail portion 222 and the second rail portion 224 are connected to the fixed portion 228.
  • the fixed portion 228 is disposed opposite to the vertical rod portion 226.
  • the fixed portion 228 can be considered to be a relatively stationary component, with the first crossbar portion 222, the second crossbar portion 224, and the vertical stem portion 226 both moving about the fixed portion 228.
  • the first crossbar portion 222, the second crossbar portion 224, and the vertical stem portion 226 can be considered as the respective rods of the four-bar linkage mechanism.
  • the vertical rod portion 226 can be integrally formed with the load connection portion 80 and together form a relatively independent member.
  • the vertical rod portion 226 can also be fixedly attached to the load connection portion 80 in a detachable manner or in a non-detachable manner.
  • the fixed portion 228 can be disposed or attached to the support portion 10.
  • the fixed portion 228 can be integrally formed with the support portion 10 and serve as a portion of the support member 60.
  • the fixed portion 228 can also be fixedly mounted to the support portion 10 in a detachable manner or in a non-detachable manner.
  • the two ends of the first crossbar portion 222 are respectively hinged with the vertical rod portion 226 and the fixed portion 228, and the hinge points are respectively S1 and S3.
  • the two ends of the second crossbar portion 224 are respectively hinged with the vertical rod portion 226 and the fixed portion 228, and the hinge points are S2 and S4, respectively.
  • the connection between the hinge points S1 and S3 is S1S3
  • the connection between the hinge points S2 and S4 is S2S4
  • S1S3 and S2S4 are parallel and equal. That is, the four-bar linkage mechanism constitutes a parallelogram frame mechanism.
  • the above arrangement enables the angle of the adjacent rod (for example, the angle between the first rail portion 222 and the vertical rod portion 226, or the angle between the second rail portion 224 and the vertical rod portion 226) to be varied. Regardless of how the angle changes, the opposite sides are always parallel.
  • the vertical rod portion 226 can remain vertical during relative movement of the sides.
  • the first crossbar portion 222, the second crossbar portion 224, the vertical rod portion 226, and the fixed portion 228 can be regarded as four sides of the four-bar linkage mechanism. More precisely, the lines S1S3, S2S4, S1S2, and S3S4 of the adjacent hinge points are regarded as the four sides of the four-bar linkage mechanism.
  • the stabilizing motor 62 can act on the first crossbar portion 222 or the second crossbar portion 224 to rotate the first crossbar portion 222 and the second crossbar portion 224 clockwise or counterclockwise relative to the fixed portion 228, thereby driving the vertical
  • the stem 226 is raised or lowered.
  • the stabilizing motor 62 is secured to the support portion 10 and passes through a crank rocker mechanism or rocker 66 (described in more detail below) as the second crossbar portion 224 (or first cross)
  • the stem 222) provides rotational power.
  • the first crossbar portion 222 can include a vertical extension 2223.
  • the second crossbar portion 224 can include a vertical extension 2243.
  • the vertical extension 2223 and the vertical extension 2243 may constitute a vertical housing to prevent foreign matter from entering the cavity enclosed by the four-bar linkage.
  • the vertical stabilization mechanism 22 can also include an elastic member 50.
  • the vertical component of the elastic force (balance force) generated by the elastic member 50 can be used to balance the gravity of the photographing device C, the gravity of the gimbal, and the self-weight of the vertical stabilizing mechanism 22.
  • the vertical stabilizing mechanism 22 can balance the gravity of the photographing device C and the pan/tilt head by the elastic force of the elastic member 50.
  • the elastic member 50 it is necessary to stabilize the motor 62 or other components to provide a force to the four-bar linkage to balance the weight of the load.
  • the elastic member 50 may be a spring such as a coil spring.
  • the elastic member 50 can be mounted in various manners. For example, one end of the elastic member 50 can be mounted on the fixed portion 228 or the support portion 10, and the other end can be mounted on the vertical rod portion 226, the first cross rod portion 222 or the second cross rod. On section 224. As long as the mounted elastic member 50 can provide a force to the four-bar linkage mechanism that hinders the first crossbar portion 222 and the second crossbar portion 224 from rotating downward, thereby balancing or partially balancing the load (for example, the photographing device C, The gravity of the Yuntai 24, etc.) can be used.
  • the elastic member 50 can passively respond to the vertical shaking of the photographing device C and drive the load to perform a corresponding compensating motion. Only this compensation process is slow, and the compensation effect is significantly weaker than the stabilization motor 62.
  • the vertical stabilization mechanism 22 having the stabilization motor 62 and the elastic member 50 described above can balance the gravity of the imaging device C and the pan-tilt device 20, and can actively eliminate the influence of the vertical shake of the imaging system 100 on the imaging device C.
  • the vertical jitter generally refers to jitter having a vertical component, that is, as long as the jitter of the photographing system 100 has a component in the vertical direction, it can be referred to as vertical jitter.
  • the direction of macroscopic motion of the vertically shaken camera system 100 is not necessarily vertical, but may also have a certain angle with the vertical.
  • the vertical stabilization mechanism 22 can also include an elastic member adjustment mechanism.
  • the elastic member adjustment mechanism may include an adjustment assembly.
  • the adjustment assembly is used to adjust the spring force (eg, tension) of the elastic member 50, particularly the vertical component of the spring force, such that it can match the different weights of the camera C and the pan/tilt device 20.
  • the elastic force of the elastic member 50 can be adjusted by adjusting the length or the degree of deformation of the elastic member 50. In the case where the elastic force of the elastic member 50 remains unchanged, by adjusting the direction of the elastic force provided by the elastic member 50, the component of the elastic force in the vertical direction can also be changed, so that the load of different weights can be balanced. It is also possible to adapt the weight of the load by simultaneously adjusting the magnitude and direction of the elastic force of the elastic member 50.
  • the adjustment assembly can be used to adjust the mounting position of the ends 52, 54 of the resilient member 50 to the adjustment assembly on the adjustment assembly under external force to adjust the degree of deformation of the elastic member 50.
  • the elastic member 50 drives the carrier assembly 30 to rotate relative to the support member 60 to adjust the position of the load carried on the load connecting portion 80 in the vertical movement stroke.
  • the adjusting assembly is configured to adjust the mounting position of the end portion on the adjusting assembly in a first direction under an external force to increase the degree of deformation of the elastic member 50 when the deformation
  • the resilient member 50 causes the coupling assembly 223 to rotate relative to the support member 60 to adjust the load in a vertical position upward.
  • the adjusting assembly is further configured to adjust the mounting position of the end portion on the adjusting component toward the second direction under the action of an external force to reduce the degree of deformation of the elastic member 50, when the deformation degree is reduced.
  • the resilient member 50 drives the coupling assembly 223 to rotate relative to the support member 60 to adjust the load in a vertical position downward.
  • the adjustment assembly can be matched to the different weights of the camera C by adjusting the height of the end 52 of the resilient member 50 relative to the fixed portion 228.
  • the adjustment assembly may include an adjustment lever 34, an adjustment sleeve 36 that is sleeved with the adjustment lever 34, and an operating portion 32.
  • the adjustment lever 34 is rotatably provided to the fixed portion 228 or the support portion 10.
  • the length direction of the adjustment lever 34 is parallel or substantially parallel to the longitudinal direction of the fixed portion 228, that is, the adjustment lever 34 is disposed substantially vertically.
  • the adjusting rod 34 may have a cylindrical shape with an external thread on the cylindrical surface.
  • the adjustment lever 34 can be a lead screw.
  • a recess 2282 is defined in a side of the fixed portion 228 toward the vertical rod portion 226, and the adjusting rod 34 is located in the recess 2282 so that the adjusting sleeve 36 can extend into the recess 2282 to be connected to the adjusting rod 34.
  • the adjustment sleeve 36 can be a sleeve having an internal thread, such as a lead nut.
  • the internal thread of the adjustment sleeve 36 can be adapted to the external thread of the adjustment rod 34 to effect a threaded connection of the adjustment sleeve 36 with the adjustment rod 34.
  • the above arrangement is such that when the adjustment lever 34 is rotated, the adjustment sleeve 36 is vertically moved up and down with respect to the adjustment lever 34 and the fixed portion 228.
  • the adjustment sleeve 36 is provided with a mounting portion 365 for mounting the end portion 52 of the elastic portion 50.
  • the end portion 52 of the elastic member 50 is rotatably mounted on the convex portion 362.
  • one side of the adjusting sleeve 36 may protrude outward to form a convex portion 362, and the convex portion 362 is formed with a cylindrical mounting portion 365.
  • the end portion 52 of the elastic member 50 can be provided with a hook (not shown), and the hook is rotatably sleeved on the mounting post 365.
  • the operation portion 32 protrudes from the surface of the fixed portion 228.
  • the operating portion 32 allows the user to operate directly or indirectly to rotate the adjustment lever 34.
  • the operation portion 32 is substantially in the shape of a truncated cone, and its peripheral side surface is a surface having a certain roughness so that the user can more easily operate the adjustment lever 34 to rotate. It can be understood that the operating portion 32 can also be an elliptical platform or a polygonal prismatic platform.
  • connection position of the adjustment sleeve 36 and the adjustment lever 34 can be adjusted by rotating the adjustment lever 34, i.e., the connection height of the end portion 52 of the elastic member 50 with respect to the fixed portion 228 is adjusted.
  • the elastic force of the elastic member 50 can be adjusted by adjusting the connection height of the end portion 52 of the elastic member 50 with respect to the fixed portion 228. Therefore, the vertical stabilizing mechanism 22 can adjust the elastic force of the elastic member 50 in accordance with the weight of the load that it is required to carry.
  • the load may be the photographing device C and the pan/tilt head 24. In some cases, the load may only include the camera C.
  • the vertical stabilization mechanism 22 can also include a position adjustment motor 38 that can drive the adjustment lever 34 to rotate to automatically adjust the spring force of the elastic member 50.
  • the automatic adjustment by the position adjustment motor 38 enables a faster and more accurate balancing of the currently mounted load compared to manual adjustment.
  • a position adjustment motor 38 may be disposed at an upper end of the fixed portion 228.
  • the position adjustment motor 38 can be any type of motor. This is referred to herein as a position adjustment motor only to better distinguish it from other motors.
  • a sensor can be provided to obtain information related to the position of the load connection 80. Based on the information, the processor can control the position adjustment motor 38 to rotate to actively adjust the force provided by the elastic member 50 to the four-bar linkage to an interval compatible with the load.
  • the sensor may include an angle sensor to assist the processor in determining the direction of rotation and the amount of rotation of the position adjustment motor 38.
  • the angle sensor can be used to measure the angle of rotation of the carrier assembly 30 relative to the support member 60.
  • the adjusting assembly is configured to adjust the mounting position of the end portion 52 of the elastic member 50 on the adjusting assembly toward the first direction under an external force to increase the elastic member 50. Degree of deformation.
  • the adjusting assembly is configured to adjust the mounting position of the end portion 52 of the elastic member 50 on the adjusting assembly toward the second direction under the external force to reduce the deformation degree of the elastic member 50. .
  • an angle sensor can be used to detect the angle formed between the second crossbar portion 224 and the fixed portion 228. For example, when the loaded load tilts the second crossbar portion 224 upward, as shown in FIG. 6, the angle measured by the angle sensor will be less than 90 degrees, and the processor can determine that the load is light, and the adjustment sleeve 36 needs to be adjusted. The downward adjustment is made to change the direction of the elastic force of the elastic member 50 (to reduce the vertical component thereof) while shortening the length of the elastic member 50.
  • the processor will control the position adjustment motor 38 to rotate in a particular direction and amplitude such that the second crossbar portion 224 is perpendicular to the fixed portion 228.
  • the angle measured by the angle sensor will be greater than 90 degrees, and the processor can determine that the load is heavy and needs to be adjusted.
  • the sleeve 36 is adjusted upward to change the direction of the spring force of the elastic member 50 (to increase its vertical component) while increasing the length of the elastic member 50 so that it can be used to balance the vertical force of the load.
  • the processor will control the position adjustment motor 38 to rotate in a particular direction and amplitude such that the second crossbar portion 224 is perpendicular to the fixed portion 228.
  • the above is to determine whether the load and the state of the elastic member 50 match whether the second crossbar portion 224 and the fixed portion 228 are perpendicular (that is, whether the angle measured by the angle sensor is 90 degrees). In other embodiments, other angles may be used as a reference to determine whether the load matches the state of the elastic member.
  • the senor may include a position sensor for detecting the mounting position of the end of the resilient member 50 that is coupled to the adjustment assembly (the ends 52, 54 of the resilient member 50) on the adjustment assembly.
  • a position sensor (not shown) for detecting the position of the adjustment sleeve 36 may be provided.
  • the processor can grasp the position information of the adjustment sleeve 36 in time. This facilitates the processor's control of the adjustment motor 38.
  • the above embodiment adjusts the elastic force of the elastic member 50 by adjusting the position of the end portion of the elastic member 50 in the vertical direction, thereby adapting or balancing the load of different weights.
  • the change in load weight can also be accommodated by manually or by using a motor or the like to laterally move the position of the end of the resilient member 50.
  • the height of the end of the elastic member 50 can be kept constant, and the elastic force of the elastic member 50 can be adjusted by laterally moving the adjustment lever 34.
  • the pan/tilt unit is placed under the fuselage of the shooting system.
  • the shooting device cannot perform some shootings that require a 360-degree surround scene, or a scene in which the scene directly above cannot be captured.
  • the vertical stabilizing mechanism 22 can effectively realize the vertical stabilizing function in the two working modes, and can adjust the elastic member adjusting mechanism for adjusting the elastic force of the elastic member 50. Further improvement is made.
  • the elastic member adjusting mechanism can adjust the positions of the two end portions 52, 54 of the elastic member 50, so that the elastic member 50 has more states, and can provide a proper balance force for the load in the forward state. It also provides a suitable balance for the load in the inverted state.
  • the elastic member adjustment mechanism may include an adjustment assembly disposed at the fixed portion 228 for adjusting the position of the end portion 52 of the elastic member 50.
  • the adjustment assembly may include an adjustment lever 34, an adjustment sleeve 36, an operation portion 32, and the like as described above.
  • the elastic member adjustment mechanism may further include a switching assembly disposed at the vertical rod portion 226 for adjusting the position of the other end of the elastic member 50.
  • the switching assembly is configured to switch the end portion 54 of the elastic member 50 between a plurality of preset positions under an external force.
  • the connecting member 223 is rotated relative to the support member 60 by the elastic force of the elastic member 50 to switch to the preset working form.
  • the preset position corresponds to the preset working form.
  • each predetermined position of the end 54 of the resilient member 50 corresponds to an operational state of the load (or vertical stabilizing mechanism).
  • the connection assembly 223 is switched to the first preset under the driving of the elastic force.
  • the working mode (for example, may be the forward working mode shown in FIG. 9)
  • the connecting component 223 is a four-bar linkage mechanism
  • the connecting component 223 is switched to the first angular state under the driving of the elastic force, so that in the forward direction
  • the elastic member 50 can provide an upward component force to a load (for example, a photographing device) through the load connecting portion 20, the load connecting portion 80 supporting the load by the elastic force of the elastic member and balancing the gravity of the load .
  • the connecting assembly 223 is switched to the second preset working mode under the driving of the elastic force (for example) , in the inverted working mode shown in FIG. 10 , when the connecting component 223 is a four-bar linkage mechanism, the connecting component 223 is switched to a second angle state under the driving of the elastic force, so that in the inverted working mode, the elastic component
  • the load component 20 can still provide an upward component force to the load (e.g., the camera) through the load connection portion 20, which supports the load by the elastic force of the elastic member and balances the gravity of the load.
  • the switching assembly can be disposed on the vertical shaft portion 226 and can include a crankshaft 42 and a switching handle 44.
  • the crankshaft 42 may include a rotating shaft portion 423 on both sides, an eccentric portion 427 disposed at an intermediate portion and offset from the rotational axis, and a connecting portion 425 extending outwardly from the rotating shaft portion 423 and connected between the rotating shaft portion 423 and the eccentric portion 427. .
  • Two shaft holes 2264 are defined in the vertical rod portion 226.
  • the crankshaft 42 is rotatably attached to the vertical rod portion 226 by mounting the shaft portion 423 in the shaft hole 2264.
  • the line connecting the two shaft holes 2264 is the axis of rotation.
  • the eccentric portion 427 is disposed at a distance from the axis of rotation, the length of the distance being affected by the connecting portion 425.
  • a recess 4272 is provided on the eccentric portion 427, and the recess 4272 can serve as a mounting portion for mounting the elastic member 50.
  • the switching handle 44 may include a linkage portion 442 fixed to the rotation shaft portion 423 and a knob portion 444 connected to the linkage portion 442 for the user to operate.
  • the interlocking portion 442 may have a cylindrical shape and is internally provided with a shaft mounting hole 4422.
  • the shaft portion 423 of one side of the crankshaft 42 penetrates through the shaft hole 2264 and is fixed in the shaft mounting hole 4422.
  • the knob portion 444 can be in the shape of a plate that is convenient for the user to rotate.
  • the knob portion 444 is fixedly coupled to the linkage portion 442.
  • the crankshaft 42 By rotating the knob portion 444, the crankshaft 42 can be driven to rotate, thereby driving the end portion 54 of the elastic member 50 to switch at different positions.
  • any position where the eccentric portion 427 and the end portion 54 of the elastic member 50 fixed thereto are located may correspond to a positional state of the elastic member 50.
  • the knob portion 444 can be rotated clockwise and counterclockwise within a certain range of angles, and can be stably stayed and held in two extreme positions (one extreme position corresponds to a limit position of clockwise rotation, The other extreme position corresponds to the extreme position of the counterclockwise rotation).
  • a stopper 2268 may be provided at each of the upper and lower positions outside the vertical rod portion 226. At each extreme position, the knob portion 444 or the linkage portion 442 abuts against one of the stops 2268. The knob portion 444 can be held at the extreme position by the blocking action of the stopper 2268 and the elastic force of the elastic member 50.
  • the two extreme positions serve as two switchable working positions: a forward working position and an inverted working position, which respectively correspond to the forward state and the inverted state of the load.
  • a forward working position the end 54 of the resilient member 50 is rotated adjacent to the second crossbar portion 224; in the inverted state, the end 54 of the resilient member 50 is rotated adjacent to the first crossbar portion 222 places.
  • Some of the working positions are suitable for use in the forward state and the other working position is suitable for use in the inverted state.
  • the knob 54 In forward use, the knob 54 can be rotated to the forward working position by rotating the knob portion 444 such that the end 54 of the resilient member 50 is adjacent the second crossbar portion 224.
  • the change of the position of the end portion 54 of the elastic member 50 causes the elastic force direction to change, the four-bar linkage mechanism swings upward relative to the support member 60, and the four-link cabinet switches to the first angle state, and the final state can be as shown in FIG.
  • the position of the adjustment sleeve 36 on the adjustment lever 34 can be further adjusted.
  • the load can be further balanced by moving the other end 52 of the resilient member 50 adjacent the first crossbar portion 222 by moving the position of the adjustment sleeve 36 on the adjustment lever 34.
  • the knob portion 444 When used in an inverted position, the knob portion 444 can be rotated to the inverted working position such that the end 54 of the resilient member 50 is adjacent the first crossbar portion 222.
  • the change of the position of the end portion 54 of the elastic member 50 causes the elastic force direction to change, the four-bar linkage mechanism swings downward relative to the support member 60, and the four-link cabinet switches to the second angle state, and the final state can be as shown in FIG.
  • the position of the adjustment sleeve 36 on the adjustment lever 34 can be further adjusted. For example, if necessary, the load can be further balanced by lowering the position of the adjustment sleeve 36 on the adjustment lever 34 such that the other end 52 of the elastic member 50 is adjacent to the second crossbar portion 224.
  • the knob portion 444 for manual operation by the user may not be provided, and the automatic driving device (for example, the motor may be referred to as a switching motor as being distinguished from other motors).
  • the processor determines whether the entire device is in a forward state or an inverted state through a sensor (ie, a body state detection module). Upon determining that the device is in the forward use state, the processor controls the automatic drive to drive the end 54 of the resilient member 50 to switch to the forward working position. Upon determining that the device is in an inverted use state, the processor controls the automatic drive to drive the end 54 of the resilient member 50 to switch to the inverted working position.
  • a manually operated knob portion 444 and an automatically operable automatic drive can also be provided.
  • the elastic member adjusting mechanism for the position of the end portion 54 of the elastic member 50 may not be limited to the crankshaft 42, but may be replaced by other positional elastic member adjusting mechanisms.
  • the adjustment sleeve 36 and the adjustment rod 34 as previously described may be used in place of the crankshaft 42 herein. That is, both end portions 52, 54 of the elastic member 50 are adjusted and controlled by the fitting structure of the adjusting sleeve 36 and the adjusting lever 34.
  • the adjustment assembly in the embodiment of the figures can be interchanged with the switching assembly, and the position of the end 52 of the resilient member 50 can be adjusted by the switching assembly, with the end 54 of the resilient member 50 being utilized by the adjustment assembly. The position is adjusted.
  • a predetermined program can be loaded into the processor in the shooting system, so that the shooting system has a forward working mode and an inverted working mode.
  • the processor performs different operations on various components in the shooting system, especially the pan/tilt device.
  • the pan/tilt device can be automatically adjusted to a suitable state, for example, the end 54 of the resilient member 50 can be adjusted adjacent to the second crossbar portion 224.
  • the pan/tilt device can be automatically adjusted to a suitable state, for example, the end 54 of the resilient member 50 can be adjusted adjacent to the first crossbar portion 222.
  • the body condition detection module can be set on the shooting system.
  • the body state detection module is used to determine whether the camera system is in a forward state or an inverted state.
  • the processor can automatically switch the shooting system to the forward working mode or the inverted working mode according to the body state information provided by the body state detecting module.
  • a mode switch for manual operation by the user may also be provided on the photographing system.
  • the processor switches the camera system to the forward mode of operation.
  • the processor switches the camera system to the inverted mode of operation.
  • the coupling mechanism 220 can also include a transmission member coupled between the stabilizing motor 62 and a connection assembly (e.g., a four-bar linkage mechanism).
  • a connection assembly e.g., a four-bar linkage mechanism.
  • the transmission member can include a rocker 66.
  • the first end of the rocker 66 is eccentrically rotatably coupled to the outer rotor of the stabilizing motor 62.
  • the connection point S between the rocker 66 and the outer rotor and the center of rotation (axis) R of the stabilizing motor 62 can be as shown in the figure. Shown in 11.
  • the second end of the rocker 66 is rotationally coupled (hinged) to the second crossbar portion 224 or the first crossbar portion 222.
  • the above connection manner makes the motion law of the rocker 66 satisfy the motion law of the rocker in the crank rocker mechanism.
  • the line SR (non-solid structure) connecting the point S to the center of rotation (axis) R can be regarded as a crank in the crank rocker mechanism.
  • the support member 60 is U-shaped.
  • the number of the stabilizing motors 62 is two and symmetrically disposed at both ends of the support member 60.
  • the rocker 66 is also two.
  • the first ends of the two rockers 66 are coupled to corresponding stabilizing motors 62.
  • the second ends of the two rockers 66 are symmetrically hinged to the attachment assembly, and in particular to the two sides of the second crossbar portion 224.
  • the attachment mechanism 220 can include a relatively complete crank rocker mechanism, i.e., a combination of a crank 64 (Fig. 11) and a rocker 66.
  • the first end of the crank 64 is coupled to the stabilizing motor 62 in a coaxially rotating manner (the crank 64 rotates about the central axis of rotation R of the stabilizing motor 62), the second end of the crank 64 and the first end of the rocker 66 Hinged, the second end of the rocker 66 is hinged to the second crossbar portion 224 (or the first crossbar portion 222).
  • the second crossbar portion 224 is rotatable relative to the fixed portion 228.
  • the stabilizing motor 62 can be fixed to the fixed portion 228.
  • the crank 64 is equivalent to the wire SR in the previous embodiment.
  • the second crossbar portion 224 can be reciprocated up and down by the rocker 66, having the highest position and the lowest position. In the highest position and the lowest position, the crank 64 and the rocker 66 are connected in a straight line to form a dead point. At the dead point, the force transmitted by the second crossbar portion 224 and the rocker 66 to the crank 64 does not produce a moment that causes the crank to rotate.
  • the limiting portions 65, 67 may be provided to lock the state of the rocker 66 in the event that the stabilizing motor 62 is de-energized, thereby locking the vertical stabilizing mechanism or the load in the vertical direction. status.
  • the first limiting portion 65 can be disposed near the highest position.
  • the first limiting portion 65 may be disposed on the first crossbar portion 222.
  • the stabilizing motor 62 drives the crank 64 to rotate clockwise
  • the second crossbar portion 224 rotates clockwise and the height increases.
  • the crank 64 and the rocker 66 are connected in a line (partially coincident)
  • the second crossbar portion 224 reaches the highest position. This position is the clockwise extreme position of the crank rocker mechanism. After continuing to rotate a small distance in a clockwise direction, the rocker 66 will be able to contact the first limit portion 65, as shown in FIG.
  • the second crossbar portion 224 at the upper position has a tendency to move downward.
  • the tendency of the second crossbar portion 224 to move downward will translate into a tendency for the crank 64 and the rocker 66 to rotate clockwise. Due to the blocking of the first limiting portion 65, the crank 64 and the rocker 66 cannot continue to rotate clockwise. This causes the crank 64, the rocker 66, the second crossbar portion 224, and the like to be stably fixed at this position. That is, in this state, even if the stabilizing motor 62 is de-energized, the state of the rocker 66 and the vertical stabilizer can be locked.
  • the second limiting portion 67 can be disposed near the lowest position.
  • the second limiting portion 67 may be disposed on the second crossbar portion 224.
  • the stabilizing motor 62 drives the crank 64 to rotate counterclockwise, the second crossbar portion 224 rotates counterclockwise and the height continuously decreases.
  • the crank 64 is connected to the rocker 66 in a line, the second crossbar portion 224 reaches the lowest position. This position is the counterclockwise limit position of the crank rocker mechanism. After continuing to rotate a certain distance in the counterclockwise direction, the rocker 66 will be able to contact the second limit portion 67, as shown in FIG.
  • the second crossbar portion 224 has a tendency to move upward.
  • the tendency of the second crossbar portion 224 to move upwardly translates into a tendency for the crank 64 and the rocker 66 to rotate counterclockwise. Due to the blocking of the second limiting portion 67, the crank 64 and the rocker 66 cannot continue to rotate counterclockwise. This causes the crank 64, the rocker 66, the second crossbar portion 224, and the like to be stably fixed at this position. That is, in this state, even if the stabilizing motor 62 is de-energized, the state of the rocker 66 and the vertical stabilizer can be locked.
  • the stabilization motor 62 can be used to drive the crank 64 and the rocker 66 to move between the highest position (excluding) and the lowest position (excluding) to realize the vertical active stabilization function.
  • the user can manually or use the stabilization motor 62 to rotate the second rail portion 224 at a large angle, so that the rocker 66 abuts and stabilizes at the first limit portion 65 or the second limit. At the position 67.
  • crank rocker mechanism described above can satisfy the basic function of the stabilization motor 62 to drive the second crossbar portion 224 to sway, and can provide the second crossbar portion 224 with a locking function in the event that the stabilization motor 62 is de-energized. Since such a function is realized in a set of mechanisms, it is compact.
  • only one limit portion may be provided.
  • only the first limiting portion 65 or only the second limiting portion 67 may be provided.
  • a connecting portion is provided on the connecting member 223.
  • the transmitting member abuts the limiting portion to restrict the load from moving in a specific vertical direction.
  • the connecting component drives the connecting component to rotate relative to the supporting member, and the load carried on the load connecting portion can move in the vertical direction (vertical direction), when the stabilizing motor rotates to the preset At an angle, the transmission member abuts the limit portion to restrict the load from moving in a specific vertical direction, such that when the stabilizing motor rotates to a preset angle, if the load or the connecting assembly has a certain vertical direction of movement Restricting the load from moving in a particular vertical direction under the blocking of the limiting portion.
  • a first limiting portion may be disposed on the connecting component, and when the stabilization motor 62 is rotated to a first predetermined angle, the transmission member abuts the first limiting portion to limit the load along the first Move in a vertical direction.
  • the connecting component is rotated relative to the support by the transmission member, and the load carried on the load connecting portion can be moved upward, when the stabilizing motor rotates to the first
  • the transmission member abuts the limiting portion to restrict the load from moving in a specific vertical direction, so that when the stabilizing motor rotates to the first predetermined angle, if the load or the connecting assembly has a downward movement The trend is to limit the load to move downwards under the blockage of the limit.
  • the transmission member abuts the first limiting portion to restrict the load from moving in the first vertical direction
  • the stabilizing motor rotates from the first reference angle to the first predetermined angle in the first rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the first reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the first dead center state.
  • the stabilizing motor and the transmission member When the stabilizing motor and the transmission member are at the first dead point, the stabilizing motor rotates to the first reference angle, and when the stabilizing motor rotates to the first reference At an angle, the load may be at a highest position in the vertical stroke, and when the stabilizing motor rotates from the first reference angle to the first predetermined angle in the first rotational direction, the transmission member abuts the first limit To limit the load from moving in the first vertical direction (downward).
  • a second limiting portion may be further disposed on the connecting component, and when the stabilization motor 62 is rotated to a second predetermined angle, the transmission member abuts the second limiting portion to limit the The load moves in a second vertical direction.
  • the connecting component when the stabilizing motor rotates in the second rotational direction, the connecting component is driven to rotate relative to the support by the transmission member, and the load carried on the load connecting portion can be moved downward, when the stabilizing motor rotates to the first At two preset angles, the transmission member abuts the limiting portion to restrict the load from moving in a specific vertical direction, such that when the stabilizing motor rotates to the second predetermined angle, if the load or the connecting assembly has an upward movement
  • the trend is to limit the load to move upwards under the blockage of the limit.
  • the transmission member abuts the second limiting portion to restrict the load from moving in the second vertical direction
  • the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the second reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the second dead center state.
  • the transmission member abuts the second limiting portion to restrict the load from moving in the second vertical direction
  • the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction
  • the stabilizing motor and the transmission member are not in a dead state
  • the second reference angle is a stabilizing motor and a transmission The angle at which the motor rotates when the component is in the second dead center state.
  • the stabilizing motor and the transmission member When the stabilizing motor and the transmission member are at the second dead point, the stabilizing motor rotates to the second reference angle, and when the stabilizing motor rotates to the second reference At an angle, the load may be at a lowest position in the vertical stroke, and when the stabilizing motor rotates from the second reference angle to the second predetermined angle in the second rotational direction, the transmission member abuts the second limit To restrict movement of the load in a second vertical direction.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un mécanisme d'amélioration de stabilité verticale, un dispositif à cardan et un système de capture d'image. Le mécanisme d'amélioration de stabilité verticale (22) comprend un mécanisme de liaison à quatre barres, un moteur d'amélioration de stabilité (62), une première partie de limitation (65) et une seconde partie de limitation (67). Les barres adjacentes dans le mécanisme de liaison à quatre barres sont en prise les unes avec les autres de telle sorte que des angles inclus entre les barres adjacentes puissent varier. Le moteur d'amélioration de stabilité (62) est relié au mécanisme de liaison à quatre barres au moyen d'une bascule (66) et peut faire varier les angles inclus entre les barres adjacentes. La première partie de limitation (65) et la seconde partie de limitation (67) sont configurées pour limiter une plage mobile de la bascule (66). La bascule (66) présente deux positions de point mort. La plage mobile déterminée par la première partie de limitation et la seconde partie de limitation comprend les deux positions de point mort.
PCT/CN2018/080373 2018-03-23 2018-03-23 Mécanisme d'amélioration de stabilité verticale, dispositif à cardan et système de capture d'image WO2019178884A1 (fr)

Priority Applications (10)

Application Number Priority Date Filing Date Title
CN201880011240.8A CN110382942B (zh) 2018-03-23 2018-03-23 竖向增稳机构、云台装置以及拍摄系统
PCT/CN2018/080373 WO2019178884A1 (fr) 2018-03-23 2018-03-23 Mécanisme d'amélioration de stabilité verticale, dispositif à cardan et système de capture d'image
CN202110699287.1A CN113418104B (zh) 2018-03-23 2018-03-23 竖向增稳机构
EP19772213.5A EP3658814B1 (fr) 2018-03-23 2019-03-18 Appareil de stabilisation de charge
CN202210922941.5A CN115264352A (zh) 2018-03-23 2019-03-18 负载增稳装置
CN201980020333.1A CN111886439B (zh) 2018-03-23 2019-03-18 负载增稳装置
EP22152308.7A EP4019823A1 (fr) 2018-03-23 2019-03-18 Appareil de stabilisation de charge
PCT/CN2019/078563 WO2019179402A1 (fr) 2018-03-23 2019-03-18 Appareil de stabilisation de charge
US17/021,926 US11603959B2 (en) 2018-03-23 2020-09-15 Load-stabilizing apparatus
US18/182,730 US20230220951A1 (en) 2018-03-23 2023-03-13 Load-stabilizing apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/080373 WO2019178884A1 (fr) 2018-03-23 2018-03-23 Mécanisme d'amélioration de stabilité verticale, dispositif à cardan et système de capture d'image

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WO2019178884A1 true WO2019178884A1 (fr) 2019-09-26

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WO (1) WO2019178884A1 (fr)

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WO2021081719A1 (fr) * 2019-10-28 2021-05-06 深圳市大疆创新科技有限公司 Mécanisme de stabilisation verticale, appareil de tête de berceau, et dispositif de détection
CN111201890A (zh) * 2020-01-12 2020-05-29 浙江省农业科学院 一种具有自动调平功能的采摘装置
CN113124304B (zh) * 2021-03-31 2022-05-03 桂林智神信息技术股份有限公司 一种带竖向减震机构的稳定器手持部及手持稳定器
CN117730221A (zh) * 2021-10-20 2024-03-19 深圳市大疆创新科技有限公司 增稳装置的控制方法和增稳装置

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