WO2020024198A1 - 拍摄设备及其云台增稳装置 - Google Patents

拍摄设备及其云台增稳装置 Download PDF

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Publication number
WO2020024198A1
WO2020024198A1 PCT/CN2018/098152 CN2018098152W WO2020024198A1 WO 2020024198 A1 WO2020024198 A1 WO 2020024198A1 CN 2018098152 W CN2018098152 W CN 2018098152W WO 2020024198 A1 WO2020024198 A1 WO 2020024198A1
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WO
WIPO (PCT)
Prior art keywords
link
plate
plates
cable
side plate
Prior art date
Application number
PCT/CN2018/098152
Other languages
English (en)
French (fr)
Inventor
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 PCT/CN2018/098152 priority Critical patent/WO2020024198A1/zh
Priority to EP18928283.3A priority patent/EP3832387A4/en
Priority to CN201880040859.1A priority patent/CN110770491B/zh
Publication of WO2020024198A1 publication Critical patent/WO2020024198A1/zh
Priority to US17/162,736 priority patent/US20210149282A1/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
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F16M11/18—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
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • 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
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • 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

Definitions

  • the invention relates to a photographing device and a PTZ stabilization device thereof, and belongs to the technical field of image and video shooting devices.
  • a stabilization device In the shooting of images or videos, a stabilization device is often used so that the camera provides a stabilization function to obtain a stable and high-quality picture.
  • cables used for communication or power supply are currently installed in the current stabilization device.
  • frequent relative movements between various components will occur, resulting in frequent occurrence of the cables installed in them. Bends, pinches, etc. can easily lead to cable breakage and affect the normal use of the stabilization device.
  • an embodiment of the present invention provides a photographing device and a PTZ stabilization device thereof.
  • a gimbal stabilization device including: a first link, a second link, a third link, and a fourth link;
  • the first link, the second link, the third link, and the fourth link are hinged into a parallelogram mechanism, wherein the first link is parallel to the third link, and the second link Parallel to the fourth link;
  • the first link is formed with a first connection portion for connection with a first device, and the third link is formed with a second connection portion for connection with a second device;
  • the first link and the third link are respectively provided with fixing parts for fixing both ends of the cable, and the cable is accommodated between the second link and the fourth link;
  • the cable is exposed on the first link and the second link.
  • the length between the rods and between the second and third links is dynamically changed to match the length of the first and second links and the third and second links.
  • the angle change between them is adapted.
  • a photographing device including: a PTZ, a PTZ stabilization device, and a camera supported by the PTZ stabilization device or the PTZ;
  • the gimbal stabilization device includes: a first link, a second link, a third link, and a fourth link;
  • the first link, the second link, the third link, and the fourth link are hinged into a parallelogram mechanism, wherein the first link is parallel to the third link, and the second link Parallel to the fourth link;
  • the first link is formed with a first connection portion for connection with a first device, and the third link is formed with a second connection portion for connection with a second device;
  • the first link and the third link are respectively provided with fixing parts for fixing both ends of the cable, and the cable is accommodated between the second link and the fourth link;
  • the cable is exposed on the first link and the second link.
  • the length between the rods and between the second and third links is dynamically changed to match the length of the first and second links and the third and second links.
  • the angle change between them is adapted.
  • the gimbal stabilization device can provide another dimension of stabilization on the basis of the stabilization effect provided by a single-axis, dual-axis, or three-axis gimbal, which is conducive to enriching the application of shooting equipment.
  • the gimbal stabilization device is a parallelogram link mechanism, a cable is passed through a second link in the parallelogram link mechanism, and both ends of the cable are fixed to the second link respectively.
  • the two ends of the link are hinged to the first link and the second link, so that when the second link rotates, the cable exposed at both ends of the second link can be dynamically changed to connect the second link to the first link.
  • the angle change between the rod and the third link is adapted, so that there is no need to reserve a longer cable, and the problem of pulling or compressing the cable is avoided, which can avoid cable damage, improve service life and Signal transmission quality.
  • FIG. 1 is a schematic structural diagram of a photographing device according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a gimbal stabilization device in FIG. 1;
  • Figure 3 is an exploded view of Figure 2;
  • FIG. 4 is a longitudinal sectional view of the gimbal stabilization device in FIG. 2 when it is located at a first position;
  • FIG. 5 is a simplified schematic diagram of FIG. 4;
  • FIG. 6 is a longitudinal sectional view of the gimbal stabilization device in FIG. 2 when it is in a second position; FIG.
  • FIG. 7 is a simplified schematic diagram of FIG. 6;
  • FIG. 8 is a longitudinal sectional view of the gimbal stabilization device in FIG. 2 when it is located at a third position;
  • FIG. 9 is a simplified schematic diagram of FIG. 8.
  • 211-rear side plate 211a-first upper hinge hole
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality” is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and other terms shall be understood in a broad sense unless otherwise specified and limited, for example, they may be fixed connections or detachable. Connected or integrated; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless it is clearly defined otherwise.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • FIG. 1 is a schematic structural diagram of a photographing device according to this embodiment.
  • the photographing device of this embodiment includes a main body 1, a PTZ 3, a PTZ stabilization device 2 to be described in detail below, and a camera supported by the PTZ stabilization device 2 or PTZ 3 4.
  • the first connection portion of the PTZ stabilization device 2 is used to install the PTZ 3, and the second connection portion of the PTZ stabilization device 2 is used to be fixed to the main body 1.
  • the main body 1 of the photographing device includes a hand-held portion 11 for an operator to hold.
  • the gimbal stabilization device 4 may also be disposed at an end of the gimbal 3 away from the main body 1. At this time, the camera 4 is directly supported by the gimbal stabilization device 4.
  • the PTZ 3 is detachably mounted on the first connection portion of the PTZ stabilization device 2, and the second connection portion of the PTZ stabilization device 2 is detachably mounted on the main body 1 on.
  • the first connection part of the gimbal stabilization device 2 may form a motor mounting base that is at least partially annular, so that a single-axis, dual-axis, or three-axis motor (including but not limited to a yaw motor, A pitch motor, a roll motor, etc.) are installed in the ring-shaped motor mounting base, so that the gimbal 3 is connected to the main body 1.
  • the main body 1 may be formed in any suitable structure so as to be used for installing the second connection portion of the gimbal stabilization device 2.
  • FIG. 1 shows that a mounting groove is formed on the main body 1, and the second connection portion is received and fixed in the mounting groove, so that the overall height of the photographing device can be reduced, and its compactness and portability can be achieved.
  • the first connection portion of the PTZ stabilization device 2 may be connected to the PTZ 3 through one or more link mechanisms, and the second connection portion thereof is directly fixed to the main body 1.
  • the first connection portion connected with the first connection portion of the gimbal stabilization device 2 and the head 3 may be a single-link or multi-link structure, such as a parallelogram link mechanism.
  • the second connection portion of the gimbal stabilization device 2 may be fixed to the main body 1 through one or more link mechanisms, and the first connection portion is directly used for installing the cloud. Platform 3; or, the first connecting portion of the PTZ stabilization device 2 may be connected to the PTZ 3 through one or more link structures, and the second connecting portion thereof may also be connected to the main body through one or more link mechanisms. 1 fixed.
  • first connection portion is connected to the gimbal 3 and the second connection portion is connected to the main body 1, in actual application, the first connection portion may be connected to the main body 1, The second connection portion is connected to the gimbal 3.
  • the following embodiment will take the first connection part connected to the PTZ 3 and the second connection part connected to the main body 1 as an example to describe the structure and function of the PTZ stabilization device 2 as an example, but It should be understood that the following embodiments are not specific restrictions on the structure and function of the gimbal stabilization device 2.
  • the simple replacements or improvements that do not require creative labor based on the ideas described in the following embodiments also belong to this embodiment. content.
  • FIG. 2 is a schematic structural diagram of the gimbal stabilization device in FIG. 1, and FIG. 3 is an exploded view of FIG. 2.
  • the gimbal stabilization device 2 of this embodiment includes a first link 21, a second link 22, a third link 23, and a fourth link 24. These four links The hinges form a parallelogram mechanism.
  • the first link 21 on the left is parallel to the third link 23 on the right, and the second link 22 on the upper side is parallel to the fourth link 24 on the lower side.
  • the first connecting portion 213 of the gimbal stabilization device 2 is formed on the first link 21 for directly connecting to the gimbal 3 or indirectly connected to the gimbal 3 through a link mechanism; the second connecting portion 233 is formed
  • the third link 23 is configured to be directly connected to the main body 1 of the photographing apparatus or indirectly connected to the main body 1 of the photographing apparatus through a link mechanism.
  • a cable 25 is passed between the second link 22 and the fourth link 24, and the cable 25 is used to communicatively connect the gimbal 3 and the main body 1 of the photographing device.
  • the first link 21 and the third link 23 are respectively formed with fixing portions for fixing both ends of the cable 25.
  • the length of the cable 25 between the first link 21 and the third link 23 is determined, and it is divided into three parts by the second link 22. Among them, the left part is the part exposed between the first link 21 and the second link 22, the middle part is the part hidden inside the second link 22, and the right part is the part exposed on the second link 22 and the third link 23.
  • FIG. 4 is a longitudinal sectional view of the gimbal stabilization device of FIG. 2 when the gimbal stabilization device is located at the first position;
  • FIG. 5 is a simplified schematic diagram of FIG. 4; and
  • FIG. 7 is a simplified schematic diagram of FIG. 6;
  • FIG. 8 is a longitudinal sectional view of the gimbal stabilization device of FIG. 2 when the third position is located in the third position;
  • FIG. 9 is a simplified schematic diagram of FIG. 8.
  • L1 represents a horizontal plane, that is, the third link 23 in FIGS. 4 to 9 is horizontally fixed.
  • the second link 22 when the second link 22 is rotated relative to the third link 23, the cable 25 located between the second link 22 and the fourth link 24 is relatively displaced relative to the second link 22, Therefore, without changing the length of the cable 25 between the first link 21 and the third link 23, the second link is adapted by dynamically adjusting the length of the left and right portions exposed on the second link 22. The angle between 22 and the first link 21 and the third link 23 changes.
  • the gimbal stabilization device 2 of this embodiment can provide another dimension of stabilization function based on the stabilization effect provided by the single-axis, dual-axis, or tri-axis gimbal 3, which is beneficial to enrich the application of shooting equipment.
  • the shooting device shown in FIG. 1 uses a three-axis gimbal 3, and by installing the gimbal stabilization device 2 of this embodiment in a horizontal direction, the height of the gimbal 3 in the vertical direction can be adjusted, and then the gimbal can be adjusted.
  • the height of the camera 4 installed on 3 allows the user to align the camera 4 horizontally with the object being photographed in a larger range in the vertical direction, instead of only the shooting equipment with only the three-axis head 3
  • the object can be discharged to the top or bottom; and adjusting the height in the vertical direction through the parallelogram linkage mechanism can also improve the stability, thereby avoiding affecting the quality of the shooting picture of the lens.
  • the gimbal stabilization device 2 can also be installed on the gimbal 3 in any desired direction, or one or more link mechanisms, such as another
  • the gimbal stabilization device 2 of the embodiment is mounted on the shooting subject 1 or connected to the gimbal 3 so as to achieve the required adjustment angle of the gimbal 3.
  • the gimbal stabilization device 2 of this embodiment is a parallelogram link mechanism, and also passes the cable 25 through the second link 22 in the parallelogram link mechanism, and passes both ends of the cable 25 It is fixed on the first link 21 and the second link 22 hinged to the two ends of the second link 22, respectively.
  • the length of the cable 25 only needs to be equal to the length between the first link 21 and the second link 22. The distance is sufficient, no longer need to reserve a longer cable 25, and the cable 25 of this length can be exposed at the second position by turning the second link 22 around the hinge point of the third link 23 to any position.
  • the dynamic change in the length of the two ends of the link 22 compensates for the change in the angle between the second link 22 and the first link 21 and the third link 23, so that the problem of pulling or compressing the cable 25 does not occur.
  • the damage of the cable 25 can be avoided, and the service life and signal transmission quality can be improved.
  • the second link 22 includes an upper case, and a cavity for receiving the cable 25 is formed in the upper case.
  • the upper case includes two upper plates 221 opposite to each other and a cover plate 222 covering the two upper plates 221, so that the cover plate 222 and the two upper plates 221 are combined to be used for A cavity 223 for receiving the above-mentioned cable 25.
  • the front ends of the two upper plates 221 are formed with a first hinge hole 221a for articulating with the first link 21; the rear ends of the two upper plates 221 are formed with a second hinge hole 221b for connecting with the third
  • the connecting rod 23 is hinged.
  • upper ear plates may be formed at the front and rear ends of the two upper side plates 221, respectively, so as to open the hinge holes in the upper ear plates. It can be understood that this embodiment does not limit that the first hinge hole 221a and the second hinge hole 221b must be formed on the two upper side plates 221.
  • a first hinge hole 221a and a second hinge hole 221b may be formed at a front end and a rear end of one of the side plates, respectively.
  • the first hinge hole 221a may be formed at the front end of one of the upper plates 221 (for example, the upper plate 221 on the inner side), and the other upper plate 221 (for example, the upper plate on the outer side) may be formed. 221) forms a second hinge hole 221b at the rear end.
  • the cover plate 222 and the two upper side plates 221 may be integrated into a single piece, or the two upper side plates 221 may be connected into a whole through a connection plate And then cover the cover plate 222 on top of the two upper side plates 221 to simplify the subsequent assembly process.
  • the aforementioned upper housing may be replaced with a hollow or solid rod member as the second link 22.
  • the fourth link 24 parallel to the second link 22 includes a lower case, and the upper case is covered on the lower case.
  • the lower case includes a bottom plate and two lower side plates 241 located on both sides of the bottom plate.
  • the two lower side plates 241 and the two upper side plates 221 may be abutted, or one side surface of the upper side plate 221 and one side surface of the lower side plate 241 may be attached to each other.
  • the outer side surfaces of the two lower side plates 241 are respectively attached to the inner side surfaces of the two upper side plates 221, or the inner side surfaces of the two lower side plates 241 and the two upper side plates are respectively shown in FIG.
  • the outer side surface of 221 fits, or the outer side surface of one of the lower side plates 241 fits the inner side surface of one upper side plate 221, and the inner side surface of the other lower side plate 241 fits the outer side of the other upper plate 221 Side fit.
  • a third hinge hole 241a is formed at the front end of the two lower side plates 241 for articulating with the first link 21; a fourth hinge hole 241b is formed at the rear end of the two lower side plates 241 for connecting with the third The connecting rod 23 is hinged.
  • lower ear plates may be formed at the front and rear ends of the two lower side plates 241, respectively, so as to open the hinge holes in the lower ear plates.
  • the shape of the lower ear plate may match the shape of the upper ear plate as shown in FIG. 3. Similar to the upper case, this embodiment does not limit that the third hinge hole 241a and the fourth hinge hole 241b must be formed on both the lower side plates 241.
  • a third hinge hole 241a and a fourth hinge hole 241b may be formed at the front and rear ends of one of the side plates, respectively.
  • the third hinge hole 241a may be formed at the front end of one of the lower side plates 241 (for example, the lower side plate 241 on the inner side), and the other lower side plate 241 (for example, the lower side plate on the outer side) 241) forms a fourth hinge hole 241b at the rear end.
  • the bottom plate of the lower case can also be integrated with the two lower side plates 241 to form a single piece, or the two lower side plates 241 can be connected to form a whole through a connecting plate. Parts, and then cover the bottom plate on the bottom of the two lower side plates 241 to simplify the subsequent assembly process.
  • the fourth link 24 is not restricted to have the above structural form, and it may also adopt other structures.
  • hollow or solid rods may be used. Replace the aforementioned lower case as the fourth link 24, or use a plate to replace the aforementioned lower case as the fourth link 24.
  • the first link 21 of this embodiment includes a front case, and the aforementioned first connection portion 213 is formed at the front end of the front case.
  • the front case includes a front plate 212 and two rear side plates 211 located behind the front plate 212.
  • the two rear side plates 211 may be located outside the upper side plate 221 and the lower side plate 241, that is, the inner side surfaces of the two rear side plates 211 and the outer side surfaces of the two upper side plates 221 and the two lower side plates.
  • the outer side of 241 is fitted.
  • the two rear plates 211 may also be located inside the upper plate 221 and the lower plate 241, that is, the outer surfaces of the two rear plates 211, the inner surfaces of the two upper plates 221, and the two The inner side surfaces of the lower side plate 241 are bonded together.
  • an upper portion of the two rear side plates 211 may be directly formed for penetrating the two upper side plates 221.
  • a first upper hinge shaft of the first hinge hole 221a, and a lower hinge portion of the two rear side plates 211 is formed below the first upper hinge shaft and penetrates the third hinge hole 241a of the two lower side plates 241.
  • First lower hinged shaft is formed on the two rear side plates 211, respectively.
  • one hinge shaft 26 is passed through the first upper hinge hole 211a and the first hinge hole 221a to achieve the hinge of the first link 21 and the second link 22, and the other hinge shaft 26 is passed through the first lower
  • the hinge hole 211b and the third hinge hole 241a are used to realize the hinge of the first link 21 and the fourth link 24.
  • a fixing portion 212 a for fixing the front end of the cable 25 is provided on the front plate 212, and a first connection portion 213 is provided in front of the front plate 212.
  • the first connection portion 213 may be located on the front plate 212. roof.
  • the fixing portion 212 a provided on the front plate 212 may be a wire passing hole, and the cable 25 passes through the wire passing hole for fixing.
  • the first connection portion 213 may be disposed near the front plate 212, or may be disposed near the front plate 212.
  • the specific structure of the first connection portion 213 is not limited, and may be the above-mentioned substantially annular shape. Motor mounting section.
  • the first link 21 may not be provided in the shape of the front housing.
  • it may be provided in a shape similar to the Arabic numeral 7 or in a shape similar to the English letter T and rotated ninety degrees clockwise to articulate with the second link 22 and the fourth link 24.
  • the first link 21 may be a rod structure or a plate structure, which is not specifically limited herein.
  • the third link 23 of this embodiment includes a rear case, and the aforementioned second connection portion 233 is formed at a rear end of the rear case.
  • the rear case includes a rear plate 232 and two front side plates 231 located in front of the rear plate 232.
  • the two front side plates 231 may be located inside the upper side plate 221 and the lower side plate 241, that is, the outer side surfaces of the two front side plates 231, the inner side surfaces of the two upper side plates 221, and the two lower side plates.
  • the inner side of 241 is fitted, as shown in FIG. 2.
  • the two front side plates 231 can also be located outside the upper side plate 221 and the lower side plate 241, that is, the inner side surfaces of the two front side plates 231 and the outer side surfaces of the two upper side plates 221 and two The outer surface of the lower side plate 241 is bonded together.
  • an upper portion of the two front side plates 231 may be directly formed to penetrate the two upper side plates 221.
  • a second upper hinge shaft 26 of the second hinge hole 221b, and a fourth hinge hole located below the second upper hinge shaft 231 and penetrating the two lower side plates 241 is formed at the lower portion of the two front side plates 231.
  • the second lower hinged shaft 26 of 241b is formed at the lower portion of the two front side plates 231.
  • a second upper hinge hole 231a and a second lower hinge hole 231b located below the second upper hinge hole 231a may be formed on the two rear side plates 211, respectively.
  • one hinge shaft 26 is passed through the second upper hinge hole 231a and the second hinge hole 221b to achieve the hinge of the third link 23 and the second link 22, and the other hinge shaft 26 is passed through the second The lower hinge hole 231b and the fourth hinge hole 241b are used to realize the hinge of the third link 23 and the fourth link 24.
  • a fixing portion 232a for fixing the rear end of the cable 25 is provided on the rear plate 232, and a second connection portion 233 is provided behind the rear plate 232, and the second connection portion 233 may be located to be suitable for connection with the main body 1 or the camera. Any position fixed by the lever mechanism.
  • the fixing portion 232 a provided on the rear plate 232 may be a wire passing hole, and the rear end of the cable 25 passes through the wire passing hole for fixing.
  • the second connecting portion 233 may be a frame structure that is convenient for improving the connection strength, so as to improve the stability of the gimbal stabilization device 2 during movement.
  • the third link 23 may not be provided in a shape similar to the above-mentioned rear case.
  • it may be provided in a shape similar to the English letter L, or it may be provided in a shape similar to the English letter T and rotated ninety degrees counterclockwise to articulate with the second link 22 and the fourth link 24.
  • the third link 23 may be a rod structure or a plate structure, and is not specifically limited herein.

Abstract

一种云台增稳装置，包括：平行四边形连杆机构，线缆(25)的两端分别固定在平行的第一连杆(21)和第三连杆(23)上、且穿过平行的第二连杆(22)和第四连杆(24)之间的区域，当第二连杆(22)绕其与第三连杆(23)的铰接点转动时，裸露在第二连杆(22)两端的部分线缆(25)的长度动态变化，以与第二连杆(22)与第一连杆(21)和第三连杆(23)的角度变化相适配。本发明的云台增稳装置，不仅可以为云台提供增稳作用，而且还能避免穿设在云台增稳装置内的线缆出现拉扯或者压缩的问题，从而避免线缆损坏，提高使用寿命和信号传输质量。本发明还提供一种拍摄设备。

Description

拍摄设备及其云台增稳装置 技术领域
本发明涉及一种拍摄设备及其云台增稳装置，属于图像和视频拍摄设备技术领域。
背景技术
在图像或者视频的拍摄中，经常会使用到增稳装置，以便相机提供增稳作用，以获得稳定和高质量的画面。但是，现在的增稳装置中会穿设用于通信或者供电的线缆，在增稳装置使用过程中，各部件之间会发生频繁的相对运动，从而导致穿设于其中的线缆发生频繁的弯折、剐蹭等，极易导致线缆断裂，影响增稳装置的正常使用。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种拍摄设备及其云台增稳装置。
根据本发明实施例的一方面，提供一种云台增稳装置，包括：第一连杆、第二连杆、第三连杆以及第四连杆；
所述第一连杆、第二连杆、第三连杆和第四连杆铰接成平行四边形机构，其中，所述第一连杆与所述第三连杆平行，所述第二连杆与所述第四连杆平行；
所述第一连杆形成有与用于与第一设备连接的第一连接部，所述第三连杆形成有用于与第二设备连接的第二连接部；
所述第一连杆和第三连杆分别设置有用于固定线缆两端的固定部，所述线缆容置于所述第二连杆和第四连杆之间；
其中，随着所述第二连杆带动所述第一连杆围绕所述第二连杆和第三连杆的铰接点转动，所述线缆裸露在所述第一连杆和第二连杆之间以及裸露在所述第二连杆和第三连杆之间的长度动态变化，以与所述第一连杆和第二连 杆以及所述第三连杆和第二连杆之间的角度变化相适配。
根据本发明实施例的另一方面，提供一种拍摄设备，包括：云台、云台增稳装置以及所述云台增稳装置或云台支撑的相机；
所述云台增稳装置包括：第一连杆、第二连杆、第三连杆以及第四连杆；
所述第一连杆、第二连杆、第三连杆和第四连杆铰接成平行四边形机构，其中，所述第一连杆与所述第三连杆平行，所述第二连杆与所述第四连杆平行；
所述第一连杆形成有与用于与第一设备连接的第一连接部，所述第三连杆形成有用于与第二设备连接的第二连接部；
所述第一连杆和第三连杆分别设置有用于固定线缆两端的固定部，所述线缆容置于所述第二连杆和第四连杆之间；
其中，随着所述第二连杆带动所述第一连杆围绕所述第二连杆和第三连杆的铰接点转动，所述线缆裸露在所述第一连杆和第二连杆之间以及裸露在所述第二连杆和第三连杆之间的长度动态变化，以与所述第一连杆和第二连杆以及所述第三连杆和第二连杆之间的角度变化相适配。
根据本发明实施例的技术方案，云台增稳装置可以在单轴、双轴或者三轴云台所提供的增稳作用的基础上提供另一个维度的增稳作用，有利于丰富拍摄设备的应用。此外，通过将云台增稳装置为平行四边形连杆机构，并将线缆穿过该平行四边形连杆机构中的第二连杆，以及将该线缆的两端分别固定在与该第二连杆的两端铰接的第一连杆和第二连杆上，从而当第二连杆转动时，裸露在第二连杆两端的线缆可以动态变化以与第二连杆与第一连杆及第三连杆之间的角度变化相适配，从而无需再预留更长的线缆，也就避免了对线缆进行拉扯或者压缩的问题，可以避免线缆损坏，提高使用寿命和信号传输质量。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对 本发明的多个实施例进行说明，其中：
图1为本发明实施例提供的一种拍摄设备的结构示意图；
图2为图1中的云台增稳装置的结构示意图；
图3为图2的爆炸图；
图4为图2中的云台增稳装置位于第一位置时的纵向剖视图；
图5为图4的简化示意图；
图6为图2中的云台增稳装置位于第二位置时的纵向剖视图；
图7为图6的简化示意图；
图8为图2中的云台增稳装置位于第三位置时的纵向剖视图；
图9为图8的简化示意图。
图中：
1-主体；                           11-手持部；
2-云台增稳装置；                   21-第一连杆；
211-后侧板；                       211a-第一上铰接孔；
211b-第一下铰接孔；                212-前板；
212a-固定部；                      213-第一连接部；
22-第二连杆；                      221-上侧板；
221a-第一铰接孔；                  221b-第二铰接孔；
222-盖板；                         223-空腔；
23-第三连杆；                      231-前侧板；
231a-第二上铰接孔；                231b-第二下铰接孔；
232-后板；                         232a-固定部；
233-第二连接部；                   24-第四连杆；
241-下侧板；                       241a-第三铰接孔；
241b-第四铰接孔；                  25-线缆；
26-铰接轴；                        3-云台；
4-相机。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在本发明的描述中，需要理解的是，除非有特殊的说明，术语“上”、“下”、“前”、“后”、“左”、“右”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸地连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
图1为本实施例提供的拍摄设备的结构示意图。如图1所示，本实施例的拍摄设备，包括主体1、云台3、以下将要详述的云台增稳装置2以及由该云台云台增稳装置2或云台3支撑的相机4。其中，该云台增稳装置 2的第一连接部用于安装云台3，该云台增稳装置2的第二连接部用于与主体1固定。可选地，拍摄设备的主体1包括有供操作人员手持的手持部11。可以理解，该云台增稳装置4也可设置在云台3远离主体1的一端，此时，相机4直接由该云台增稳装置4支撑。
如图1所示，在一些示例中，云台3可拆卸地安装在云台增稳装置2的第一连接部上，云台增稳装置2的第二连接部则可拆卸地安装在主体1上。例如，云台增稳装置2的第一连接部可以形成至少部分为环形的电机安装座，从而单轴云台、双轴云台或者三轴云台的电机(包括但不限于偏航电机、俯仰电机或者滚转电机等)安装在该环形的电机安装座内，以使云台3被连接到主体1上。主体1可以形成任意合适的结构以便用于安装云台增稳装置2的第二连接部。例如，图1中示出了在主体1上形成安装槽，第二连接部被容纳并固定在该安装槽内，从而可以减少拍摄设备的整体高度，实现其小巧化和便携性。
在另一些可选的示例中，云台增稳装置2的第一连接部可以通过一个或者多个连杆机构与云台3连接，其第二连接部则直接与主体1固定。在本示例中，与云台增稳装置2的第一连接部和云台3连接的第一连接部可以是单连杆或者多连杆结构，例如平行四边形连杆机构。容易理解，在其他一些可选的示例中，也可以是云台增稳装置2的第二连接部通过一个或者多个连杆机构与主体1固定，而其第一连接部直接用于安装云台3；或者，也可以是云台增稳装置2的第一连接部通过一个或者多个连杆结构与云台3连接，而其第二连接部也通过一个或者多个连杆机构与主体1固定。
需要说明的是，虽然以上实施例中描述的是第一连接部与云台3连接，第二连接部与主体1连接，但在实际应用中，也可以是第一连接部与主体1连接，而第二连接部与云台3连接。
为了描述更加简洁方便，以下的实施例将以第一连接部与云台3连接，第二连接部与主体1连接为例对云台增稳装置2的结构和功能进行示例性的说明，但应当理解，以下实施例并非对于云台增稳装置2结构和功能的具体限制，在下述实施例的所阐述的思想上进行的简单替换或者不需要付出创造性劳动的改进同样属于本实施例公开的内容。
图2为图1中的云台增稳装置的结构示意图，图3为图2的爆炸图。如图2和图3所示，本实施例的云台增稳装置2包括：第一连杆21、第二连杆22、第三连杆23以及第四连杆24，这四个连杆铰接形成平行四边形机构。其中，位于左侧的第一连杆21和位于右侧的第三连杆23平行，位于上方的第二连杆22和位于下方的第四连杆24平行。该云台增稳装置2的第一连接部213形成在第一连杆21上，用于直接与云台3连接，或者通过连杆机构间接与云台3连接；其第二连接部233形成在第三连杆23上，用于直接与拍摄设备的主体1连接，或者通过连杆机构间接与拍摄设备的主体1连接。
继续参考图2和图3，在第二连杆22和第四连杆24之间穿设有线缆25，该线缆25用于通信连接云台3和拍摄设备的主体1。在第一连杆21和第三连杆23分别形成有用于固定上述线缆25两端的固定部。如图2所示，容易理解，基于以上设置以后，第一连杆21和第三连杆23之间的线缆25的长度是确定的，其被第二连杆22分隔成了三部分，其中，左侧部分为裸露在第一连杆21和第二连杆22之间的部分，中间部分为隐藏在该第二连杆22内的部分，右侧部分则为裸露在第二连杆22和第三连杆23之间的部分。
图4为图2中的云台增稳装置位于第一位置时的纵向剖视图；图5为图4的简化示意图；图6为图2中的云台增稳装置位于第二位置时的纵向剖视图；图7为图6的简化示意图；图8为图2中的云台增稳装置位于第三位置时的纵向剖视图；图9为图8的简化示意图。在图5、图7和图9中，L1表示的是水平面，也即图4至图9中的第三连杆23被水平固定。
如图4至图9所示，当第二连杆22带动第一连杆21围绕该第二连杆22和第三连杆23的铰接点从图4所示的位置经过图6所示的位置并最终转动到图8所示的位置时，线缆25裸露在第一连杆21和第二连杆22之间的左侧部分的长度逐渐减小，而该线缆25裸露在第二连杆22和第三连杆23之间的右侧部分的长度则逐渐增大，通过线缆25左侧部分和右侧部分这种长度的动态变化，以与第一连杆21和第二连杆22以及第三连杆23和第二连杆22之间的角度变化相适配。换句话说，就是当第二连杆22相 对于第三连杆23转动时，位于第二连杆22和第四连杆24之间的线缆25相对于第二连杆22发生相对位移，从而在不改变第一连杆21和第三连杆23之间线缆25长度的情况下，通过动态调整裸露在第二连杆22左侧和右侧部分的长度来适配第二连杆22与第一连杆21以及第三连杆23之间的角度变化。
本实施例的云台增稳装置2，可以在单轴、双轴或者三轴云台3所提供的增稳作用的基础上提供另一个维度的增稳作用，有利于丰富拍摄设备的应用。例如，图1所示的拍摄设备使用了三轴云台3，通过在水平方向安装本实施例的云台增稳装置2，则可以调整云台3在垂直方向上的高度，继而调整云台3上安装的相机4的高度，使得使用者可以在垂直方向上在更大的范围内使相机4水平对准所拍摄的物体，而不是像仅设置了三轴云台3的拍摄设备那样只能通过俯拍或者仰拍才能排到该物体；而且通过平行四边形连杆机构来调整垂直方向的高度也能提高稳定性，进而避免影响镜头的拍摄画面的质量。容易理解，在图1中，也可以将云台增稳装置2按照任意需要的方向安装在云台3上，或者也可以如上所述的再通过一个或者多个连杆机构，例如另一个本实施例的云台增稳装置2安装到拍摄主体1上或者与云台3连接，从而实现所需要的云台3调整角度。
此外，本实施例的云台增稳装置2为平行四边形连杆机构，并且还将线缆25穿过该平行四边形连杆机构中的第二连杆22，并将该线缆25的两端分别固定在与该第二连杆22的两端铰接的第一连杆21和第二连杆22上，线缆25的长度只需要等于第一连杆21和第二连杆22之间的间距即可，无需再预留更长的线缆25，而且该长度的线缆25无论第二连杆22围绕其与第三连杆23的铰接点转动到任何位置均可以通过裸露在第二连杆22两端的长度的动态变化来弥补第二连杆22与第一连杆21和第三连杆23之间的角度变化，也就不会出现对线缆25进行拉扯或者压缩的问题，可以避免线缆25损坏，提高使用寿命和信号传输质量。
为了更好的介绍本实施例的方案，以下结合图3对各个连杆的结构分别进行介绍，其中，将图3中的左侧定义为前方，右侧定义为后方。
在本实施例中，第二连杆22包括上壳体，该上壳体内形成有用于容 纳上述线缆25的空腔。
具体的，上壳体包括有相对设置的两个上侧板221以及盖合在这两个上侧板221上方的盖板222，从而盖板222与这两个上侧板221围合成用于容纳上述线缆25的空腔223。
两个上侧板221的前端均形成第一铰接孔221a，用于与第一连杆21铰接；两个上侧板221的后端则均形成有第二铰接孔221b，用于与第三连杆23铰接。在本实施例中，为了形成第一铰接孔221a和第二铰接孔221b，可以在两个上侧板221的前端和后端分别形成上耳板，以便在上耳板上开设铰接孔。可以理解，本实施例并不限制必须在两个上侧板221上均形成第一铰接孔221a和第二铰接孔221b。举例来说，在一些示例中，可以在其中一个侧板的前端和后端分别形成第一铰接孔221a和第二铰接孔221b。在另一些示例中，也可以在其中一个上侧板221(例如位于内侧的上侧板221)的前端形成第一铰接孔221a，而在另一个上侧板221(例如位于外侧的上侧板221)的后端形成第二铰接孔221b。
可选的，在一些可选的实施方式中，盖板222可以和两个上侧板221通过一体成型的方式形成一体件，或者也可以将两个上侧板221通过连接板连接成一个整体件，然后将盖板222盖合在两个上侧板221的顶部，以简化后续的装配过程。
应当理解，虽然上文描述了一些第二连杆22的可选结构形式，但是，其并非对于本实施例中第二连杆22的结构的具体限制。例如，在一些可选的实施方式中，可以用空心或者实心的杆件来替换前述上壳体作为第二连杆22。又如，还可以仅仅使用一个板件来替换上述前述上壳体作为第二连杆22。
请继续参考图3，在本实施例中，与第二连杆22平行的第四连杆24包括下壳体，前述上壳体则盖合在该下壳体上。
具体的，下壳体包括底板以及位于底板两侧的两个下侧板241。在本实施例中，两个下侧板241和两个上侧板221可以抵接设置，或者也可以上侧板221的一个侧面与下侧板241的一个侧面贴合设置。举例而言，两个下侧板241的外侧面分别与两个上侧板221的内侧面贴合，或者如图2 所示的两个下侧板241的内侧面分别与两个上侧板221的外侧面贴合，又或者其中一个下侧板241的外侧面与一个上侧板221的内侧面贴合，而另一个下侧板241的内侧面则与另一个上侧板221的外侧面贴合。
两个下侧板241的前端均形成有第三铰接孔241a，用于与第一连杆21铰接；两个下侧板241的后端均形成有第四铰接孔241b，用于与第三连杆23铰接。在本实施例中，为了形成第三铰接孔241a和第四铰接孔241b，可以在两个下侧板241的前端和后端分别形成下耳板，以便在下耳板上开设铰接孔。可选的，下耳板的形状可以如图3所示的与上耳板的形状相匹配。与上壳体类似，本实施例也不限制必须在两个下侧板241上均形成第三铰接孔241a和第四铰接孔241b。例如，在一些示例中，可以在其中一个侧板的前端和后端分别形成第三铰接孔241a和第四铰接孔241b。在另一些示例中，也可以在其中一个下侧板241(例如位于内侧的下侧板241)的前端形成第三铰接孔241a，而在另一个下侧板241(例如位于外侧的下侧板241)的后端形成第四铰接孔241b。
可选的，与上壳体相似，下壳体的底板也可以和两个下侧板241通过一体成型的方式形成一体件，或者也可以将两个下侧板241通过连接板连接成一个整体件，然后将底板盖合在两个下侧板241的底部，以简化后续的装配过程。
同样的，在本实施例中也不限制第四连杆24必须具有以上的结构形式，其也可以采用另外一些结构，例如，在一些可选的实施方式中，可以用空心或者实心的杆件来替换前述下壳体作为第四连杆24，或者使用一个板件来替换上述前述下壳体作为第四连杆24。
继续参考图3，本实施例的第一连杆21包括有前壳体，在前壳体的前端形成有前述第一连接部213。
具体的，前壳体包括有前板212以及位于前板212后方的两个后侧板211。这两个后侧板211可以位于上侧板221和下侧板241的外侧，也即是，两个后侧板211的内侧面与两个上侧板221的外侧面以及两个下侧板241的外侧面贴合，具体可参见图2。当然，这两个后侧板211也可以位于上侧板221和下侧板241的内侧，也即是，两个后侧板211的外侧面与 两个上侧板221的内侧面以及两个下侧板241的内侧面贴合。
在本实施例中，为了实现第一连杆21与第二连杆22以及第四连杆24的铰接，可以在两个后侧板211的上部直接形成用于贯穿两个上侧板221的第一铰接孔221a的第一上铰接轴，并在两个后侧板211的下部形成位于第一上铰接轴的下方的、用于贯穿两个下侧板241上的第三铰接孔241a的第一下铰接轴。当然，也可以如图3所示的，在两个后侧板211上分别形成第一上铰接孔211a和位于第一上铰接孔211a下方的第一下铰接孔211b。在装配时将一个铰接轴26穿过第一上铰接孔211a和第一铰接孔221a以实现第一连杆21和第二连杆22的铰接，并将另一个铰接轴26穿过第一下铰接孔211b和第三铰接孔241a以实现第一连杆21和第四连杆24的铰接。
继续参照图3，在前板212上设置有用于固定线缆25前端的固定部212a，在前板212的前方则设置有第一连接部213，该第一连接部213可以位于前板212的顶板。具体的，在前板212上设置的固定部212a可以是过线孔，线缆25穿过该过线孔以便固定。第一连接部213可以设置在前板212靠近上方的位置，也可以设置在前板212靠近下方的位置，该第一连接部213的具体结构形式不作限定，其可以是上述的大致呈环状的电机安装部。
可以理解，在另外一些可选的实施方式中，第一连杆21也可以不设置成上述前壳体的形状。例如，其可以设置成类似于阿拉伯数字7的形状，或者设置成类似于英文字母T的形状、并将其顺时针旋转九十度以便与第二连杆22和第四连杆24铰接。此外，第一连杆21可以是杆件结构或者板件结构等，在此不作具体限定。
如图3所示，本实施例的第三连杆23包括后壳体，在后壳体的后端形成有前述第二连接部233。
具体的，后壳体包括有后板232以及位于后板232前方的两个前侧板231。这两个前侧板231可以位于上侧板221和下侧板241的内侧，也即是，两个前侧板231的外侧面与两个上侧板221的内侧面以及两个下侧板241的内侧面贴合，具体可参见图2。当然，这两个前侧板231也可以位 于上侧板221和下侧板241的外侧，也即是，两个前侧板231的内侧面与两个上侧板221的外侧面以及两个下侧板241的外侧面贴合。
在本实施例中，为了实现第一连杆21与第二连杆22以及第四连杆24的铰接，可以在两个前侧板231的上部直接形成用于贯穿两个上侧板221的第二铰接孔221b的第二上铰接轴26，并在两个前侧板231的下部形成位于第二上铰接轴26的下方的、用于贯穿两个下侧板241上的第四铰接孔241b的第二下铰接轴26。当然，也可以如图3所示的，在两个后侧板211上分别形成第二上铰接孔231a和位于第二上铰接孔231a下方的第二下铰接孔231b。具体装配时，将一个铰接轴26穿过第二上铰接孔231a和第二铰接孔221b以实现第三连杆23和第二连杆22的铰接，并将另一个铰接轴26穿过第二下铰接孔231b和第四铰接孔241b以实现第三连杆23和第四连杆24的铰接。
在后板232上设置有用于固定线缆25后端的固定部232a，在后板232的后方则设置有第二连接部233，该第二连接部233可以位于适宜与拍摄设备的主体1或者连杆机构固定的任意位置。具体的，在后板232上设置的固定部232a可以是过线孔，线缆25的后端穿过该过线孔以便固定。第二连接部233则可以是便于提高连接强度的框架式结构，以便提高云台增稳装置2在运动时的稳定性。
可以理解，在另外一些可选的实施方式中，第三连杆23也可以不设置成类似于上述后壳体的形状。例如，其可以设置成类似于英文字母L的形状，或者设置成类似于英文字母T的形状、并将其逆时针旋转九十度以便与第二连杆22和第四连杆24铰接。当然，第三连杆23可以是杆件结构或者板件结构等，在此不作具体限定。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (36)

  1. 一种云台增稳装置，其特征在于，包括：第一连杆、第二连杆、第三连杆以及第四连杆；
    所述第一连杆、第二连杆、第三连杆和第四连杆铰接成平行四边形机构，其中，所述第一连杆与所述第三连杆平行，所述第二连杆与所述第四连杆平行；
    所述第一连杆形成有用于与第一设备连接的第一连接部，所述第三连杆形成有用于与第二设备连接的第二连接部；
    所述第一连杆和第三连杆分别设置有用于固定线缆两端的固定部，所述线缆容置于所述第二连杆和第四连杆之间；
    其中，随着所述第二连杆带动所述第一连杆围绕所述第二连杆和第三连杆的铰接点转动，所述线缆裸露在所述第一连杆和第二连杆之间以及裸露在所述第二连杆和第三连杆之间的长度动态变化，以与所述第一连杆和第二连杆以及所述第三连杆和第二连杆之间的角度变化相适配。
  2. 根据权利要求1所述的云台增稳装置，其特征在于，所述第二连杆包括：上壳体，所述上壳体内形成有容置所述线缆的空腔。
  3. 根据权利要求2所述的云台增稳装置，其特征在于，所述上壳体包括：相对设置的两个上侧板以及盖板，所述盖板盖合在两个所述上侧板上、并与两个所述上侧板围合成容纳所述线缆的空腔。
  4. 根据权利要求3所述的云台增稳装置，其特征在于，两个所述上侧板的前端均形成有用于与所述第一连杆铰接的第一铰接孔；两个所述上侧板的后端均形成有用于与所述第三连杆铰接的第二铰接孔。
  5. 根据权利要求3或4所述的云台增稳装置，其特征在于，所述第四连杆包括：下壳体，所述上壳体盖合在所述下壳体上。
  6. 根据权利要求5所述的云台增稳装置，其特征在于，所述下壳体包括：底板以及位于所述底板两侧的两个下侧板。
  7. 根据权利要求6所述的云台增稳装置，其特征在于，所述上侧板的一个侧面与所述下侧板的一个侧面贴合。
  8. 根据权利要求7所述的云台增稳装置，其特征在于，所述上侧板的外侧面与所述下侧板的内侧面贴合，或者所述上侧板的内侧面与所述下侧板的 外侧面贴合。
  9. 根据权利要求6至8任一项所述的云台增稳装置，其特征在于，两个所述下侧板的前端均形成有用于与所述第一连杆铰接的第三铰接孔；两个所述下侧板的后端均形成有用于与所述第三连杆铰接的第四铰接孔。
  10. 根据权利要求9所述的云台增稳装置，其特征在于，所述第一连杆包括前壳体，所述前壳体的前端形成有所述第一连接部。
  11. 根据权利要求10所述的云台增稳装置，其特征在于，所述前壳体包括：前板以及位于所述前板后方的两个后侧板；
    所述第一连接部设置在所述前板的前方；
    两个所述后侧板的一个侧面与所述上侧板和下侧板的一个侧面贴合；
    所述前板上设置有用于固定所述线缆其中一端的固定部。
  12. 根据权利要求11所述的云台增稳装置，其特征在于，所述后侧板的外侧面与所述上侧板和下侧板的内侧面贴合；或者所述后侧板的内侧面与所述上侧板和下侧板的外侧面贴合。
  13. 根据权利要求9所述的云台增稳装置，其特征在于，所述第三连杆包括后壳体，所述后壳体的后端形成有所述第二连接部。
  14. 根据权利要求13所述的云台增稳装置，其特征在于，所述后壳体包括：后板以及位于所述后板前方的两个前侧板；
    所述第二连接部设置在所述后板的后方；
    两个所述前侧板的一个侧面与所述上侧板和下侧板的一个侧面贴合；
    所述后板上设置有用于固定所述线缆另一端的固定部。
  15. 根据权利要求14所述的云台增稳装置，其特征在于，所述前侧板的外侧面与所述上侧板和下侧板的内侧面贴合；或者所述前侧板的内侧面与所述上侧板和下侧板的外侧面贴合。
  16. 根据权利要求1至4任一项所述的云台增稳装置，其特征在于，所述第一设备为云台、拍摄设备的主体、连杆机构中的一者，所述第二设备为所述云台、拍摄设备的主体、连杆机构中的另一者；或者，
    所述第一设备和第二设备均为连杆机构。
  17. 一种拍摄设备，其特征在于，包括：云台、云台增稳装置以及所述云台增稳装置或云台支撑的相机；
    所述云台增稳装置包括：第一连杆、第二连杆、第三连杆以及第四连杆；
    所述第一连杆、第二连杆、第三连杆和第四连杆铰接成平行四边形机构，其中，所述第一连杆与所述第三连杆平行，所述第二连杆与所述第四连杆平行；
    所述第一连杆形成有与用于与第一设备连接的第一连接部，所述第三连杆形成有用于与第二设备连接的第二连接部；
    所述第一连杆和第三连杆分别设置有用于固定线缆两端的固定部，所述线缆容置于所述第二连杆和第四连杆之间；
    其中，随着所述第二连杆带动所述第一连杆围绕所述第二连杆和第三连杆的铰接点转动，所述线缆裸露在所述第一连杆和第二连杆之间以及裸露在所述第二连杆和第三连杆之间的长度动态变化，以与所述第一连杆和第二连杆以及所述第三连杆和第二连杆之间的角度变化相适配。
  18. 根据权利要求17所述的拍摄设备，其特征在于，所述第二连杆包括：上壳体，所述上壳体内形成有容置所述线缆的空腔。
  19. 根据权利要求18所述的拍摄设备，其特征在于，所述上壳体包括：相对设置的两个上侧板以及盖板，所述盖板盖合在两个所述上侧板上、并与两个所述上侧板围合成容纳所述线缆的空腔。
  20. 根据权利要求19所述的拍摄设备，其特征在于，两个所述上侧板的前端均形成有用于与所述第一连杆铰接的第一铰接孔；两个所述上侧板的后端均形成有用于与所述第三连杆铰接的第二铰接孔。
  21. 根据权利要求19或20所述的拍摄设备，其特征在于，所述第四连杆包括：下壳体，所述上壳体盖合在所述下壳体上。
  22. 根据权利要求21所述的拍摄设备，其特征在于，所述下壳体包括：底板以及位于所述底板两侧的两个下侧板。
  23. 根据权利要求22所述的拍摄设备，其特征在于，所述上侧板的一个侧面与所述下侧板的一个侧面贴合。
  24. 根据权利要求23所述的拍摄设备，其特征在于，所述上侧板的外侧面与所述下侧板的内侧面贴合，或者所述上侧板的内侧面与所述下侧板的外侧面贴合。
  25. 根据权利要求22至24任一项所述的拍摄设备，其特征在于，两个 所述下侧板的前端均形成有用于与所述第一连杆铰接的第三铰接孔；两个所述下侧板的后端均形成有用于与所述第三连杆铰接的第四铰接孔。
  26. 根据权利要求25所述的拍摄设备，其特征在于，所述第一连杆包括前壳体，所述前壳体的前端形成有所述第一连接部。
  27. 根据权利要求26所述的拍摄设备，其特征在于，所述前壳体包括：前板以及位于所述前板后方的两个后侧板；
    所述第一连接部设置在所述前板的前方；
    两个所述后侧板的一个侧面与所述上侧板和下侧板的一个侧面贴合；
    所述前板上设置有用于固定所述线缆其中一端的固定部。
  28. 根据权利要求27所述的拍摄设备，其特征在于，所述后侧板的外侧面与所述上侧板和下侧板的内侧面贴合；或者所述后侧板的内侧面与所述上侧板和下侧板的外侧面贴合。
  29. 根据权利要求25所述的拍摄设备，其特征在于，所述第三连杆包括后壳体，所述后壳体的后端形成有所述第二连接部。
  30. 根据权利要求29所述的拍摄设备，其特征在于，所述后壳体包括：后板以及位于所述后板前方的两个前侧板；
    所述第二连接部设置在所述后板的后方；
    两个所述前侧板的一个侧面与所述上侧板和下侧板的一个侧面贴合；
    所述后板上设置有用于固定所述线缆另一端的固定部。
  31. 根据权利要求30所述的拍摄设备，其特征在于，所述前侧板的外侧面与所述上侧板和下侧板的内侧面贴合；或者所述前侧板的内侧面与所述上侧板和下侧板的外侧面贴合。
  32. 根据权利要求17至20任一项所述的拍摄设备，其特征在于，所述第一设备为云台，所述第一连接部通过一个或者多个连杆机构与所述云台连接。
  33. 根据权利要求32所述的拍摄设备，其特征在于，所述云台为单轴云台、双轴云台、三轴云台中的一种。
  34. 根据权利要求17至20任一项所述的拍摄设备，其特征在于，所述拍摄设备还包括主体，所述第二设备为所述主体。
  35. 根据权利要求34所述的拍摄设备，其特征在于，所述第二连接部通 过一个或者多个连杆机构与所述主体固定。
  36. 根据权利要求34所述的拍摄设备，其特征在于，所述主体包括手持部。
PCT/CN2018/098152 2018-08-01 2018-08-01 拍摄设备及其云台增稳装置 WO2020024198A1 (zh)

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CN201880040859.1A CN110770491B (zh) 2018-08-01 2018-08-01 拍摄设备及其云台增稳装置
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EP3832387A1 (en) 2021-06-09

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