WO2021169778A1 - Cadre portatif de stabilisation et appareil de photographie portatif - Google Patents

Cadre portatif de stabilisation et appareil de photographie portatif Download PDF

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Publication number
WO2021169778A1
WO2021169778A1 PCT/CN2021/075719 CN2021075719W WO2021169778A1 WO 2021169778 A1 WO2021169778 A1 WO 2021169778A1 CN 2021075719 W CN2021075719 W CN 2021075719W WO 2021169778 A1 WO2021169778 A1 WO 2021169778A1
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WO
WIPO (PCT)
Prior art keywords
vertical
stabilization
motor
load
stabilization device
Prior art date
Application number
PCT/CN2021/075719
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English (en)
Chinese (zh)
Inventor
韦琪
徐紫阳
唐昌辉
叶梓龙
谭金龙
苏晓
Original Assignee
桂林智神信息技术股份有限公司
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
Priority claimed from CN202010133474.9A external-priority patent/CN113323981B/zh
Priority claimed from CN202010623366.XA external-priority patent/CN112161181B/zh
Priority claimed from CN202010618144.9A external-priority patent/CN111779961B/zh
Priority claimed from CN202010623457.3A external-priority patent/CN112145881B/zh
Priority claimed from CN202010618145.3A external-priority patent/CN112145941B/zh
Priority claimed from CN202010623456.9A external-priority patent/CN111609281B/zh
Application filed by 桂林智神信息技术股份有限公司 filed Critical 桂林智神信息技术股份有限公司
Publication of WO2021169778A1 publication Critical patent/WO2021169778A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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

Definitions

  • the invention relates to the technical field of mechanical anti-shake or position control of photographing and shooting devices, in particular to a stabilized hand-held frame and hand-held photographing equipment.
  • the common handheld stabilization equipment on the market is a handheld three-axis stabilizer, which will include three axes (pitch axis, roll axis, and yaw axis), so that the camera device mounted on it can be pitched and taken during shooting. Compensation for jitter in heading and roll directions. Due to the limited volume of the existing handheld three-axis stabilizer and the angular limit on the rotational movement of each axis, the scope of stabilization compensation for the mounted shooting equipment is also limited.
  • handheld stabilization equipment can provide reliable stabilization effects during large movements.
  • low-angle shooting methods such as overhead or overhead shooting.
  • the existing handheld three-axis stabilizer is limited by the mechanical structure. , Can not achieve the ideal stabilization effect, affect the shooting.
  • the cameraman uses hand-cranked equipment (such as a rocker arm, etc.) to carry the camera during shooting so as to form smooth motion in the space, and can tilt and tilt the camera. Turn to the operation to form a dynamic TV picture.
  • hand-cranked equipment such as a rocker arm, etc.
  • the photographer needs to use both hands to pan and tilt the arm body horizontally, and use the remote control handle to perform operations such as horizontal tilt, steering, and focus and zoom of the camera.
  • the quality of the captured image is completely dependent on the camera.
  • the image quality of manual shooting will inevitably be affected by the photographer's body shake, especially because the rocker itself does not have the function of vertical shock absorption, which makes the vertical shake caused by body walking during sports shooting. It will inevitably be delivered to the camera, which cannot meet the actual needs of application scenarios that require high image quality of the shooting picture.
  • the traditional manual operation has been difficult to meet the shooting requirements that require complex shooting trajectories and high shooting quality.
  • the purchase cost of hand-cranked equipment is very high, which is difficult for ordinary consumers to bear.
  • shooting devices including video cameras or cameras often need to perform mobile video recording.
  • Mobile cameras or video cameras generally need to have high stability in the vertical direction to obtain smooth and high-quality shooting images.
  • the camera often needs to move horizontally, and when carrying or holding the camera for mobile photography, the smoothness and uniform speed of the movement are poor, which will cause the camera lens to shake and shake significantly, which gives the photographic effect. Brought obvious adverse effects.
  • various auxiliary shooting devices have been developed to help photographers or users stabilize the shooting device during sports photography.
  • the handheld stabilizer is equipped with electronic stabilization capability. It uses an inertial measurement unit such as an inertial measurement unit to detect the camera's posture, and then calculates the amount of shake based on the camera's target posture and actual posture.
  • the motor is used for feedback compensation to eliminate the calculated amount of shake to achieve electrical Control and stabilization effect.
  • the advantage of the handheld stabilizer is that it has strong stabilization ability, can compensate for small jitter, and has strong resistance to external disturbance.
  • the stabilization ability has little to do with the accuracy of equipment debugging and the photographer's operation.
  • the current handheld stabilizer is restricted by its own volume, and the range of stabilization and compensation movement is relatively limited. When it cannot be operated without human hands, the three-axis stabilizer can only control the movement of the camera in the space limited by the three motor shafts of the stabilizer, and the range is limited, which is not enough for shooting many specific trajectories.
  • the present invention aims to provide a stabilized hand-held frame that can at least partially solve the above-mentioned shortcomings of the prior art. It further relates to a handheld photographic equipment with the stabilized handheld frame.
  • a stabilized hand-held rack for carrying load equipment which includes: a first pipe body portion and a second pipe body portion arranged opposite to each other along a transverse axis; a connecting rod, which It includes a mounting seat that defines a longitudinal axis and a pair of connecting arms extending from opposite sides of the mounting seat and capable of being connected to the first tube body and the second tube body, wherein the longitudinal axis is connected to the The transverse axes are orthogonal to each other; at least one stabilization motor includes a motor housing and a motor rotor capable of pivoting about a pivot axis relative to the motor housing, wherein the at least one stabilization motor connects the connection The connecting arm of the rod is connected to the first pipe body and/or is connected to the mounting seat of the connecting rod; at least one angle sensor arranged on the motor rotor of at least one stabilization motor, which is used to obtain the motor Rotation angle information of the rotor; and a controller configured to control the movement
  • the longitudinal and/or lateral stabilization motors and sensors are arranged on the stabilization handheld frame of the present invention, and the controller can generate control commands based on the rotation angle information obtained by the angle sensor. Control the longitudinal and/or lateral stabilization motor to drive the load equipment to move, so that the load equipment maintains a certain posture within a certain range, so that the load equipment can maintain a better working condition.
  • the stabilized handheld rack can reliably allow the load equipment to increase the reliable stability effect within a large range of motion.
  • the stabilized rack is easy to install and debug, and is convenient for the user to hold, which is beneficial to improve user experience.
  • the at least one stabilization motor includes a longitudinal stabilization motor and/or a lateral stabilization motor
  • the longitudinal stabilization motor includes a longitudinal motor housing connected to the first pipe body And a longitudinal motor rotor connected to a connecting arm that can pivot about a transverse axis relative to the longitudinal motor housing
  • the transverse stabilization motor includes a transverse motor housing connected to a mounting seat of the connecting rod And a transverse motor rotor capable of pivoting about a longitudinal axis relative to the transverse motor housing, wherein a load device can be fixedly connected to the transverse motor rotor.
  • it further includes an attitude sensor that can be attached to the load device, and the attitude sensor is used to obtain the attitude information of the load device; wherein the controller is based on the rotation of the at least one angle sensor.
  • the angle information and the posture information of the posture sensor are used to close-loop control the action of at least one stabilization motor to keep the load device in a vertical posture.
  • a handheld photographing equipment which is configured to allow assisted shooting of a load, which includes the stabilized handheld frame according to the present invention and a load device that is leveled at the center of gravity.
  • a vertical stabilization device driven by at least one stabilization motor is used to allow the vertical stabilization device to be maintained in a vertical posture by pivoting of the at least one stabilization motor.
  • the vertical stabilization device includes: a housing fixedly connected to the stabilization handheld frame; The balance wheel in the housing; the support rod that can be vertically connected to the load, which is configured to be operatively connected with the balance wheel; the elastic member connected to the balance wheel, wherein the support rod is supported by the elastic force of the elastic member The load and balance the gravity of the load; an attitude sensor arranged at the end of the supporting rod, which is used to obtain the attitude information of the vertical stabilization device in space; and the vertical stabilization that is operatively connected to the balance wheel A motor, wherein when the vertical stabilization motor drives the balance wheel to rotate, the support rod is driven to move vertically relative to the housing of the vertical stabilization device to vertically stabilise the load.
  • the vertical stabilization device is configured to be able to operate in a stabilization mode or a locking mode, wherein in the stabilization mode, the support rod can be relative to the vertical stabilization
  • the housing of the device moves to stabilize the load vertically.
  • the support rod In the locking mode, the support rod is locked with a certain length relative to the housing of the vertical stabilization device, wherein the controller is It is configured to control the action of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information from the attitude sensor when the vertical stabilization device is in the stabilization mode to keep the vertical stabilization device and the load in the vertical State, or when the vertical stabilization device is in the locked mode, the action of the longitudinal stabilization motor and/or the lateral roll stabilization motor is controlled based on the posture information from the posture sensor to allow the load to be determined in space Trajectory movement.
  • the controller is configured to control the action of at least one stabilization motor based on the posture information from the posture sensor to stabilize the vertical stabilization device and the load into a vertical posture and control
  • the vertical stabilization motor operates to keep the load at a certain vertical height during the stabilization period.
  • the balance wheel is a balance synchronization wheel integrally formed with the rotor of the vertical stabilization motor, which is respectively connected to the opposite two of the support rod via two timing belts arranged along its outer circumference. The end drives the support rod to move in rotation.
  • it further includes a coil spring box integrally formed with the balance synchronization wheel, wherein the elastic member is a coil with one end fixedly connected to the coil spring box and arranged in the coil spring box.
  • a spring wherein the other end of the coil spring is fixedly connected to a rotating shaft that can be adjusted relative to the housing, so that it can be wound or unwinded with the rotation of the coil spring box.
  • the balance wheel is a balance gear that meshes and drives with the support rod
  • the elastic member is a coil spring coaxially arranged on the pivot shaft of the balance gear, wherein the coil spring One end is fixedly connected to the coil spring box which can be adjusted relative to the casing, and the other end is fixedly connected to the pivot shaft so as to be able to wind or unwind with the rotation of the pivot shaft.
  • it further includes a plurality of straight guide rails respectively fixedly connected to the support rod from different sides of the support rod, so as to guide the support rod to move in a linear direction relative to the housing.
  • the vertical stabilization device further includes a quick release locking mechanism connected to the end of the support rod for engaging the load, wherein the quick release locking mechanism includes: A pair of sliding grooves that are slidingly fitted with the load; a fastening member, which can move relative to a pair of sliding grooves between a compression position and an unscrewing position, and can abut the load at the compression position to lock it In place.
  • the vertical stabilization device includes: a housing; a variable speed balance mechanism arranged in the housing in a manner capable of pivoting about a pivot axis; a supporting mechanism for vertically supporting the load, which It is configured to be operatively connected with the shift balance mechanism at a first distance from the pivot axis on one side of the shift balance mechanism, so as to transmit gravity from the load to apply a first rotation direction to the shift balance mechanism in the first rotation direction.
  • the shift balance mechanism applies a second torque in a second rotation direction opposite to the first rotation direction, and the force generation mechanism is fixedly connected to the housing with one end thereof; wherein the load is subjected to vertical vibration and is in a different vertical direction.
  • the shift balance mechanism is configured to allow the force generation mechanism to balance the gravity of the load with a substantially constant force.
  • the gear shift balance mechanism includes: a pivot shaft pivotally arranged in the housing; a coaxially arranged first gear with a larger outer diameter and/or modulus and a first gear with a smaller And/or the second gear; wherein the supporting mechanism includes a first rack meshed with the first gear, the force generating mechanism further includes a second rack meshed with the second gear, wherein the The first rack and the second rack are arranged on the same side.
  • the force generating mechanism further includes: an elastic member that can be stretched or retracted in a linear direction, one end of the elastic member is operably connected to the housing; an adapter, the adapter One end of the member is operatively connected to the elastic member and the opposite end is operatively connected to the second rack to allow the elastic member and the second rack to be arranged adjacent to each other substantially in parallel.
  • an adjusting mechanism for adjusting the pretension of the elastic member which includes: an adjusting member threadedly connected to the housing and operatively connected to one end of the elastic member, wherein The adjusting member is screwed in or out of the housing to adjust the pre-tightening force of the elastic member.
  • Figure 1 shows a three-dimensional view of a two-way stabilization hand-held frame according to the present invention
  • Figure 2 shows an exploded view of the two-way stabilization hand-held rack according to the present invention
  • Figures 3-15 show views of various vertical stabilization devices according to the present invention.
  • Figure 16 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device according to the present invention
  • Figure 17 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention
  • Figure 18 shows a rear view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
  • FIG. 19 shows a side view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
  • Figures 20-21 show a front view and a front view of the locking mechanism according to the present invention.
  • Figure 22 shows a rear view of the multifunctional handheld photographic equipment in Figure 19 with a counterweight
  • Figure 23-24 shows a side view and a top view of a multifunctional handheld camera with a load carrying out space movement
  • Figure 25 shows a side view of the multifunctional handheld camera in Figure 22;
  • Figure 26 shows a front view of a handheld photographic equipment equipped with a three-axis stabilizer according to the present invention, which schematically shows the length compensation when the frame and the vertical direction produce different angles;
  • Figure 27 shows an exploded view of another vertical stabilization device according to the present invention, with some parts removed to better show the internal structure of the device;
  • Figure 28 shows a front view of the vertical stabilization device according to Figure 27;
  • Figure 29 shows a front view of a longitudinally stabilized handheld frame according to the present invention.
  • Figure 30 shows an exploded view of a longitudinally stabilized handheld frame according to the present invention
  • Figure 31 shows a side view of a handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the longitudinal stabilization frame has a different angle with the vertical direction;
  • Figure 32 shows a perspective view of a laterally stabilizing handheld frame according to the present invention
  • Figure 33 shows an exploded view of a laterally stabilized handheld frame according to the present invention.
  • Fig. 34 shows a rear view of the handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the lateral stabilization frame has a different angle with the horizontal direction.
  • Fig. 35 shows a top view of a handheld photographic equipment with a three-axis stabilizer according to the present invention.
  • Longitudinal stabilization motor 131 Longitudinal motor stator 132. Longitudinal motor rotor
  • Transverse motor rotor 20 The Transverse motor rotor 20.
  • Ratchet wheel B Bearing 51. Dovetail groove 52. Locking member 53. Attitude sensor 54. Clamping member 90. Three-axis stabilizer 91. Pan axis motor 92. Roll axis motor 93. Pitch axis Motor 110. Balance weight 111. Locking part 120. Locking mechanism 121A, 121B. Locking clip 25A. Locking groove 122. Tightening wrench 123. Elastic part 124. Fixing frame 125A, 125B. Screw connection S. Space range
  • Support mechanism 250 Force generating mechanism 211. Housing 212. End cover
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or a centered component may also exist.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • a component When a component is considered to be “supported” or “supported” or “installed” or “installed” on another component, it can be directly supported or supported or placed on another component or a centered component may exist at the same time.
  • the stabilized handheld rack can stabilize the load equipment in the longitudinal and lateral directions (ie, two-way stabilization), and can also stabilize the load equipment in the longitudinal or transverse directions ( That is, one-way stabilization). Furthermore, these stabilized handheld racks can be combined with various vertical stabilizer devices to form handheld photographic equipment that allows auxiliary shooting of loads.
  • the handheld photographic equipment includes the stabilized handheld frame 10 (two directions, that is, longitudinal and horizontal) shown in FIGS. 1 to 2 and the two-direction stabilized handheld frame 10 Various vertical stabilizing devices shown in Figures 3 to 15 or 27-28 are mounted as load equipment.
  • FIGS. 1 to 2 Please refer to FIGS. 1 to 2 together, which shows a two-way stabilized handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application, wherein the two-way stable handheld frame 10 is used to stabilize the mounted load equipment in both longitudinal and lateral directions.
  • the load device may specifically be any vertical stabilization device 20 shown in FIGS. 3 to 15. It is understandable that the load device can also be other devices that can be installed in the two-way stabilization handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rocker arms) that do not have stabilization functions.
  • the two-way stabilization hand-held frame 10 includes a first tube body portion 11 and a second tube body portion 12 that are disposed oppositely.
  • first tube body portion 11 and the second tube body portion The bodies 12 are preferably detachably connectable together by means of the components described below.
  • lateral refers to the connection direction of the first pipe body portion 11 and the second pipe body portion 12, which is the left-right direction in FIG. 1.
  • Longitudinal is orthogonal to the horizontal, in Figures 1 and 2, it is the inside and outside directions perpendicular to the paper.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side).
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a two-way stabilization motor 13 and a connecting rod 14 are arranged between the two, where the two-way stabilization
  • the motor includes a longitudinal motor housing 131 connected to the first pipe body portion 11 and a longitudinal motor rotor 132 capable of pivoting about the transverse axis T relative to the longitudinal motor housing 131.
  • one end of the longitudinal motor housing 131 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the longitudinal motor housing is fixedly connected.
  • the first connecting rod 171 of the body 131 is inserted into the first connecting end 151 of the first tube body 11. Since the first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the The first connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the longitudinal motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is described below.
  • the mounting base 141 is used to install the lateral stabilization motor 19 in the two-way stabilization handheld frame 10.
  • the lateral stabilization motor 19 includes a lateral motor housing 191 fixedly connected to the mounting base 141 and a lateral motor rotor 192 capable of rotating relative to the lateral motor housing 191.
  • a pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be preferably approximately U-shaped, wherein the first connecting arm 142 is connected to the longitudinal motor rotor 132 of the longitudinal stabilization motor 13 so as to allow it to be driven by it.
  • the link 14 pivots about the transverse axis T.
  • one end of the transverse motor housing 191 is preferably fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners.
  • the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilization device 20 described below can be fixedly connected to the transverse motor rotor 192 by means of a plurality of fasteners 15A, thereby Driven by the rotor 192 of the transverse motor, the load device fixedly connected to the connecting base 15 is allowed to pivot about the longitudinal axis L to realize the lateral stabilization of the vertical stabilization device 20 as described in detail below.
  • the two-way stabilization handheld frame 10 is allowed to stabilise the load equipment carried in the longitudinal and lateral directions. Its working mode will be further described below. Detailed.
  • the second connecting arm 143 of the connecting rod 14 has a through hole 16 aligned with the transverse axis T at its end.
  • the through hole 16 can accommodate a bearing 161 and insert the bearing 161.
  • the mandrel 162 can be fixedly connected to a second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12.
  • the two-way stabilization hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18.
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the two-way stabilization handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
  • a limit mechanism can be provided on either the transverse motor housing 191 or the transverse motor rotor 192 of the transverse stabilization motor 19, wherein the limit mechanism includes a rotating
  • the rotating part is provided on the inner side of the transverse motor rotor 192
  • the stopper is provided on the inner side of the transverse motor housing 191, for example.
  • the stop portion may be designed to extend from the surface of the iron core, and its shape may be a cylinder, a rectangular parallelepiped, or other shapes.
  • the rotating part can be designed to be sleeved on the rotating shaft of the transverse motor rotor 192 and to rotate with the rotating shaft, where the rotating part can be designed to be fixedly connected to the bottom wall of the transverse motor rotor 192, which can be sleeved on the rotating shaft and A collar connected to the inner side of the bottom wall, wherein the collar includes a first turning part and a second turning part respectively extending from both sides of the collar.
  • the stopper is designed to be located between the first rotating part and the second rotating part.
  • the rotating part When rotating within the working angle range, the rotating part will not rotate and abut against the stop part so as to allow the rotor 192 of the transverse motor to rotate freely.
  • the transverse motor rotor 192 rotates clockwise or counterclockwise beyond the preset working angle range, the first rotating part or the second rotating part correspondingly rotates to abut against the stopper, thereby moving the transverse motor rotor 192 relative to the transverse motor rotor 192.
  • the rotation of the motor housing 191 is limited within a preset working angle range.
  • the traverse motor rotor 192 is allowed to rotate between plus 30 degrees and minus 30 degrees relative to the traverse motor housing 191.
  • the above-mentioned limit mechanism is not provided in the longitudinal stabilization motor 13, which allows the longitudinal stabilization motor 13 to rotate within a 360-degree angle range, so that the two-way stabilization handheld frame 10 can be installed upright or upside down. This expands the applicable scenarios of the two-way stabilization handheld rack 10.
  • the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold.
  • the load device can be installed at the connecting seat 15 fixedly connected to the rotor 192 of the transverse motor.
  • the center of gravity of the load equipment it is desirable to install the center of gravity of the load equipment to pass through the longitudinal axis L defined by the mounting seat 141 at the same time, the overall center of gravity of the load equipment and the connecting rod 14 passes through the transverse axis T, so that the two-way stabilization handheld frame 10 realizes the center of gravity leveling, so that the center of gravity will not deviate from the longitudinal stabilization motor 13 or The pivot axis of the motor 19 is laterally stabilized, causing an undesirable drag torque.
  • the sensor may be a magnetic encoder respectively arranged on the longitudinal motor rotor 132 or the transverse motor rotor 192, so as to obtain the real-time rotation angle of the longitudinal motor rotor 132 or the transverse motor rotor 192.
  • the attitude information of the longitudinal motor rotor 132 or the transverse motor rotor 192 may include the angle information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T) and the motor rotor 192 in the roll direction (that is, relative to the The angle information of the rotation angle of the longitudinal axis L).
  • the processor integrated in the longitudinal stabilization motor 13 and the lateral stabilization motor 19 or the control rocker mounted on the ring portion of the two-way stabilization hand-held frame 10 is used for at least based on the rotation angle information from the above sensors
  • the load equipment carries out two-way stabilization.
  • FIGS. 3 to 15 the vertical stabilization device 20 used as an exemplary load device of the handheld photographic equipment of the present invention will be described in detail.
  • the vertical stabilization device 20 is shown in FIGS. 3-8.
  • the first embodiment of the vertical stabilization device 20 is shown in Figs. 9-11 in another two possible variant embodiments, in Figs. 12-13, the vertical stabilization device 20 is shown in another A feasible embodiment, and the quick release locking mechanism of the vertical stabilization device 20 is shown in Figs. 14-15.
  • the hand-held photographic equipment of the present invention is not limited to the vertical stabilization device shown in Figs.
  • the device can be used in conjunction with the handheld photographing equipment of the present invention to realize the shock absorption or stabilization of the vertical vibration when the user is walking and shooting.
  • vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration.
  • the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
  • the first embodiment of the vertical stabilization device 20 for damping vertical vibration of the present invention is schematically shown, wherein the vertical stabilization device 20 is used to support a load ( As shown in FIG. 17, it may be a three-axis stabilizer as an example).
  • the vertical stabilization device 20 includes two housing halves 21A and 21B arranged oppositely, wherein the two housing halves 21A and 21B are generally rectangular parallelepiped and configured to be detachably connected together, so as to The interior defines a substantially cylindrical inner cavity.
  • the housing including the two housing halves 21A and 21B can be fixedly mounted to the connecting seat 15 of the handheld frame 10 and move together therewith.
  • a vertical stabilization motor 22 supported on the two housing halves 21A and 21B by means of a plurality of bearings B in a pivoting manner around the pivot axis A1 is provided in the internal cavity.
  • the vertical stabilization motor 22 includes a motor end cover and a vertical stabilization motor stator 22A fixedly arranged by means of the motor end cover, where the motor end cover includes a substantially cylindrical inner wall of the end cover and is connected to The end cover bottom wall of the inner wall of the end cover, where the inner wall of the end cover and the bottom wall of the end cover form an accommodating space for the vertical stabilization of the motor stator 22A.
  • the center of the bottom wall of the end cover is provided with a mounting hole for inserting and placing the bearing B described below.
  • the vertical stabilization motor 22 also includes a vertical stabilization motor rotor 22B arranged around the vertical stabilization motor stator 22A, where the vertical stabilization motor rotor 22B includes a stator relative to the vertical stabilization motor.
  • 22A is arranged at intervals to form an air gap, preferably cylindrical, magnetic steel rotor pieces and a rotor casing in which the rotor pieces are installed, wherein the rotor pieces are arranged in an accommodating space enclosed by the rotor casing. Because the rotor sheet of the vertical stabilization motor rotor 22B generates sufficient magnetic induction in the air gap, and interacts with the energized vertical stabilization motor stator 22A to generate an induced electric potential to drive itself to rotate.
  • the rotor housing includes a cylindrical rotor side wall and a rotor bottom wall connected to the rotor side wall.
  • the rotor side wall and the rotor bottom wall form an accommodation space for installing the rotor.
  • the vertical stabilization motor 22 adopts a vertical stabilization motor stator 22A on the inner side and a vertical stabilization motor rotor 22B on the outer side, that is, a design form of a motor with an outer rotor.
  • the pivot shaft 24 of the vertical stabilization motor 22 that pivots around the pivot axis A1 by means of a plurality of bearings B and the rotor housing of the vertical stabilization motor rotor 22B are integrally formed .
  • the balance gear 23 passes through the pivot shaft 24 and is arranged next to the rotor housing, and the two are fixed together by means of fasteners 22C to allow the vertical stabilization motor 22 to be energized as needed.
  • the pivot shaft 24 and the balance gear 23 are driven to rotate together.
  • the support rod is shown preferably as an output rack 25 meshing with the balance gear 23, where the load is, for example, the angle formed by at least two rotating shafts shown in FIG. 17 at 60° to 70°
  • the non-orthogonal three-axis stabilizer that can be mounted or mounted with an imaging device (here preferably a single-lens reflex camera) between the non-right angles can of course be understood that it can also be a two-axis stabilization device.
  • the top end of the output rack 25 is provided with a threaded member that can be connected to, for example, a 1/4 threaded hole at the bottom of the load.
  • the output rack 25 is arranged to mesh with the outer circumference of the gear 23 at about 1/2 stroke position, thereby achieving a certain distance from the pivot axis A1 on one side of the pivot shaft 24 It is operatively connected with the pivot shaft 24 to transmit gravity from the load (the three-axis stabilizer 90 in FIG. 17, the direction of gravity is downward) to apply the first torque to the pivot shaft 24 in the first rotation direction.
  • the opposite side of the pivot shaft 24 (shown as the upper side in the figure) is axially spaced apart from the output rack 25 and is provided with gravity for balancing the load gravity.
  • the gravity balance mechanism 30 includes a coil spring box 31 pivotally attached to the housing halves 21A and 21B by means of a plurality of bearings B, and a coil spring box 31 housed in the coil spring box 31 and connected to the pivot shaft. 24 is operatively connected to apply a force to the pivot shaft 24 to apply a torque opposite to the first rotation direction to the pivot shaft 24.
  • a coil spring cover 33 for closing the coil spring box 31 is also provided.
  • the coil spring box 31 is roughly designed in the shape of a hollow disk, wherein the coil spring 32 is arranged in the coil spring box 31 in such a manner that the coil spring 32 is coaxially arranged on the pivot shaft 24:
  • the outer end 32A of the coil spring is clamped in the groove of the coil spring box 31 in a bent manner, so that the outer end 32A of the coil spring is fixedly connected to the coil spring box 31; at the same time, the inner end 32B of the coil spring It is inserted into the mounting groove 24A opened on the outer circumferential surface of the pivot shaft 24 so as to be fixedly connected to the pivot shaft 24.
  • the shaft end cap 29 is used to close the open end of the pivot shaft 24 from one side of the coil spring box 31 to avoid the coil spring.
  • the end 32B comes out of the installation groove 24A.
  • the pretension force of the coil spring 32 provided in the coil spring box 31 can be preset according to the weight of the load connected to the output rack 23 and the diameter of the gear 23 and the pivot shaft 24, as long as the The pretension force of the coil spring 32 is sufficient to apply a torque that is opposite to the first rotation direction to the pivot shaft 24 and can balance the first torque. Thereby, the pretension force accumulated by the coil spring 32 can completely balance the gravity of the load.
  • the stabilizing device 20 also includes at least one linear guide mechanism arranged in the internal cavity enclosed by the housing half 21A and 21B, wherein the linear guide mechanism includes a guide block 27 fixedly connected to the housing half 21B and a corresponding The straight guide rail 26 is ground fixedly connected to the output rack 25 to allow the output rack 25 to always make linear motions relative to the housing halves 21A and 21B under the guidance of the linear guide mechanism when vertical vibration occurs. This is very beneficial for the long-term stable operation of the vertical stabilization device.
  • the structure of the linear guide mechanism shown in FIGS. 3-4 and 12-13 is exemplary rather than limiting. In fact, methods such as sliding grooves and sliding shoes matched with them are also feasible.
  • the vertical stabilization device 20 includes an adjustment mechanism 40 for adjusting the pretension force of the coil spring 32, thereby allowing the vertical stabilization device to be used during use.
  • the user can manually or automatically adjust the pretension force of the coil spring to adapt to loads of different weights, which is beneficial to improve the versatility of the vertical stabilization device.
  • the adjustment mechanism 40 includes a worm wheel 43 fixedly connected to the pivotable coil spring box 31 and a worm 42 operatively connected with the worm wheel 43.
  • the worm 42 is configured to be parallel to the output rack 25 by means of a fixing seat 28 fixed to the housing half 21B and a bearing B provided in the fixing seat 28. Pivot settings.
  • the inner end of the worm 42 is connected with an adjustment motor 44 and the outer end passes through the housing half 21B and is fixedly connected with a manual adjustment nut 41 for user operation.
  • the mounting hole of the worm 42 is closed by the gland 45.
  • the user can drive the worm 42 to rotate by turning the manual adjusting nut 41, thereby driving the worm wheel 43 fixedly connected to the coil spring box 31 to rotate.
  • the coil spring outer end 32A of the coil spring 32 is fixedly connected to the peripheral wall of the coil spring box 31 and the coil spring inner end 32B is fixedly connected to the pivot shaft 24, this makes the coil spring outer end 32A fixed relative to The inner end 32B of the coil spring is tightened or loosened to meet the needs of different loads.
  • the adjustment of the pre-tightening force of the coil spring 32 can also be realized automatically by the rotation of the adjustment motor 44, and the operation mode is not repeated here.
  • the cooperation of the worm wheel 43 and the worm 44 is self-locking, the pretension force of the coil spring 32 can be reliably maintained after the adjustment is completed.
  • the cooperation of the worm wheel 43 and the worm 44 also allows the stepless adjustment of the pre-tightening force of the coil spring 32 to better ensure the versatility of the vertical stabilization device 20.
  • the adjustment mechanism 40 may further include: a plurality of limiting holes arranged on the side of the coil spring box 31 facing the housing half 21B and arranged at even intervals along the circumferential direction. 47; and a lock provided in the housing half 21B for the user to operate.
  • the locking member includes a limit chute 46C provided in the housing half 21B and a limit lock pin 46B that can slide in or out of the limit chute 46C, where the limit lock pin 46B When sliding out, it can be inserted into one of the multiple limiting holes 47 located in the coil spring box 31 to allow the coil spring box 31 to be locked at a certain angular position relative to the housing half 21B.
  • the limit lock pin 46B when the limit lock pin 46B slides into the limit chute 46C, the limit lock pin 46B withdraws from the limit hole 47 to release the locking relationship between the coil spring box 31 and the housing half 21B, This allows the user to adjust the pretension force of the coil spring 32 in the coil spring box 31 as needed.
  • a limit dial button 46A protruding from the housing half 21B and fixedly connected to the limit lock pin 46B is provided, thereby allowing the user to toggle The limit lock pin 46B slides in or out of the limit chute 46C.
  • the adjustment mechanism 40 is not limited to including a limiting hole 47 provided on the coil spring box 31, and can also be implemented as a side of the coil spring box 31 facing the housing half 21B.
  • a plurality of limiting ratchet wheels 48 are evenly spaced in the circumferential direction, and the limiting lock pin 46B is used as a pawl that cooperates with the limiting ratchet wheel 48 at this time. Since the adjustment principle is the same, it will not be repeated here.
  • FIGS. 12-13 show an exploded view of the vertical stabilization device 20 of another embodiment, which clearly shows the various components of the vertical stabilization device 20, and FIG. 13 shows the vertical stabilization device 20 in FIG. The front view of the device 20 in a partially assembled state.
  • the vertical stabilization motor 22 is also used to drive the balance wheel 23 fixedly connected to the vertical stabilization motor rotor 22B to rotate according to the instruction from the control device, thereby driving the support rod 25 (Without the teeth for meshing transmission with the balance wheel 23), it reciprocates in the vertical direction.
  • the weight of the load supported by the support rod 25 is also balanced by the coil spring 32 installed in the coil spring box 31.
  • the pretension force of the coil spring 32 is also adjustable.
  • the balance wheel 23 in this embodiment is designed as a balance synchronization wheel 23 integrally formed with the vertical stabilization motor rotor 22B.
  • the support rod 25, which is preferably a straight rod is driven to reciprocate in the vertical direction by means of the two timing belts 25A and 25B meshed to the balance synchronization wheel 23.
  • the two timing belts 25A and 25B are fixedly connected to the two timing belts 25A and 25B in close proximity to each other at the outer periphery of the balance timing wheel 23 by means of fasteners such as pressing pieces 25E, wherein the timing belt 25A Here, it is arranged in a counterclockwise direction along the outer circumference of the balance synchronizing wheel 23 and kept tightly engaged with the balance synchronizing wheel 23, while the timing belt 25B is arranged along the outer circumference of the balance synchronizing wheel 23 in a clockwise direction and is kept tightly with the balance synchronizing wheel 23 Splice.
  • the free end of the timing belt 25B is fixedly connected to the lower end of the support rod 25 (that is, the connection end with the load) by means of a fastener such as a pressing piece 25C, and the free end of the timing belt 25A is fixed by means of a pressing piece 25C.
  • the fasteners are fixedly connected to the upper end of the support rod 25 (that is, the connecting end away from the load), wherein the upper end of the support rod 25 is preferably accommodated in the outer sleeve 25F to avoid dust and moisture in the external environment from affecting the timing belt
  • the stable operation of 25A and 25B has an adverse effect.
  • an adjustment screw 25D is provided near the pressing member 25C that buckles the free end of the timing belt 25A, and correspondingly on the bottom surface of the outer sleeve 25F accommodating the pressing member 25C.
  • the working principle of the vertical stabilization device 20 in this embodiment is as follows: when the support rod 25 is expected to drive the load to move upward in the vertical direction to compensate for the vertical vibration, the control device sends a control command to the vertical stabilization motor 22 to make it Pivoting in the counterclockwise direction, at this time, the vertical stabilization motor rotor 22B drives the balance synchronization wheel 23 and the timing belt 25B to also rotate counterclockwise, which is equivalent to the balance synchronization wheel 23 "winding" the timing belt 25B to drive and synchronize
  • the support rods fixedly connected with the belt 25 move vertically upwards accordingly.
  • the balance synchronization wheel 23 also synchronously "unwinds" the timing belt 25A fixedly connected to the other end of the support rod.
  • the synchronous cooperation of the two smoothly transforms the rotation movement of the vertical stabilization motor 22 into the support rod in the vertical direction. Linear movement. Since the engagement relationship between the timing belt 25B and the balance synchronization wheel 23 is determined, the vertical vibration of the load can be accurately compensated by controlling the counterclockwise rotation angle of the vertical stabilization motor rotor 22B.
  • the control device sends a control command to the vertical stabilization motor 22 to make it pivot in a clockwise direction, in substantially the same way.
  • the clockwise rotation movement of the vertical stabilization motor 22 is smoothly converted into the vertical downward linear movement of the support rod.
  • the balance synchronization wheel 23 is used here to convert the rotational motion of the vertical stabilization motor 22 into the linear motion of the support rod by means of the timing belts 25A and 25B, those skilled in the art know that other equivalent methods such as sprockets and chains are used. It is also feasible.
  • the other side of the support rod is additionally provided with a second side connected to it.
  • Two straight guides 26A namely, a plurality of straight guides 26 and 26A fixedly connected to the supporting rod 25 are respectively provided from different sides of the supporting rod, so as to guide the supporting rod 25 to move in a linear direction relative to the housing.
  • the coil spring box 31 in this embodiment is configured to be formed as an integral piece with the balance synchronization wheel 23, wherein the coil spring outer end 32A is fixedly connected to the inner side of the coil spring box 31.
  • the coil spring inner end 32B of the coil spring 32 is fixedly connected to the mounting groove 49B of the rotating shaft 49A inserted in the coil spring box 31.
  • one end of the rotating shaft 49A is fixedly connected with a user-adjustable ratchet 49, and the other end is supported in the coil spring box 31 by means of a bearing.
  • the user can first open the pawl 46D for stopping the ratchet wheel 49 and manually rotate the ratchet wheel 49 and the rotating shaft 49A fixedly connected to it.
  • the inner end 32B of the coil spring is wound or unwound relative to the outer end 32A of the coil spring fixedly connected to the inner side of the coil spring box 31 under the drive of the rotating shaft 49A, which makes the coil spring 32 to balance the pretension of the load gravity
  • the strength is increased or decreased to accommodate loads of different weights.
  • the user dials back the pawl 46D to engage the ratchet wheel 49 and lock it in place, so that the coil spring 32 maintains the desired pre-tightening force and is always satisfactory.
  • the gravity of the ground balance load After adjusting the pre-tightening force of the coil spring 32, the user dials back the pawl 46D to engage the ratchet wheel 49 and lock it in place, so that the coil spring 32 maintains the desired pre-tightening force and is always satisfactory.
  • the gravity of the ground balance load is always satisfactory.
  • an attitude sensor which may be an inertial measurement unit (IMU)
  • IMU inertial measurement unit
  • the position sensor at the top of the support rod 25 can transmit the posture information of the vertical stabilization device 20 to the booster by means of a wired connection or a wireless connection (including but not limited to Bluetooth and NFC communication methods).
  • the control device of the stable frame 10 allows the control device to control the movement of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture .
  • the specific control method will be described in detail below.
  • the attitude sensor provided at the top of the support rod 25 is used to measure the vertical position of the load to obtain the actual vertical position of the load.
  • the preset vertical position of the load is set or stored in the position controller of the vertical stabilization device 20, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset The vertical position and the actual vertical position are used to control the pivoting of the vertical stabilization motor 22, so that the load is moved in the opposite direction of the vibration direction through the action of the vertical stabilization motor 22, thereby positioning the load in the vertical direction. Position, so that the load can have a substantially constant absolute position in the vertical direction. This active stabilization method can achieve better vertical stabilization effects.
  • FIG. 17 shows a front view of a handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIG. 3, wherein the vertical stabilization device 20 is installed in a center-of-gravity leveling manner and fixedly connected to the lateral motor
  • the connecting seat 15 of the rotor 192 that is, the center of gravity of the vertical stabilizing device 20 is installed to pass through the longitudinal axis L defined by the mounting seat 141, while the overall center of gravity of the vertical stabilizing device 20 and the connecting rod 14 passes through the transverse axis, In this way, the center of gravity of the vertical stabilization device 20 in the two-directional stabilization handheld frame 10 is leveled.
  • the load in the handheld photographic equipment of the present invention is a three-axis stabilizer equipped with a single-lens reflex camera
  • the three-axis stabilizer 90 includes a pan axis motor 91 and a roll axis.
  • the three-axis stabilizer of the motor 92 and the pitch axis motor 93 as an example, the angle formed by the two rotation axes of the pan axis motor 91 and the roll axis motor 92 is a non-right angle between 60° and 70°, This prevents the roll axis motor 92 from blocking the back of the imaging device mounted on the three-axis stabilizer 90.
  • the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20.
  • FIGS. 14-15 an exemplary quick-release locking mechanism is shown in FIGS. 14-15, which facilitates the user to realize the three-axis stabilizer relative to
  • the adjustment of the fixed position of the vertical stabilization device 20 can facilitate the user to replace or carry different types of three-axis stabilizers, thereby improving the versatility and convenience of the handheld photographic equipment.
  • a quick-release locking mechanism is fixedly arranged at the end of the support rod 25 of the vertical stabilization device 20, wherein the quick-release locking mechanism includes a three-axis stabilizer arranged opposite to each other.
  • the sliding groove 51 of the heading connecting arm is slidably fitted.
  • the sliding groove 51 is preferably a dovetail groove.
  • the extension direction of the sliding groove 51 is consistent with the width extension direction of the quick release locking mechanism.
  • the quick release locking mechanism also has a buckle member 54 (see FIG. 15) provided on one side of the chute 51, wherein the buckle member 54 can play the role of the locking member 52 shown in the figure for the user to operate It can move between the pressing position and the unscrewing position.
  • the user When installing the three-axis stabilizer or adjusting the fixed position of the three-axis stabilizer 90 relative to the vertical stabilization device 20, the user first loosens the locking member 52 so that the withholding member 54 moves to the position under the reset force of the elastic member.
  • the loosening position allows the heading connecting arm of the three-axis stabilizer 90 to be preferably inserted into the sliding slot 51 or allowing it to slide freely in the sliding slot 51 for adjustment as required.
  • the locking member 52 is tightened to move the clamping member 54 to its clamping position, where the clamping member 54 abuts against the heading connecting arm of the three-axis stabilizer. Lock the three-axis stabilizer in place.
  • the attitude sensor 53 of the vertical stabilization device 20 which is preferably an inertial detection unit, can also be installed on the quick-release locking mechanism by means of a shock-absorbing ball.
  • the mechanical high-frequency vibration that affects the detection accuracy of the attitude sensor 53 is beneficial for providing the vertical stabilization performance of the vertical stabilization device 20.
  • the vertical stabilizing device 20 As shown in FIG. 17, the transverse axis T passes through the vertical stabilizing device 20 and the connecting rod 14. The overall center of gravity. Subsequently, the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20 by means of, for example, a threaded connection with a 1/4 threaded hole in a hoisting manner.
  • the stabilizing device 20 sets the three-axis stabilizer 90 in a "suspended" manner in the internal space of the two-way stabilizing handheld frame 10 (see FIG. 17).
  • it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
  • the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L.
  • the two-way stabilization frame 10 will swing away from its initial vertical posture (for example, in the horizontal (Upper and/or vertical deviation), if the two-way stabilization rack 10 does not have the two-way stabilization function, it is obvious that the vertical stabilization device will deviate from the vertical posture and the lens of the shooting device will be Deflection at the same time causes the lens of the shooting device to shake and the shooting effect cannot be guaranteed.
  • the current vertical stabilization device 20 can be obtained by using the first and/or second angle sensor or the IMU of the vertical stabilization device 20 of the two-way stabilization frame 10 as the attitude sensor.
  • the angle of the vertical stabilization device 20 relative to the vertical at this time including the deflection angles in the lateral and vertical directions
  • the posture information is then sent to the controller via wired or wireless means.
  • the controller will control the movement of the two-way stabilization motor in a closed loop based on, for example, the rotation angle information of the longitudinal motor rotor 132 and the transverse motor rotor 192 and the attitude information of the vertical stabilization device 20 to maintain the vertical stabilization device 20. In an upright position.
  • the attitude sensor which is preferably an IMU, can also be additionally provided as an option for the two-way stabilization rack.
  • preset information may be preset in the controller.
  • the preset information is posture information that the two-way stabilization rack 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate a control instruction according to the attitude information and preset information of the vertical stabilization device 20.
  • the processor can generate corresponding control instructions, so that the controller controls the longitudinal stabilization motor 13 to rotate +10° and the lateral stabilization motor 19 to rotate -10°, so that With the help of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, the vertical stabilization device 20 is driven to rotate back to the 0° posture.
  • an angle sensor is respectively provided on the longitudinal motor rotor 132 or the transverse motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, this allows the controller to rotate based on the angle sensor.
  • the angle information and the attitude information of the attitude sensor provided on the vertical stabilization device 20 are closed-loop controlled to move the longitudinal stabilization motor 13 and the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical posture, so that the shooting can be predicted. Set the desired effect. It is understandable that the preset information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched. Specifically, that is, when the user holds the handheld photographic equipment for variable-speed motion.
  • the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia.
  • the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU.
  • the controller can generate control commands according to the real-time attitude information and preset information of the load equipment, so that the stabilization motor drives the vertical stabilization device 20 to rotate back to the 0° posture , As shown in Figure 18-19.
  • angle sensors are provided on the longitudinal motor rotor 132 and the transverse motor rotor 192 to obtain the rotation angle information of the stabilization motor after the action, this allows the controller to attach to the vertical increaser based on the rotation angle information of the angle sensor.
  • the posture information of the posture sensor of the stabilization device 20 closes the motion of the stabilization motor to keep the load device in a vertical posture, so as to obtain a preset desired effect when shooting, as shown in FIGS. 18-19.
  • Figures 20-25 show a multi-functional handheld photographic equipment, which can allow the load to move in a definite trajectory in the space in the manner of a rocker arm.
  • Figures 20-21 show a locking mechanism 120 that will be used hereinafter according to the present invention.
  • the locking mechanism is used to switch the above-mentioned vertical stabilization device 20 between a stabilization mode and a locking mode.
  • the support rod 25 of the vertical stabilization device 20 can move relative to the housing as described above to increase the vertical stabilization of the load.
  • the locked mode the support rod 25 is locked relative to the housing of the vertical stabilizer 20 at a certain length.
  • the vertical stabilizer 20 in the locked mode can be used as a rocker arm.
  • the load can be driven to reach any position within a certain space range, thereby allowing the use of hand-held photographic equipment to drive the load to automatically shoot according to a preset trajectory.
  • the locking mechanism includes a fixing frame 124 fixedly connected to the housing halves 21A and 21B of the vertical stabilization device 20, wherein the fixing frame 124 is straddled on the supporting rod 25.
  • the main body of the fixing frame 124 protrudes from a pair of fixing arms transverse to the two sides of the supporting rod 25, wherein the pair of fixing arms are respectively provided with through holes through which the bolts 125A and 125B described below pass through.
  • the thread directions of the screw members 125A and 125B are opposite, and an elastic member 123, which is preferably a spring, is provided between the two for biasing and opening the two toward both sides.
  • a pair of locking clamps 121A and 121B are each abutted against the pair of fixed arms of the fixing frame 124 by means of the bolts 125A and 125B connected to them so as to straddle the supporting rod 25.
  • the lower parts of the clamps 121A and 121B are provided with engaging parts for engaging with the locking grooves 25A provided on both sides of the supporting rod 25, wherein the locking clamps 121A and 121B are engaged in the locking grooves 25A of the supporting rod 25 At this time, the locking mechanism locks the support rod 25.
  • the pair of screw members 125A and 125B will be forced apart, so that the pair of locking clips 121A and 121B will not be with the support rod 25.
  • the support rod 25 of the vertical stabilization device 20 can be extended or shortened without hindrance to function normally.
  • FIG. 22 a front view of the multifunctional handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIGS. 3 to 13 above, wherein the vertical stabilization device 20 is installed in a center of gravity leveled manner Fixedly connected to the connecting seat 15 of the rotor 192 of the lateral stabilization motor: the center of gravity of the vertical stabilization device 20 is installed to pass through the rolling axis L defined by the mounting seat 141, and the vertical stabilization device 20 and the connecting rod The overall center of gravity of 14 passes through the pitch axis, so that the center of gravity of the vertical stabilizer 20 in the stabilized handheld frame 10 is leveled, thereby being assembled into the multifunctional handheld photographic equipment according to the present invention.
  • the load in the handheld photographic equipment of the present invention is described in a preferred embodiment of a three-axis stabilizer equipped with a single-lens reflex camera, wherein the three-axis stabilizer 90 is a three-axis stabilizer including a yaw axis motor 91 Shaft stabilizer, as an example here, the angle formed by the yaw axis motor 91 and the remaining two rotating shafts is a non-right angle between 60° and 70°, which makes it impossible to mount the three-axis stabilizer The back of the camera is obstructed.
  • the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20.
  • the number of balance weights 100 is equipped with multiple and different weights, so as to adjust according to the weight of the load connected by the support rod 25 of the vertical stabilization device 20, wherein after the adjustment is in place (here, for example, three The shaft stabilizer, the SLR camera, the vertical stabilization device, and the overall center of gravity of the balance weight pass through the pitch axis T), and the balance weight 110 can be locked by the pair of retaining members 111.
  • a balance weight driving member is also included for sliding the balance weight 110 along the length direction of the vertical stabilization device 20 to automatically balance the weight of different loads.
  • the multifunctional handheld photographic equipment according to the present invention can firstly meet the stabilization requirements of the user when performing horizontal or vertical follow-up shooting during sports photography, specifically:
  • the yaw axis motor 90 of the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20 in a hoisting manner, thereby stabilizing the three-axis by means of the vertical stabilization device 20
  • the device 90 is arranged in the internal space of the stabilized handheld frame 10 in a "suspended" manner (see FIG. 22).
  • the handheld photographic equipment when the user holds the handheld photographic equipment with both hands and moves at a constant speed during outdoor shooting, the handheld photographic equipment can be used to realize that the vertical stabilization device 20 is always in a vertical state to ensure three-dimensional alignment.
  • the shaft stabilizer has a good vertical stabilization effect. At this time, even if the user generates vertical vibration or jitter during walking, it can be filtered out by the vertical stabilization effect of the vertical stabilization device 20. This makes the picture quality of the picture taken by the handheld photographing equipment of the present invention very high.
  • the vertical stabilization device mounted on the handheld rack When shooting outdoors, if the user holds the handheld photographic equipment in both hands for large-scale overhead or vertical shooting, or when the user holds the handheld photographic equipment for variable-speed motion, the vertical stabilization device mounted on the handheld rack will be affected. Undesired shaking relative to the frame due to its own inertia.
  • the posture information of the vertical stabilizing device 20 is acquired in real time by using the posture sensor provided at the end of the supporting rod 25.
  • the control device can generate control commands according to the real-time attitude information and preset attitude information of the load equipment, so that the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 drive the vertical direction.
  • the stabilization device 20 is maintained in a vertical state.
  • angle sensors are provided on the longitudinal stabilization motor rotor 132 and the lateral stabilization motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 after the action, this allows the control device to be based on The posture information from the posture sensor and the rotation angle information from the angle sensor close-loop control the motion of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical state, so that the shooting can be predicted Set the desired effect.
  • Figures 23-25 show another function of the multifunctional handheld photographic equipment according to the present invention.
  • the handheld photographic equipment can also drive The load realizes a predetermined shooting trajectory.
  • the user only needs to manually tighten the tightening wrench 122 as an adjustment member to make the vertical stabilization device 20 in the locked mode, so that the vertical stabilization device 20 can be used as a space range that can be within a radius of a certain length.
  • the rocker arm that rotates according to the determined trajectory.
  • the lateral stabilization motor 19 can be turned parallel to the ground at this time.
  • the lateral stabilization motor 19 drives the vertical stabilization device 20 to be free in an angle range of approximately 120 degrees. Rotate.
  • the user can operate the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 by means of a control rocker provided on the handheld frame 10 and connected to the control device in signal. Since the length of the vertical stabilization device 20 is determined and can be driven by the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 like a rocker arm, it can pan, move, follow, and raise and lower the camera in the space. Waiting for movement.
  • the SLR camera mounted on the handheld photographic equipment can be controlled to reach any position within the spatial range, and in particular, the SLR camera can be pressed remotely or in a preset manner.
  • the preset motion trajectory is not affected by the user's experience and jitter, so as to meet the user's actual demand for higher shooting quality.
  • the multifunctional handheld photographic equipment according to the present invention realizes one machine with multiple functions, which not only significantly reduces the cost of the user to purchase photographic equipment, but also facilitates the user to reduce the weight and volume of the luggage that needs to be carried for outdoor photography. , Thereby greatly improving the user’s favorability and satisfaction.
  • FIG. 26 shows another multifunctional handheld photographic equipment, which can keep the load at a certain vertical height during the stabilization period, so as to achieve an effect comparable to a sliding rail.
  • the stabilizing device 20 will frequently be stabilized back to the vertical posture by means of the longitudinal stabilization motor 13 and the lateral stabilization motor 19 between the left-inclined posture indicated by 20A and the right-inclined posture indicated by 20B in FIG. 26.
  • the control device of the handheld photographic equipment further controls
  • the vertical stabilization motor 22 in the vertical stabilization device 20 enters the following actions to keep the load always at a certain vertical height.
  • the vertical stabilization device 20 when the vertical stabilization device 20 is in the left-inclined posture indicated by 20A due to the variable speed movement (generally, the left-inclined posture does not exceed 10 degrees), if the length of the vertical stabilization device 20 remains unchanged In this case, the vertical control device in the left-leaning attitude will raise the load to a certain height in the vertical direction (its working principle is similar to a pendulum), and when the vertical warming device 20 is stabilized and returned to the vertical attitude, The actual vertical height of the load will change with the size of the included angle. This slight change in vertical height can affect the image quality of the shooting to a certain extent, which is not for high-demand video production. Expected. The same situation also exists that the vertical stabilization device 20 is in the right-inclined posture indicated by 20B due to the variable speed movement. The vertical height change during this stabilization process will be more obvious during the reciprocating rapid speed change movement.
  • control device can be based on the angle of the vertical stabilization device 20 relative to the vertical obtained from the attitude sensor and the length of the vertical stabilization device 20 itself at this time (this can be done by using the vertical stabilization motor 22 Rotation angle to know), taking the left-inclined attitude 20A as an example, you can use preset formulas and algorithms to obtain the required length of the vertical stabilization device 20 if the load is maintained at a certain vertical height at this time, so as to calculate At this time, the vertical stabilization device 20 should extend a compensation length d1 compared with its default length.
  • the control device converts the required compensation length d1 into the number of rotations of the support rod 25 to be driven by the vertical stabilization motor 22 according to the compensation length d1 and the drive ratio between the support rod 25 and the balance wheel 23, so as to increase the vertical stability.
  • the motor 22 drives the support rod 25 outwards to a compensation length d1 as needed.
  • the load is maintained at a certain vertical height at this time.
  • the same control method is also applicable to the right-inclined attitude 20B (at this time, the compensation length is d2) and any included angle position between the left-inclined attitude 20A and the right-inclined attitude 20B.
  • FIG. 27 Another specific embodiment of the vertical stabilization device of the present invention is shown in FIG. 27.
  • a vertical stabilization device 210 for damping vertical vibration from a housing is schematically shown, wherein the vertical stabilization device 210 is used to support a load.
  • the load can be an imaging device used to capture images/videos, such as digital cameras and video cameras, or portable communication devices such as mobile phones and tablet computers with camera functions.
  • the load can also be Equipped with the stabilizer of the imaging device.
  • the vertical stabilization device 220 includes a variable speed balancing mechanism supported on the housing 211 in a manner of pivoting about a pivot axis A1. In the embodiment shown in FIG.
  • the variable speed balancing mechanism 230 includes: for example The pivot shaft 231 is pivotally arranged in the housing 211 via a bearing 235 mounted on the bearing seat 234, wherein the axis of the pivot shaft 231 itself is designated as the pivot axis A1. Further, a first gear 232 and a second gear 233 are coaxially arranged on the pivot shaft 231 spaced apart around the pivot axis A1, wherein the first gear 232 shown here is optionally in diameter and modulus. Both are larger than the second gear 233.
  • the diameter of the first gear is at least 3 times the diameter of the second gear, and specifically may be 4 times larger. Specifically, as a non-limiting example, the diameter of the first gear 232 may be selected to be about 60 mm, and the diameter of the second gear 233 may be selected to be about 15 mm.
  • a support mechanism 240 operatively connected to the shift balance mechanism 230 is provided on one side of the shift balance mechanism 230, wherein the support mechanism 240 is used here to vertically support the load described above, where the load is, for example, as shown in FIG. 28
  • the stabilization device 220 (here as an example is a three-axis stabilization device), of course, it can be understood that it can also be a two-axis stabilization device.
  • the supporting mechanism 240 includes a first rack 241 meshed with the first gear 232, wherein a top end of the first rack 241 is provided with a threaded hole that can be connected to the bottom of the load, for example, a 1/4 threaded hole. Threaded parts.
  • the first rack 241 is arranged to mesh with the outer circumference of the first gear 232 at its 1/2 stroke position, thereby achieving a distance from the pivot axis A1 on one side of the shift balance mechanism 230 A distance (radius of the first gear 232) is operatively connected with the shift balance mechanism 230 to transmit the gravity from the load 220 to the shift balance mechanism 230 in the first rotation direction (counterclockwise in FIG. 28) First torque.
  • the supporting mechanism 240 is designed as a rigid first rack 241 meshing with the first gear 232 of the shift balance mechanism, this is not limiting. In fact, those skilled in the art can think of other ways to support the load vertically and to connect the gravity of the load at a first distance from the pivot axis, such as a flexible member such as a pulley drive or a belt drive. .
  • a force generating mechanism 250 is provided side by side and spaced apart from the supporting mechanism 240 on the same side of the shift balance mechanism (on the left side of the drawing in FIG. 28), wherein the force generating mechanism It includes a second rack 251 meshed with the second gear 233, wherein an adapter 253 is preferably fixedly connected to the upper end of the second rack 251.
  • the adapter 253 is roughly in the shape of a thin plate, wherein one end (the left end in FIG. 28) of the thin plate-shaped adapter 253 is operatively connected to the elastic member 252 described in detail below and the opposite end ( The right end in FIG. 28) is operatively connected to the second rack 251.
  • the elastic member 252 here is configured as a compression spring that can be compressed and retracted along the extending direction of the casing, wherein one end of the compression spring can be operatively connected to the casing directly or by means of an adjusting cover 272 described in detail below. 211.
  • the elastic force accumulated by the compression spring itself exerts an upward force on the second rack 251 by means of the transfer effect of the adapter 253.
  • the force generating mechanism 250 is allowed to be arranged on the same side of the shift balance mechanism 230 at a second distance from the pivot axis A1 (the second gear 233 Radius) is operatively connected to the shift balance mechanism 230 to apply an upward force to the shift balance mechanism 230 so as to apply an upward force to the shift balance mechanism 230 in a second rotation direction (here, a clockwise direction) opposite to the first rotation direction
  • the second torque Preferably, the second rack 251 is arranged to mesh with the outer circumference of the second gear 233 at its 1/2 stroke position.
  • the elastic force of the spring can completely compensate the load gravity.
  • a tension spring that stretches in a straight direction can also be realized, for example, the action direction of the elastic member can be changed from upward to downward.
  • vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration.
  • the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
  • the diameter of the first gear 232 is much larger than the diameter of the second gear 233, this means that when the first rack 241 moves a certain distance in the vertical direction, it causes the second tooth
  • the displacement distance of the bar 251 will be greatly reduced under the action of the transmission ratio of the shift balance mechanism.
  • the diameter of the first gear 232 is 4 times the diameter of the second gear 233, the first rack 241 moves by 1 Mm, the second rack 251 will only move 0.25 mm accordingly.
  • the stroke range of the second rack 251 is small, the compression amount of the compression spring caused by its movement is correspondingly small, so the compression spring 252 is in the entire vertical direction.
  • the support force provided during the vibration movement changes very little, allowing the force generating mechanism 250 to balance the gravity of the load with a substantially constant force, which makes the load quickly return to the "suspended" state, so that the photographed picture will not be affected. Quality has a substantial impact.
  • the load is subjected to a slight vertical shock, due to the effect of the above-mentioned vertical stabilization device, it allows the photographer to take a satisfactory picture quality even when taking a self-portrait on foot in the first person without the need for post-production. deal with. This allows to more reliably eliminate the undesired vertical jitter of the load in a wider range of undulating motion.
  • the load range of the vertical stabilization device is approximately in the range of 1 kg to 3 kg. Therefore, it is desirable that the spring force accumulated by the elastic member 252 is adjustable to adapt to Loads of different weights. For this reason, it is preferable that the vertical stabilization device is further provided with an adjustment mechanism 270 for adjusting the pre-tightening force of the elastic member 252. As shown in FIG. 28, the adjusting mechanism 270 includes an adjusting member 271 which is provided at the bottom end of the housing 211 and is threadedly connected with the end cover 212 of the housing 211.
  • the adjusting member 271 is a screw, which allows the user to manually or It is tightened or unscrewed by means of a tool so as to be displaced inward or outward relative to the end cover 212 of the housing 211.
  • one end of the elastic member 252 abuts against the adjusting cover 272 provided in the end cover 212, wherein the adjusting cover 272 abuts against the end of the adjusting member 271.
  • the elastic member 252 can be compressed inwardly to provide a higher pre-tightening force.
  • the adjusting member 271 can also be screwed out relative to the housing 211 to allow the elastic member 252 to extend outward so as to have a lower pre-tightening force, which is suitable for a lighter load.
  • the adjustment mechanism in FIG. 28 is non-limiting.
  • a wrench can be used to adjust the pre-tightening force of the elastic member 252.
  • the vertical stabilization device further includes at least one linear guide mechanism 260 arranged in the housing 211, wherein the linear guide mechanism includes sliding portions 262, 262A fixedly arranged on the housing 211 and correspondingly fixedly connected to the first tooth.
  • the straight rail portions 261, 261A of the bar 241 and the second rack 251 allow the first rack 241 and the second rack 251 to be relative to the housing under the guidance of the linear guide mechanism 260 when vertical vibration occurs.
  • the body 211 always moves in a linear direction.
  • the structure of the linear guide mechanism 260 shown in FIG. 28 is exemplary and not restrictive. In fact, methods such as a sliding groove and a sliding pin matched with it are also feasible.
  • the vertical positioning device is shown in FIG. 28, which includes a position sensor (not shown) for measuring the vertical position of the load, and a controller (not shown) for receiving a signal of the position of the load from the position sensor ( (Not shown) and a motor 82 connected to the variable speed balance mechanism of the vertical stabilization device.
  • a sensor support 281C is fixedly connected to the top end of the first rack 241.
  • the support 281C is substantially flat and fixedly connected to the top end of the first rack 241 by a fastener at one end thereof.
  • a plate-shaped sensor mounting seat 281A for mounting a position sensor is provided in parallel above the sensor support 281C.
  • a sensor of an inertial measurement unit (IMU) is preferably fixedly mounted on the sensor mounting seat 281A.
  • the high-frequency vibration can be regarded as the "noise" of the sensor
  • the sensor support 281C and the sensor mounting seat 281A are equipped with a plurality of damping balls 281B for damping mechanical high-frequency vibrations from the outside (for example, mechanical high-frequency vibrations generated when a motor is operating), as shown in FIG. 27,
  • damping balls 281B are interposed between the support 281C and the mounting seat 281A so as to be separately provided at the four corners of the plate-shaped sensor support 81C.
  • FIG. 27 also shows a motor 282 operatively connected to the variable speed balance mechanism 230, wherein the motor 282 is preferably equipped with a signal for processing the vertical position of the load from the position sensor.
  • the output end of the motor 282 is directly connected to the pivot shaft 231 of the speed balance mechanism 230, thereby allowing the motor 282 to directly rotate and drive the pivot shaft 231 to rotate as needed in relation to the vertical vibration of the load.
  • the installation position of the motor 282 is not limited here, as long as the pivot shaft 231 can be rotated as required.
  • the motor 282 may be installed at the bearing seat 234, or the motor 282 may be indirectly connected to the pivot shaft 231 by means of a reduction gear.
  • the sensor provided on the sensor mounting seat 81A first performs the measurement of the vertical position of the load to obtain the actual vertical position of the load.
  • the preset vertical position of the load may be set or stored in the position controller, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset vertical position and the actual vertical position.
  • the position sensor obtains the actual vertical position of the load and transmits the signal of the actual vertical position to the position controller .
  • the position sensor of the embodiment of the present invention is used to obtain the actual vertical position of the load in real time (or periodically) and transmit the actual vertical position to the position controller, which has a preset vertical position. Information and based on the received signal of the actual vertical position to determine whether there is a deviation (different) between the actual vertical position and the preset vertical position. When the actual vertical position is higher than the preset vertical position, it means that the load has a rapid upward movement.
  • the position controller rotates counterclockwise through the drive motor 282 to drive the speed balance mechanism 230
  • the first rack 241 moves the load downward (that is, moves in the opposite direction of the vibration direction), thereby canceling the vibration of the load in the vertical direction and positioning the load at a certain position in the vertical direction.
  • the position controller rotates clockwise through the drive motor 282 to drive the variable speed balance mechanism
  • the first rack 241 in 230 moves the load upward (that is, moves in the opposite direction of the vibration direction), which can also offset the vibration of the load in the vertical direction and position the load at a certain vertical position.
  • Figure 1-28 shows a stabilized handheld rack for carrying load equipment that is stabilized in the longitudinal and transverse directions
  • the same stabilized handheld rack can be in the longitudinal or transverse direction.
  • a handheld photographic equipment with a longitudinally stabilized handheld frame according to a preferred embodiment of the present invention is shown in FIG. 31, wherein the handheld photographic equipment can allow the user to perform a large exercise period Can provide reliable stabilization effect.
  • the longitudinal handheld photographic equipment includes the longitudinally stabilized handheld frame 10 shown in FIGS. 29 to 30 and the load equipment carried by the longitudinally stabilized handheld frame 10,
  • Various vertical stabilizing devices 20 are shown in FIGS. 3 to 15 or 27 to 28.
  • components with the same name are denoted by the same reference numerals in the above text.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided on the upper and lower sides of the upper and lower sides with connecting ends for mating connection (only shown here on the upper side)
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a longitudinal stabilization motor 13 and a connecting rod 14 are arranged between the two, where the longitudinal stabilization motor includes The motor housing 131 connected to the first pipe body 11 and the motor rotor 132 that can pivot about the transverse axis T relative to the motor housing 131.
  • the first connecting rod 171 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the motor housing 131 is fixedly connected.
  • the first connecting rod 171 is inserted into the first connecting end 151 of the first tube body 11.
  • first connecting end 151 is a tight sleeve that can be clamped or loosened, this allows the A connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat is described below 141 is used to install load equipment to be carried by the longitudinally stabilized handheld frame 10.
  • a pair of connecting arms 142 and 143 are preferably integrally extended on both sides of the mounting seat 141 so that the connecting rod 14 is preferably substantially U-shaped, wherein the first connecting arm 142 is connected to the motor rotor 132 of the longitudinal stabilization motor 13 so as to Under its drive, the connecting rod 14 is allowed to pivot about the transverse axis T.
  • the second connecting arm 143 has a through hole 16 aligned with the transverse axis T at its end.
  • the through hole 16 can accommodate a bearing 161 and a mandrel 162 inserted into the bearing 161, wherein the mandrel 162 It can be fixedly connected to the second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12. Thereby, the upper sides of the first pipe body portion 11 and the second pipe body portion 12 are connected to each other.
  • the longitudinally stabilized hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 .
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, so as to allow the longitudinally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the longitudinally stabilized handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
  • the longitudinal stabilization motor 13 is shown in Figs. 29 and 30 to be arranged on the upper side of the hand-held frame 10 shown in the figure (this arrangement is convenient for the user to operate the hand-held machine in a positive manner).
  • the load equipment is set in the inner area of the hand-held frame 10
  • the longitudinal stabilization motor 13 can also be arranged on the lower side of the hand-held frame 10. This arrangement is convenient for inverted When the handheld rack is operated, the load device is set outside the inner area of the handheld rack 10 so as to allow the user to complete the scene shooting with a larger shooting angle of view and allow the user to easily shoot the scene directly above.
  • the handheld frame 10 is configured to be closed, this is not necessary, and the first tube body portion 11 and the second tube body portion 12 may not be completely closed. This allows the load device to move more freely in the space without undesired interference or collision with the first tube body portion 11 and the second tube body portion 12.
  • the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold.
  • the two hands hold both sides of the longitudinally stabilized handheld frame 10, and the load device can be installed at the mounting seat 141 of the connecting rod 14 at this time.
  • the longitudinal stabilization motor 13 in order to facilitate the longitudinal stabilization of the load device by the longitudinal stabilization motor 13 described below, it is desirable to install the load device so that the transverse axis T passes through the overall center of gravity of the load device and the connecting rod, so that the longitudinal stabilization motor During operation, the overall center of gravity deviates from the pivot axis of the longitudinal stabilization motor 13 to cause undesirable resistance torque to the longitudinal stabilization motor 13.
  • an angle sensor is provided on the motor rotor 132 or the connecting rod 14 to obtain the rotation angle information of the motor rotor 132 or the connecting rod 14.
  • the sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain real-time rotation angle information of the motor rotor 132 relative to the motor stator 131.
  • the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T).
  • a processor integrated in the motor 13 or a control rocker installed on the annular portion of the longitudinal stabilization handheld frame 10 is used to control the longitudinal stabilization motor 13 to move based on at least the rotation angle information from the sensor to allow
  • the connecting rod 14 pivots about the transverse axis T, thereby realizing longitudinal stabilization of the load equipment connected to the mounting base 141.
  • the vertical stabilization device 20 is always in a vertical state to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the three-axis stabilizer The lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L. If the user holds the handheld photographic equipment with both hands and performs a low-view overhead shot, the longitudinal stabilization frame 10 will swing to the position 10B shown by the dashed line in FIG. 31 due to the user's hand motion.
  • the angle sensor of the motor rotor or the attitude sensor of the vertical stabilization device 20 is used to obtain the current included angle of the vertical stabilization device 20 relative to the vertical.
  • the information is then sent to the controller via wired or wireless means.
  • the controller controls the movement of the longitudinal stabilization motor based on, for example, the rotation angle information of the motor rotor and/or the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical state.
  • the attitude sensor preferably an IMU, can also be additionally provided as an option for the longitudinal stabilization frame.
  • preset posture information may be preset in the controller.
  • the preset posture information is posture information indicating that the longitudinal stabilization frame 10 is in a vertical state and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate control instructions according to the attitude information of the vertical stabilization device 20 and the preset attitude information.
  • the controller can generate corresponding control instructions so that the controller can control the longitudinal stabilization
  • the motor 13 rotates by +10°, so that the longitudinal stabilization motor drives the vertical stabilization device 20 to rotate to a posture of 0°.
  • an angle sensor is provided on the motor rotor to obtain the posture information of the longitudinal stabilization motor after action, this can also allow the controller to close-loop control of the longitudinal stabilization based on the posture information of the posture sensor and the rotation angle information of the angle sensor.
  • the motor 13 moves to maintain the vertical stabilization device 20 in a vertical state, so that the desired effect can be obtained by shooting.
  • the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the longitudinal stabilization frame 10 will swing to the position 10A shown by the dashed line in FIG. 31 due to the user's hand movement. It is also possible to maintain the vertical stabilization device 20 in a vertical state by means of the closed-loop control of the above controller, so as to obtain a preset desired effect when shooting. Since its control method is basically the same as the above, it will not be repeated here.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched.
  • the user holds the hand-held photographic equipment for variable-speed movement in the longitudinal direction,
  • the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia.
  • the posture information of the vertical stabilization device 20 is obtained in real time by using a posture sensor such as an IMU.
  • a posture sensor such as an IMU.
  • the load device will swing to the position 10B shown by the dashed line in FIG. 31, and during rapid longitudinal deceleration, the load device will swing to the position 10A shown by the dashed line in FIG. 31, for example.
  • the controller can generate a control command according to the real-time posture information and preset posture information of the vertical stabilization device 20, so that the vertical stabilization motor drives the vertical stabilization device 20 to rotate to a 0° posture, thereby shooting Get the desired effect by default.
  • the longitudinal handheld photographic equipment includes the laterally stabilized handheld frame 10 shown in FIGS. 32 to 33 and the load device mounted by the laterally stabilized handheld frame 10 as a load device.
  • Various vertical stabilization devices 20 are shown in FIGS. 3 to 15 or 27 to 28.
  • components with the same name are denoted by the same reference numerals in the above text.
  • FIGS. 32 to 33 show a laterally stabilizing handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application.
  • the load device may specifically be the vertical stabilization device 20 shown in FIG. 3. It is understandable that the load device can also be other devices that can be installed in the laterally stabilized handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rockers) that do not have a stabilization function.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side)
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a transverse stabilizing motor 13 and a preferably U-shaped connecting rod 14 are arranged between them.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is used for mounting the transverse axis.
  • Stabilization motor 13 A pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be substantially U-shaped.
  • first connecting arm 142 and the second connecting arm are respectively fixedly connected to the first connecting end 151 and the second connecting end 151 and the second connecting end 151 of the first pipe body 11 by means of a first connecting rod 171 and a second connecting rod 172, which are preferably hollow rods.
  • first connecting rod 171 and the second connecting rod 172 are respectively inserted into the first connecting end 151 of the first pipe body portion 11 and the second connecting end 152 of the second pipe body portion 12.
  • first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the first connecting rod 171 and the first connecting rod 171 and the first connecting rod 171 and the The two connecting rods 172 ensure that the U-shaped connecting rod 14 connected to the first connecting rod 171 and the second connecting rod 172 is always kept coaxial with the transverse axis T. Furthermore, this design also realizes the interconnection of the upper sides of the first pipe body portion 11 and the second pipe body portion 12 at the same time.
  • the lateral stabilization motor 13 includes a motor housing 131 connected to the mounting base 141 and a motor rotor 132 capable of pivoting about the longitudinal axis L relative to the motor housing 131.
  • a motor housing 131 connected to the mounting base 141 and a motor rotor 132 capable of pivoting about the longitudinal axis L relative to the motor housing 131.
  • one end of the motor housing 131 is fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners.
  • the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilizing device 20 described below can be fixedly connected to the motor rotor 132 by means of a plurality of fasteners 15A, so that the motor Driven by the rotor 132, the load device fixedly connected to the connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load device as described in detail below.
  • the laterally stabilizing hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 .
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, thereby allowing the laterally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the laterally stabilizing handheld frame 10 can also facilitate the installation of accessories such as control rockers, monitors, and image transmission equipment.
  • an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the motor rotor 132.
  • the angle sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain the real-time rotation angle of the motor rotor 132 relative to the motor stator 131.
  • the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T).
  • a controller integrated in the motor 13 or installed in the control rocker on the annular part of the laterally stabilized handheld frame 10 controls the motion of the laterally stabilized motor 13 in a closed loop at least based on the rotation angle information from the angle sensor.
  • the connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load equipment connected to the connecting seat 15.
  • the vertical stabilization device 20 as a load device is installed on the connecting seat 15 of the lateral stabilization handheld frame 10.
  • the longitudinal axis L passes through the overall center of gravity of the vertical stabilization device 20 and the connecting rod 14.
  • the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support mechanism 40 of the vertical stabilization device 20 by means of a threaded connection with a 1/4 threaded hole in a hoisting manner, thereby by means of the vertical increase
  • the stabilizing device 20 arranges the three-axis stabilizer 90 in the internal space of the laterally stabilized handheld frame 10 in a "suspended" manner (see FIG. 34).
  • it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
  • the vertical stabilization device 20 when the user holds the handheld photographic equipment with both hands for side-shooting, it is desirable to realize that the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the lens of the photographing device carried by the three-axis stabilizer 90 can always be kept parallel to the transverse axis T. If the user holds the handheld photographic equipment with both hands to perform low-view overhead shooting during side shooting, the lateral stabilization frame 10 will swing to the point represented by 10B shown by the dashed line in FIG. 34 due to the user's hand motion.
  • the vertical stabilization device In the left-leaning position, if the lateral stabilization frame 10 does not have the lateral stabilization function at this time, it is obvious that the vertical stabilization device will deviate from the vertical posture along with one of the stabilization devices, and the camera lens of the shooting device will be integrated. Tilting to the left causes the lens of the shooting device to be unable to maintain a horizontal horizontal state parallel to the horizontal axis T, and shakes to the left, so that the shooting effect cannot be guaranteed.
  • the angle sensor provided on the motor rotor or the IMU of the vertical stabilization device 20 is used as the posture sensor to obtain the posture information of the current vertical stabilization device 20.
  • the vertical stabilization device 20 is relative to The angle tilted vertically to the left.
  • the posture information is then sent to the controller via wired or wireless means.
  • the controller will close-loop control the movement of the lateral stabilization motor based on, for example, the rotation angle information of the motor rotor and the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture.
  • the attitude sensor preferably an IMU, can also be additionally provided as an option for the lateral stabilization rack.
  • preset posture information may be preset in the controller.
  • the preset posture information is posture information indicating that the lateral stabilization frame 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate a control command according to the posture information of the vertical stabilization device 20 and the preset posture information.
  • the processor 14 can generate a corresponding control command, so that the controller controls the lateral stabilization motor 13 to rotate +10°, so that the lateral stabilization motor drives the vertical stabilization
  • the device 20 rotates back to the 0° attitude.
  • the controller since an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the lateral stabilization motor 13 after the action, this allows the controller to close the loop control station based on the rotation angle information of the angle sensor and the attitude information of the attitude sensor.
  • the lateral stabilization motor 13 moves to maintain the vertical stabilization device 20 in a vertical posture, so as to obtain a preset desired effect when shooting. It is understandable that the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the lateral stabilization frame 10 will swing to the right as indicated by the dotted line 10A in FIG. 34 due to the user's hand motion.
  • the position of the posture, at this time, the closed-loop control of the above controller can also be used to maintain the vertical stabilization device 20 in the vertical posture, so that the preset desired effect can be obtained by shooting. Since its control method is basically the same as the above, it will not be repeated here.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched.
  • the user is holding the hand-held photographic equipment for side-shooting and performing a variable speed movement in the lateral direction,
  • the vertical stabilization device 20 mounted on the rack will appear relative to the rack due to its own inertia. Unexpected shaking.
  • the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU.
  • the load device will swing to the 10B position shown by the dashed line in FIG. 34, and during rapid lateral deceleration, the load device will swing to the 10A position shown by the dashed line in FIG. 34, for example.
  • the controller can generate a control command according to the real-time posture information and preset posture information of the load equipment, so that the lateral stabilization motor drives the vertical stabilization device 30 to rotate to a 0° posture.
  • the controller since an angle sensor is provided on the motor rotor or connecting rod to obtain the posture information of the lateral stabilization motor after action, this allows the controller to close-loop control of the station based on the posture information of the angle sensor and the posture information of the posture sensor.
  • the lateral stabilization motor moves to maintain the load device in a vertical posture, so as to obtain a preset desired effect when shooting.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un cadre portatif de stabilisation (10) destiné à porter un dispositif de chargement (20) et comprenant : une première partie tube (11) et une deuxième partie tube (12) se faisant face ; un moteur de stabilisation longitudinale (13) et son premier capteur d'angle ; une tige de liaison (14) comprenant un siège de montage (141) définissant un axe longitudinal et une paire de bras de liaison s'étendant à partir de deux côtés du siège de montage (141), l'axe longitudinal et un axe transversal étant perpendiculaires ; un moteur de stabilisation transversale (19) et son deuxième capteur d'angle ; et un contrôleur commandant l'action du moteur de stabilisation longitudinale (13) et/ou du moteur de stabilisation transversale (19) afin d'assurer la stabilisation longitudinale et/ou transversale du dispositif de chargement (20) relié au siège de liaison (15). L'invention concerne également un appareil de photographie portatif pourvu dudit cadre portatif de stabilisation.
PCT/CN2021/075719 2020-02-28 2021-02-07 Cadre portatif de stabilisation et appareil de photographie portatif WO2021169778A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN202010133474.9 2020-02-28
CN202010133474.9A CN113323981B (zh) 2020-02-28 2020-02-28 竖向定位设备、竖向减震装置及具有其的稳定器
CN202010623366.XA CN112161181B (zh) 2020-06-30 2020-06-30 两向增稳式手持机架及手持摄影器材
CN202010623457.3 2020-06-30
CN202010618144.9 2020-06-30
CN202010618144.9A CN111779961B (zh) 2020-06-30 2020-06-30 横向增稳式手持机架及手持摄影器材
CN202010623457.3A CN112145881B (zh) 2020-06-30 2020-06-30 手持摄影器材
CN202010623456.9 2020-06-30
CN202010623366.X 2020-06-30
CN202010618145.3A CN112145941B (zh) 2020-06-30 2020-06-30 多功能手持摄影器材
CN202010623456.9A CN111609281B (zh) 2020-06-30 2020-06-30 纵向增稳式手持机架及手持摄影器材
CN202010618145.3 2020-06-30

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