WO2022141451A1 - 增稳机构、增稳装置及拍摄设备 - Google Patents

增稳机构、增稳装置及拍摄设备 Download PDF

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Publication number
WO2022141451A1
WO2022141451A1 PCT/CN2020/142281 CN2020142281W WO2022141451A1 WO 2022141451 A1 WO2022141451 A1 WO 2022141451A1 CN 2020142281 W CN2020142281 W CN 2020142281W WO 2022141451 A1 WO2022141451 A1 WO 2022141451A1
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WO
WIPO (PCT)
Prior art keywords
transmission member
stabilization
handle
arm body
transmission
Prior art date
Application number
PCT/CN2020/142281
Other languages
English (en)
French (fr)
Inventor
肖翔
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/142281 priority Critical patent/WO2022141451A1/zh
Priority to CN202080080103.7A priority patent/CN114788252A/zh
Priority to PCT/CN2021/142458 priority patent/WO2022143767A1/en
Publication of WO2022141451A1 publication Critical patent/WO2022141451A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • 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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F16M2200/042—Balancing means for balancing rotational movement of the head for panning movement
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the present application relates to the technical field of electronic equipment, and in particular, to a stabilization mechanism, a stabilization device and a photographing device.
  • a photographing device such as a mobile phone, a camera, a video camera, etc.
  • the user's body or arm is easily shaken, which causes the image captured by the photographing device to be shaken or blurred accordingly. Therefore, when the photographing device is used for working photography, a stabilization device is generally used to stabilize and stabilize the photographing device, so that the photographing device can obtain a clear image.
  • the traditional stabilization device includes a pitch-axis (Pitch-axis) stabilization mechanism, a yaw-axis (Yaw-axis) stabilization mechanism, and a roll-axis (Roll-axis) stabilization mechanism.
  • Pitch-axis pitch-axis
  • Yaw-axis yaw-axis
  • Roll-axis roll-axis
  • Embodiments of the present application provide a stabilization mechanism, a stabilization device, and a shooting device, which can solve the problem that the display screen or viewfinder of the shooting device is blocked, so that the user can view the shooting picture through the display screen or the viewfinder of the shooting device.
  • an embodiment of the present application provides a stabilization mechanism, which includes an installation component, a first transmission member, a connection structure, and an electronically controlled stabilization enhancement component.
  • the installation component includes a guide member, and the guide member can form at least a The receiving part of some components; the first transmission member is slidingly matched with the guide member; the connecting structure is arranged on the first transmission member and rotates with the first transmission member; the electronically controlled stabilization component can drive the first transmission member along the circumferential direction of the guide member turn.
  • the above stabilization mechanism When the above stabilization mechanism is applied to the stabilization device, some components of the photographing device (such as the lens) can be accommodated in the accommodating portion, and the photographing device is fixed on the first transmission member through the connection structure.
  • the electronically controlled stabilization component drives the first transmission member to rotate, it can drive the part of the part to rotate around the center line of the guide member.
  • the movement range of some parts is small, and the resulting movement interference is also small, which is beneficial to the user. View the shot through the camera's viewfinder or monitor.
  • an embodiment of the present application further provides a stabilization device, including the stabilization mechanism described above, and the stabilization device further includes a second transmission member, a third transmission member, a fixing member, a second stabilization motor, and a third stabilization motor.
  • one end of the second transmission member is fixedly connected with the installation assembly, and the other end is protruded from the installation assembly along the depth direction of the receiving portion; one end of the third transmission member is rotatably connected with the other end of the second transmission member; The other ends of the three transmission members are rotatably connected; the second stabilization motor is arranged between the second transmission member and the third transmission member, and is used to drive the second transmission member to rotate, so that the rotation axis of the second transmission member and the connection structure rotate.
  • the axes are perpendicular or substantially perpendicular to each other; the third stabilization motor is arranged between the third transmission part and the fixed part, and is used to drive the third transmission part, so that the third transmission part is respectively connected to the rotation axis of the second transmission part and the connection structure of the connecting structure.
  • the axes of rotation are perpendicular or approximately perpendicular to each other.
  • the electronically controlled stabilization device drives the first transmission member to rotate
  • the lens of the photographing device can be accommodated in the accommodating portion, and then the lens rotates around the center line of the guide member.
  • the movement of the lens with the flipping of the photographing device is small, and the resulting movement interference is also small.
  • the user can view the photographed image through the viewfinder or the display of the photographing device, so that the stabilization device does not need to configure an additional independent display to view the photographed image.
  • the center of gravity of the photographing device can be set in the rotation area of the first transmission member, so that during the use of the stabilization device, the force of the first transmission member is more uniform, so that the change range of the shaking compensation force of the photographing device is small, and the Accurate shake compensation is beneficial for clear images.
  • an embodiment of the present application further provides a photographing device, including the above stabilization device, the photographing device further includes a photographing device, and the photographing device is detachably fixed on the first transmission member through a connection structure.
  • the above-mentioned photographing device applies the above stabilization device, so that during the stabilization process of the photographing device, the user can view the photographed image through the display of the photographing device.
  • the center of gravity of the photographing device can be set in the rotation area of the first transmission member, so that during the use of the stabilization device, the force of the first transmission member is more uniform, and the variation range of the shaking compensation force of the photographing device is small. Further, the shake compensation can be performed more accurately, which is beneficial for the photographing device to obtain a clear image during the movement process and improves the photographing quality.
  • FIG. 1 is a schematic structural diagram of a photographing device.
  • FIG. 2 is a schematic structural diagram of the stabilization device shown in FIG. 1 .
  • FIG. 3 is a schematic structural diagram of the stabilization mechanism shown in FIG. 2 .
  • FIG. 4 is a schematic structural diagram of the stabilization mechanism from another perspective.
  • FIG. 5 is an exploded schematic view of the stabilization mechanism shown in FIG. 4 .
  • FIG. 6 is a schematic diagram of the cooperation between the guide member and the first transmission member according to an embodiment.
  • FIG. 7 is a schematic diagram of the cooperation between the guide member and the first transmission member shown in another embodiment.
  • FIG. 8 is a schematic diagram of a stabilization mechanism shown in an embodiment.
  • FIG. 9 is a schematic diagram of the transmission structure of the stabilization mechanism shown in another embodiment.
  • FIG. 10 is a partial schematic diagram of the stabilization mechanism shown in FIG. 9 .
  • FIG. 11 is a schematic diagram of the transmission structure of the stabilization mechanism shown in still another embodiment.
  • FIG. 12 is a schematic diagram of the transmission structure of the stabilization mechanism shown in still another embodiment.
  • FIG. 13 is a schematic diagram of the transmission structure of the stabilization mechanism shown in still another embodiment.
  • FIG. 14 is a schematic diagram of the transmission structure of the stabilization mechanism shown in still another embodiment.
  • FIG. 15 is a schematic structural diagram of a stabilization mechanism shown in yet another embodiment.
  • FIG. 16 is a schematic structural diagram of a stabilization mechanism shown in yet another embodiment.
  • FIG. 17 is a schematic structural diagram of the photographing device shown in FIG. 1 in a first mode.
  • FIG. 18 is a schematic diagram of another usage scenario when the photographing device shown in FIG. 1 is in the first mode.
  • FIG. 19 is a schematic structural diagram of the photographing device shown in FIG. 1 in the second mode.
  • FIG. 20 is a schematic structural diagram of a stabilization device shown in an embodiment.
  • Stability augmentation mechanism 100, installation assembly; 110, guide piece; 120, accommodating part; 130, protective cavity; 200, first transmission part; 300, connecting structure; 310, connecting piece; 320, fastening assembly; 330 340, the second slider; 350, the electronically controlled retractor; 352, the first retractable element; 354, the second retractable element; 400, the electronically controlled stabilization component; 410, the stator; 420, the rotor; 430, the first stabilization motor; 440, the driving part; 450, the driven part; 460, the flexible transmission ring; 470, the tensioner; 480, the first retractor; 482, the first flexible transmission part; 402, the first arc-shaped flexible body; 490, second retractor; 492, second flexible transmission member; 404, second arc-shaped flexible body; 500, bearing; 600, planetary gear; 700, outer ring; 20, second transmission member; 22, the first arm body; 22a, the first body; 22b, the second body; 24, the second arm body; 30, the third transmission part; 32,
  • the pitch angle (Pitch), the yaw angle (Yaw), the roll angle (Roll) to express the relationship between the coordinate system of the camera of the shooting device and the coordinate system of the ground.
  • the attitude of the photographing device relative to the ground can be determined, and then a three-axis coordinate system, such as (XYZ coordinate system), can be established.
  • the traditional stabilization device can compensate the camera shake in the three rotation axis directions of the pitch axis (Pitch axis), the yaw axis (Yaw axis) and the roll axis (Roll axis) based on the above-mentioned principle, so as to realize the stabilization of shooting.
  • the stabilization device includes a pitch axis stabilization mechanism, a yaw axis stabilization mechanism and a roll axis stabilization mechanism.
  • the pitch axis stabilization mechanism is used to adjust the pitch angle (Pitch) of the photographing device, so that the photographing device can rotate around the X axis
  • the yaw axis stabilization mechanism is used to adjust the yaw angle (Yaw) of the photographing device, so that the photographing device can rotate It can rotate around the Y axis
  • the roll axis stabilization mechanism is used to adjust the roll angle (Roll) of the photographing device, so that the photographing device can rotate around the Z axis.
  • the lens size of some photographing devices is relatively large, so that the overall size of the photographing device will increase, and the movement space of the photographing device will also increase.
  • most of the stabilization devices can only compensate for the shake of the small and plate-shaped camera devices such as mobile phones and tablet computers to achieve stabilization, but it is difficult to meet the stabilization of the camera devices with larger lens size. Therefore, in order to satisfy the stabilization of the shooting device with larger lens size, a special stabilization device needs to be designed.
  • the specially designed stabilization device will block the viewfinder or display of the camera at certain angles by the parts of the stabilization device, so that the user cannot use the viewfinder or display of the camera.
  • an additional external monitor is required to facilitate the user to check the shooting effect. This not only increases the cost, but also is not conducive to improving the adaptability of the stabilization device.
  • the present application provides a stabilization device, which can drive a photographing device to roll, and some components of the photographing device (such as a lens, especially a long lens) have a small range of motion caused by the rolling of the photographing device.
  • some components of the photographing device such as a lens, especially a long lens
  • the stabilization device when the stabilization device is applied to shooting, the user can view the shooting image through the viewfinder or the display of the shooting device, which is beneficial to reduce the cost of stabilization and stabilization.
  • an embodiment of the present application provides a stabilization device including a stabilization mechanism 10 , a second transmission member 20 , a third transmission member 30 , a fixing member 40 , a second stabilization motor 50 and a third Stabilize the motor 60 .
  • the stabilization mechanism 10 includes an installation assembly 100 , a first transmission member 200 , a connection structure 300 and an electronically controlled stabilization enhancement assembly 400 .
  • the installation assembly 100 includes a guide member 110 , and the guide member 110 forms an accommodation for accommodating at least some parts of the photographing device
  • the first transmission member 200 is slidingly matched with the guide member 110; the connection structure 300 is arranged on the first transmission member 200 and rotates with the first transmission member 200; the electronically controlled stabilization component 400 can drive the first transmission member 200 along the guide Circumferential rotation of member 110.
  • some components of the photographing device 70 can be disposed in the receiving portion 120 , and the photographing device 70 can be fixed on the first transmission member 200 through the connection structure 300 .
  • the electronically controlled stabilization component 400 can drive the first transmission member 200 to rotate, thereby driving some components of the photographing device 70 to rotate around the center line of the guide member 110 , so that the movement range of the lens 72 is small.
  • one end of the second transmission member 20 is fixedly connected to the mounting assembly 100 , and the other end protrudes from the mounting assembly 100 along the depth direction of the receiving portion 120 ;
  • one end of the third transmission member 30 is rotatably connected to the other end of the second transmission member 20 ;
  • the other end of the fixing member 40 is connected in rotation with the other end of the third transmission member 30;
  • the second stabilization motor 50 is arranged between the second transmission member 20 and the third transmission member 30, and is used to drive the second transmission member 20 to rotate, so that the first The rotation axes of the second transmission members 20 and the rotation axis of the connection structure 300 are perpendicular or substantially perpendicular to each other;
  • the third stabilization motor 60 is disposed between the third transmission member 30 and the fixing member 40 and is used to drive the third transmission member 30 so that the The rotation axis of the third transmission member 30 and the rotation axis of the second transmission member 20 and the rotation axis of the connection structure 300 are perpendicular or substantially perpendicular to each
  • the lens 72 of the photographing device 70 can be accommodated in the accommodating portion 120 , and the photographing device 70 is fixed on the first transmission member 200 through the connection structure 300 .
  • the first transmission member 200 can correspond to the Z axis to adjust the roll angle (Roll); the second transmission member 20 corresponds to the X axis to achieve the adjustment of the pitch angle (Pitch); the third transmission member The component 30 corresponds to the Y axis, and realizes the adjustment of the yaw angle (Yaw).
  • the electronically controlled stabilization component 400 drives the first transmission member 200 to rotate, and the lens 72 of the photographing device 70 rotates around the center line of the guide member 110 .
  • the movement of the lens 72 with the flip of the photographing device 70 is small, and the resulting motion interference is also small, so that the user can view the photographed image through the viewfinder or the display 74 of the photographing device 70, and the stabilization device does not need to configure an additional independent display. 74 to view the shooting screen.
  • the center of gravity of the photographing device 70 can be set in the rotation area of the first transmission member 200 , so that during the use of the stabilization device, the force on the first transmission member 200 is more uniform, so that the shaking compensation force of the photographing device 70 changes in amplitude Small, more accurate shake compensation can be performed, which is beneficial to obtain clear images.
  • guide member 110 refers to a member that can realize the rotation of the first transmission member 200 in the circumferential direction.
  • the specific structure of the guide member 110 can be various, including but not limited to guide rails, guide grooves, arc guide rods, etc., as long as the first transmission member 200 can be rotated along the circumference.
  • the other end of the second transmission member 20 is rotatably connected to one end of the third transmission member 30, and the two can be realized by direct connection or indirect connection, and there are various specific implementation methods.
  • the other end of the third transmission member 30 is rotatably connected to the fixing member 40, and the two can also be realized by direct connection or indirect connection, and there are various specific implementation methods.
  • the second stabilization motor 50 is disposed between the second transmission member 20 and the third transmission member 30
  • the second stabilization motor 50 is fixed on the third transmission member 30, and its output shaft is connected to the second transmission member 30.
  • the transmission member 20 is in a transmission connection, so that the second stabilization motor 50 can drive the second transmission member 20 to rotate relative to the third transmission member 30 .
  • the rotational connection between the second transmission member 20 and the third transmission member 30 can also be realized by the second stabilization motor 50 .
  • the third stabilization motor 60 is arranged between the third transmission member 30 and the fixing member 40
  • the third stabilization motor 60 is fixed on the fixing member 40, and its output shaft is connected to the third transmission member 30 in a driving manner. It is sufficient that the third stabilization motor 60 can drive the third transmission member 30 to rotate relative to the fixing member 40 . At the same time, the rotational connection between the third transmission member 30 and the fixing member 40 can also be realized by the second stabilization motor 50 .
  • the guide member 110 is annular, and the first transmission member 200 is annular or arc-shaped.
  • the guiding function of the first transmission member 200 can be realized by using the annular guide member 110, so that the first transmission member 200 can reciprocate in the circumferential direction.
  • the first transmission member 200 is annular or arc-shaped, which can further reduce the movement range.
  • the guide member 110 is in the shape of a circular arc
  • the first transmission member 200 is in the shape of a circular ring or a circular arc.
  • the arc-shaped guide member 110 can be used to realize the guiding function of the first transmission member 200, so that the first transmission member 200 can reciprocate in the circumferential direction.
  • the first transmission member 200 is in the shape of a ring or an arc, which can further reduce the range of motion.
  • both the guide member 110 and the first transmission member 200 are arc-shaped, the first transmission member 200 can rotate in a small range, and can also realize shake compensation.
  • the mounting assembly 100 is provided with a protective cavity 130 , and the guide member 110 is disposed in the protective cavity 130 .
  • the protective cavity 130 helps protection and lubrication can be performed, so that the matching precision between the first transmission member 200 and the guide member 110 is higher, and the service life is longer.
  • the sliding fit between the first transmission member 200 and the guide member 110 includes but is not limited to magnetic suspension sliding fit, sliding connection, and indirect sliding fit.
  • the first transmission member 200 is slidably connected to the guide member 110 .
  • the first transmission member 200 and the guide member 110 can realize the sliding cooperation between the two by means of connection, which is easy to realize and has low cost.
  • the sliding connection between the first transmission member 200 and the guide member 110 includes direct connection and indirect connection.
  • the stabilization mechanism 10 further includes a bearing 500 (not shown), and the first transmission member 200 is slidably connected with the guide member 110 through the bearing 500 .
  • a bearing 500 (not shown)
  • the first transmission member 200 is slidably connected with the guide member 110 through the bearing 500 .
  • using the bearing 500 to realize the sliding connection between the first transmission member 200 and the guide member 110 is beneficial to reduce the manufacturing difficulty and the manufacturing cost of the first transmission member 200 and the guide member 110 .
  • the precise connection between the first transmission member 200 and the guide member 110 is easily achieved by using the bearing 500 .
  • the bearing 500 includes, but is not limited to, a sliding bearing 500 or a rolling bearing 500 .
  • the stabilization mechanism 10 further includes a planetary gear 600 .
  • the planetary gear 600 is rotatably disposed on the mounting assembly 100 and is fixedly connected with the first transmission member 200 , so that the planetary gear 600 can The first transmission member 200 is driven to rotate.
  • the stabilization mechanism 10 further includes an outer ring 700, the outer ring 700 is rotatably arranged on the mounting assembly 100, the outer ring 700 is provided with an internal gear structure, the guide member 110 is arranged in the outer ring 700, the guide member 110 is provided with an external gear structure, the planetary The gear 600 meshes with the internal gear structure and the external gear structure.
  • the electronically controlled stabilization component 400 can drive the outer ring 700 to rotate, and through the outer ring 700 can drive the planetary gear 600 to rotate along the circumferential direction of the guide member 110 .
  • the indirect sliding cooperation between the first transmission member 200 and the guide member 110 is realized through the planetary gear 600 mechanism, and the rotation of the first transmission member 200 along the axial direction of the guide member 110 can also be realized.
  • the number of the planetary gears 600 can be selected according to actual needs, such as more than two.
  • the electronically controlled stabilization component 400 can drive the rotation of the outer ring 700 in various ways, such as a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a ring motor, and the like.
  • the electronically controlled stabilization component 400 includes a ring motor.
  • the ring motor is used to drive the first transmission member 200 to rotate along the guide member 110, that is, the first transmission member 200 and the mounting assembly 100 can be arranged independently of the ring motor, so that the design of the first transmission member 200 and the mounting assembly 100 can be more flexible.
  • the ring motor includes, but is not limited to, a brushless ring motor, an ultrasonic ring motor, a ramp ring motor, and the like.
  • the electronically controlled stabilization component includes an arc motor.
  • the arc motor is used to drive the first transmission member 200 to rotate along the guide member 110 in a small range, that is, the first transmission member 200 and the mounting assembly 100 can be arranged independently of the arc motor, so that the first transmission member 200 and the mounting assembly 100
  • the design can be more flexible.
  • the arc-shaped motor includes an arc-shaped linear motor, and certainly includes other types of arc-shaped motors, which are not limited here.
  • the guide member 110 and the first transmission member 200 are both annular, the first transmission member 200 is slidably connected to the guide member 110 , and the electronically controlled stabilization component 400 includes
  • the stator 410 disposed in the mounting assembly 100 and the rotor 420 disposed on the first transmission member 200 are arranged staggered from the guide member 110, and the stator 410 is magnetically matched with the rotor 420, so that the rotor 420 can drive the first transmission member 200 turns.
  • the rotor 420 is driven to rotate by the stator 410 in a magnetic excitation manner, thereby realizing the rotation of the first transmission member 200 along the guide member 110, and can perform jitter compensation.
  • the mounting assembly 100 includes a protective shell, and cooperates with the guide member 110 and the first transmission member 200 to form a circular cylindrical structure, and the inner side of the circular cylindrical structure forms the receiving portion 120 , the stator 410 and the rotor 420
  • the connecting structure 300 is disposed in the circular column structure, and the connecting structure 300 is at least partially protruded from the circular column structure.
  • the electronically controlled stabilization component 400 cooperates with the mounting component 100 and the first transmission member 200 to form a ring motor structure, that is, a conventional ring motor can be used to achieve the above functions.
  • the photographing device 70 is detachably mounted on the first transmission member 200 by using the connection structure 300, so as to facilitate the compensation of the photographing device 70 by the stabilization device of the present application.
  • the mounting assembly 100 and the first transmission member 200 are in the shape of a regular quadrangular prism
  • the receiving portion includes a first through hole
  • the first transmission member 200 is provided with a second through hole corresponding to the first through hole one-to-one. hole (not shown, but refer to 5)
  • the connection structure 300 is arranged on the outer side of the second through hole.
  • the mounting assembly 100 and the first transmission member 200 may match the shape of the body of the photographing device 70
  • the connecting structure 300 may be a snap-fit structure, which is snap-fitted with the body of the photographing device 70 . In this way, the installation structure of the photographing device 70 can be more flexible.
  • the first transmission member 200 is slidably connected to the guide member 110
  • the electronically controlled stabilization booster assembly 400 includes a first stabilization enhancement motor 430 , a first stabilization enhancement motor 430 that is drivingly connected to the first stabilization enhancement motor 430
  • the driving member 440 and the driven member 450 disposed around the first transmission member 200, the first stabilization motor 430 drives the driven member 450 to rotate through the driving member 440, so that the first transmission member 200 rotates.
  • the cooperation of the first stabilization motor 430 with the driving member 440 and the driven member 450 can also drive the first transmission member 200 to rotate along the circumferential direction of the guide member 110 . That is, the electronically controlled stabilization component 400 can be implemented in various ways, including but not limited to this embodiment and the foregoing embodiments.
  • the specific structure of the stabilization mechanism may also be as shown in FIG. 3 or FIG. 4 or FIG. 20 .
  • the driven wheel may have an arc shape.
  • the driving member 440 is a driving gear
  • the driven member 450 is a driven gear
  • the driving gear can drive the driven gear to rotate.
  • the first stabilization motor 430 can indirectly drive the first transmission member 200 to rotate through the gear transmission structure.
  • the driving gear can be directly meshed with the driven gear, or indirectly meshed with the driven gear through the transmission gear.
  • the driving member 440 is a worm
  • the driven member 450 is a worm wheel
  • the worm is engaged with the worm wheel.
  • the first stabilization motor 430 can indirectly drive the first transmission member 200 to rotate through the worm gear transmission structure.
  • the driving member 440 is a driving wheel
  • the driven member 450 is a driven wheel
  • the electronically controlled stabilization component 400 further includes a flexible transmission ring which is driven by the driven wheel and the driving wheel. 460.
  • the flexible transmission structure can be used to realize that the first stabilization motor 430 indirectly drives the first transmission member 200 to rotate.
  • the flexible transmission ring 460 is one of a belt, a chain or a crawler.
  • the electronically controlled stabilization component 400 further includes a tensioner 470, the tensioner 470 is arranged between the driving wheel and the driven wheel, and the tensioner 470 is in contact with the transmission member.
  • the use of the tensioner 470 improves the accuracy of the flexible transmission, so that the jitter compensation is more accurate.
  • the first stabilization mechanism 10 includes, but is not limited to, a drive motor such as a servo motor that can be applied to shake compensation.
  • the electronically controlled stabilization component 400 includes a first retractor 480 , a first flexible transmission member 482 , a second retractor 490 and a second flexible transmission member 492 ; the first flexible transmission One end of the second flexible transmission member 492 is drivingly connected to the first retractor 480, and the other end is fixedly connected to one end of the first transmission member 200; one end of the second flexible transmission member 492 is drivingly connected to the second retractor 490, and the other end is connected to the first transmission member The other end of 200 is fixedly connected.
  • the first transmission member 200 can rotate in the first rotation direction (eg, clockwise direction); and through the second retractor 490 and the second flexible transmission
  • the cooperation of the member 492 enables the first transmission member 200 to rotate in the opposite direction of the first rotation direction (eg, counterclockwise).
  • the retractor can also be used to realize the small-amplitude rotation of the first transmission member 200 to realize the compensation of small jitter.
  • the first flexible transmission member 482 includes a first arc-shaped flexible body 402 disposed on the same circumference as the moving direction of the first transmission member 200
  • the second flexible transmission member 482 includes a second arc-shaped flexible body 404 disposed on the same circumference as the moving direction of the first transmission member 200 .
  • the force during the movement of the first transmission member 200 is more uniform, which is beneficial to improve the accuracy of jitter compensation.
  • first retractor 480 and the second retractor 490 includes, but is not limited to, direct output retractable power output devices, such as air cylinders, linear motors, hydraulic cylinders, etc.; rotational power devices may also be used (such as servo motor) + screw nut transmission mechanism, or rotating power equipment (such as servo motor) + rack and pinion transmission mechanism, or rotating power equipment + conveyor belt mechanism (such as belt mechanism or chain mechanism, etc.) to achieve indirect output
  • direct output retractable power output devices such as air cylinders, linear motors, hydraulic cylinders, etc.
  • rotational power devices may also be used (such as servo motor) + screw nut transmission mechanism, or rotating power equipment (such as servo motor) + rack and pinion transmission mechanism, or rotating power equipment + conveyor belt mechanism (such as belt mechanism or chain mechanism, etc.) to achieve indirect output
  • the telescopic power as long as it can meet the usage requirements, is not limited here.
  • the electronically controlled stabilization enhancement assembly 400 can be implemented in various manners, as long as the first transmission member 200 can be driven to rotate.
  • the electronically controlled stabilization component 400 can drive the outer ring 700 to rotate, it can also be realized by referring to the above-mentioned embodiment.
  • the connecting structure 300 includes a connecting member 310 fixed on the first transmission member 200 and a fastening component 320 disposed on the connecting member 310 .
  • the fastening assembly 320 is mounted on the first transmission member 200 through the connecting member 310 , so that the first transmission member 200 can be detachably connected to the photographing device 70 through the fastening assembly 320 .
  • the specific structure of the fastening assembly 320 includes, but is not limited to, fastening bolts, latches, snap structures, magnetic structures, and the like.
  • the fastening component 320 is a fastening bolt rotatably disposed on the connecting member 310 .
  • the connecting member 310 is in the shape of a rod (not shown), one end of the connecting member 310 is fixedly connected with the first transmission member 200, and the other end is provided with a fastener
  • the fixing component 320 is arranged so that the fixing component 320 protrudes from the mounting component 100 along the depth direction of the receiving portion 120 .
  • the rod-shaped connecting member 310 is used to make the fastening assembly 320 protrude from the installation assembly 100 , so that the fastening assembly 320 and the first transmission member 200 are spaced to form an installation space for installing the camera body 70 .
  • the position of the fastening component 320 on the connection member 310 is adjustable.
  • the installation position of the photographing device 70 relative to the sliding member can be adjusted, so that the position of the lens 72 in the receiving portion 120 can be adjusted, and the center of gravity of the photographing device 70 can be as close to the rotation axis of the first transmission member 200 as possible.
  • Coincidence further improves the uniform force during the movement of the first transmission member 200 , so that the change range of the shake compensation force of the photographing device 70 is small, and the shake compensation can be performed more accurately.
  • the connecting structure 300 further includes a first sliding member 330 , the connecting member 310 and the first sliding member 330 are slidably connected, and one end of the first sliding member 330 is slidably connected.
  • the mounting assembly 100 is protruded and disposed along the depth direction of the receiving portion 120 , and the fastening assembly 320 is disposed at one end of the first sliding member 330 .
  • the fastening assembly 320 can be adjusted in one direction, and then the center of gravity of the photographing device 70 can be adjusted in one dimension, so as to be as close as possible to the first transmission member.
  • the axes of rotation of 200 coincide.
  • the installation position of the photographing device 70 can be adjusted so that the center of gravity of the photographing device 70 coincides with the rotation axis of the first transmission member 200 as much as possible.
  • the moving track direction of the first sliding member 330 is perpendicular or substantially perpendicular to the depth direction of the receiving portion 120
  • the connecting structure 300 further includes a second sliding member slidably connected to the first sliding member 330 .
  • the moving track direction of the second sliding member 340 and the moving track direction of the first sliding member 330 and the depth direction of the receiving portion 120 are perpendicular or substantially perpendicular to each other, respectively.
  • the second sliding member 340 is provided with a fastening component 320.
  • the fastening assembly 320 can be adjusted in two directions, thereby realizing the movement of the center of gravity of the photographing device 70 in two dimensions. , so that the center of gravity of the photographing device 70 and the rotation axis of the first transmission member 200 overlap as much as possible, which is beneficial to improve the stabilization effect.
  • the installation position of the photographing device 70 can be adjusted so that the center of gravity of the photographing device 70 coincides with the rotation axis of the first transmission member 200 as much as possible.
  • the specific implementations of “the slidable connection between the first sliding member 330 and the connecting member 310” and “the slidable connection between the second sliding member 340 and the first sliding member 330” include but are not limited to damped Sliding connection (sliding only when a certain force is applied) or sliding connection with locking structure (switching between sliding and fixing by locking or loosening), etc.
  • connection structure 300 further includes an electronically controlled retractor 350 , and the fastening component 320 is disposed on the connector 310 through the electronically controlled retractor 350 , so that the fastening component 320 is positioned on the connector 310 .
  • Position is adjustable. In this way, the position of the fastening assembly 320 can be adjusted by electronic control, and the installation position of the photographing device 70 relative to the sliding member can be adjusted by electronic control, so that the position of the lens 72 in the accommodating portion 120 can be adjusted.
  • the electronically controlled retractor 350 includes a first retractable element 352 and a second retractable element 354 .
  • the first retractable element 352 cooperates with the second retractable element 354 , so that the fastening assembly 320 can be relative to the first transmission member 200 .
  • the center of rotation moves horizontally and vertically. In this way, it is possible to directly use the cooperation of the two telescopic elements to convert the telescopic displacement into the position adjustment of the fastening component 320 in two directions, so as to realize the movement of the center of gravity of the photographing device 70 in two dimensions, so that the The center line of gravity coincides with the rotation axis of the first transmission member 200 as much as possible, which is beneficial to improve the stabilization effect.
  • first telescopic element 352 and the second telescopic element 354" includes but is not limited to direct output telescopic power output devices, such as air cylinders, linear motors, hydraulic cylinders, etc.; rotating power equipment can also be used (such as servo motor) + screw nut transmission mechanism, or rotating power equipment (such as servo motor) + rack and pinion transmission mechanism, or rotating power equipment + conveyor belt mechanism (such as belt mechanism or chain mechanism, etc.) to achieve indirect output
  • the telescopic power as long as it can meet the usage requirements, is not limited here.
  • the second transmission member 20 includes a first arm body 22 , and one end of the first arm body 22 is fixedly connected to the mounting assembly 100 , The other end of the first arm body 22 protrudes from the mounting assembly 100 and is rotatably connected with the third transmission member 30 .
  • the photographing device 70 it is convenient to install the photographing device 70 through the stabilization mechanism 10 through the first arm body 22 , and it is convenient for the stabilization mechanism 10 and the photographing device 70 to rotate with the second transmission member 20 .
  • the length of the first arm body 22 is adjustable. In this way, it is possible to adapt to the installation of photographing devices 70 of different sizes, which is beneficial to improve the adaptability of the stabilization device.
  • the first arm body 22 includes a first body 22a and a second body 22b, one end of the first body 22a is fixedly connected to the mounting assembly 100, and the second body 22b is rotatably connected to the third transmission member 30, The second body 22b is slidably connected to the first body 22a, so that the length of the first arm body 22 is adjustable. In this way, the length of the first arm body 22 can be adjusted through the cooperation of the first body 22a and the second body 22b.
  • the specific implementation manner of “the first body 22a and the second body 22b are slidably connected” includes but is not limited to a sliding connection with damping (sliding only when a certain force is applied) or a sliding connection with a locking structure (Using locking or releasing to achieve sliding and fixed switching) and so on.
  • the second transmission member 20 includes a second arm body 24 , and one end of the first arm body 22 passes through The second arm body 24 is fixedly connected with the mounting assembly 100 , and the first arm body 22 is staggered from the rotation area of the connecting structure 300 . In this way, the cooperation between the first arm body 22 and the second arm body 24 is used, so that the second transmission member 20 will not interfere with the installation and rotation of the photographing device 70 , so as to ensure reliable overturn compensation of the photographing device 70 .
  • the length direction of the first arm body 22 and the rotation axis of the connection structure 300 are parallel or substantially parallel to each other, and the length direction of the second arm body 24 and the rotation axis of the connection structure 300 are perpendicular or substantially perpendicular to each other.
  • first arm body 22 may be a part of the "second transmission member 20", that is, the "first arm body 22" and the “other parts of the second transmission member 20" are integrally formed and manufactured;
  • the arm body 22" can also be separated from other parts of the “second transmission part 20" to form an independent component, that is, the "first arm body 22" can be manufactured independently, and then combined with the "other parts of the second transmission part 20" into a whole.
  • a certain body and “a certain part” can be a part of the corresponding “component”, that is, “a certain body”, “a certain part” and the “other part of the component” are integrally formed; Parts" are separated to form an independent component, that is, “a body” and “a part” can be manufactured independently, and then combined with “other parts of the component” to form a whole.
  • the expression of the above-mentioned “some body” and “some part” in this application is only one of the embodiments, for the convenience of reading, rather than limiting the scope of protection of the application, as long as the above features are included and the functions are the same, it should be understood as This application is equivalent to the technical solution.
  • the second transmission member 20 is integrated into the stabilization mechanism 10 .
  • the "second transmission member 20" can be one of the parts of the module of the “stabilization augmentation mechanism 10", that is, it can be assembled together with the “other components of the stabilization augmentation mechanism 10", and then assembled into a stabilization augmentation device; It is relatively independent from the “other components of the stabilization mechanism 10", and is assembled into the device independently.
  • the components included in the “component”, “device”, “mechanism” and “device” of the present application can also be combined flexibly, that is, modular production can be carried out according to actual needs, so as to facilitate modular assembly.
  • the division of the above-mentioned components in this application is only one of the embodiments, for the convenience of reading, rather than limiting the scope of protection of the present application, as long as the above-mentioned components are included and have the same function, it should be understood as an equivalent technical solution of the present application.
  • the third transmission member 30 is disposed between the second transmission member 20 and the fixing member 40 to form an avoidance space. In this way, by forming an avoidance space, the movement of the stabilization mechanism 10 and the photographing device 70 is facilitated, and interference is avoided, so that the viewfinder or the display 74 on the photographing device 70 will not be blocked.
  • the third transmission member 30 includes a third arm body 32 , and the third arm body 32 and the rotation axis of the third transmission member 30 are arranged at intervals in the same direction, One end of the third arm body 32 is rotatably connected with the second transmission member 20 , so that the rotation area of the second transmission member 20 is staggered from the fixing member 40 .
  • the third arm body 32 by arranging the third arm body 32, the structure of the third transmission member 30 is simplified, and it is convenient to form an avoidance space.
  • the third transmission member 30 includes a fourth arm body 34 , one end of the fourth arm body 34 is fixedly connected with the other end of the third arm body 32 , and the fourth The other end of the arm body 34 is rotatably connected with the fixing member 40 , so that the movement area of the second transmission member 20 and the movement area of the stabilization mechanism 10 are respectively staggered from the fixing member 40 . In this way, avoidance spaces can be formed in two directions, which is beneficial to improve the adaptability of the device.
  • the length direction of the third arm body 32 and the rotation axis of the third stabilization motor 60 are parallel or substantially parallel to each other, and the length direction of the fourth arm body 34 and the rotation axis of the rotation axis of the third stabilization motor 60 are mutually parallel. Vertical or roughly vertical.
  • the length of the third arm body 32 is adjustable, and the length of the fourth arm body 34 is adjustable. In this way, it is possible to adapt to the installation of photographing devices 70 of different sizes, and further improve the adaptability of the stabilization device.
  • the third arm body 32 includes a third body and a fourth body, one end of the third body is fixedly connected to the second transmission member 20, and the fourth body is slidably connected to the third body, so that the length of the third arm body 32 is adjustable;
  • the fourth arm body 34 includes a fifth body and a sixth body, one end of the fifth body is fixedly connected to the fourth body, the sixth body is rotatably connected to the fixing member 40, and the sixth body and the fifth body are slidably connected, so that the first body is slidably connected to the fifth body.
  • the length of the four-arm body 34 is adjustable. In this way, the length of the third arm body 32 can be adjusted through the cooperation of the third body and the fourth body, and the length of the third arm body 32 can be adjusted through the cooperation of the fifth body and the sixth body.
  • the specific implementation methods of "the third body and the fourth body are slidably connected” and “the fifth body and the sixth body are slidably connected” include, but are not limited to, the sliding connection with damping (only when a certain force is applied) capable of sliding) or a sliding connection with a locking structure (using locking or releasing to realize the switching between sliding and fixing), etc. Its structure can also refer to “the first body 22a and the second body 22b”, as shown in FIG. 16 .
  • the fixing member 40 includes a first adjusting handle 42 , a second adjusting handle 44 and a third adjusting handle 46 .
  • the first adjustment handle 42 is rotatably connected with the third transmission member 30
  • the third stabilization motor 60 is arranged between the first adjustment handle 42 and the third transmission member 30 , the first adjustment handle 42 and the second adjustment handle 44
  • the position between the second adjustment handle 44 and the third adjustment handle 46 is adjustable.
  • the fixing member 40 can be connected or held in various forms, so as to facilitate the user to use in different scenarios, so that the use of this The device can perform anti-shake and stabilization on the photographing device 70 in various scenarios.
  • the first adjusting handle 42 and the second adjusting handle 44 are rotatably connected, and can switch between at least two different included angle positions. In this way, the fixing member 40 has at least two variations.
  • the first adjusting handle 42 and the second adjusting handle 44 are rotationally connected with damping.
  • the connection state of the first adjusting handle 42 and the second adjusting handle 44 can be adjusted only by overcoming the frictional resistance, so that the two states can be adjusted in various ways, so as to facilitate the user to adjust the shape of the fixing member 40 according to the actual use situation, for better shooting results.
  • a first locking member (not shown) is provided between the first adjusting handle 42 and the second adjusting handle 44 , and the first locking member is used for fixing or releasing the second adjusting handle 44 . In this way, loosen the first locking member so that the positions of the first adjusting handle 42 and the second adjusting handle 44 can be adjusted. After the adjustment is completed, the twelve adjusting handles can be fixed on the first adjusting handle 42 by locking the first locking member. .
  • the second adjusting handle 44 and the third adjusting handle 46 are rotatably connected, and can be switched between at least two different fixing positions. In this way, the fixing member 40 has at least two variations.
  • the second adjusting handle 44 and the third adjusting handle 46 are rotatably connected with damping.
  • the connection state of the second adjustment handle 44 and the third adjustment handle 46 can be adjusted only by overcoming the frictional resistance, so that the state adjustment of the two can be various, so as to facilitate the user to adjust the shape of the fixing member 40 according to the actual use situation, for better shooting results.
  • a second locking member is provided between the second adjusting handle 44 and the third adjusting handle 46 , and the second locking member is used to fix or release the third adjusting handle 46 . In this way, loosen the second locking member so that the positions of the second adjusting handle 44 and the third adjusting handle 46 can be adjusted. After the adjustment is completed, the thirteen adjusting handle can be fixed on the second adjusting handle 44 by locking the second locking member. .
  • the first adjusting handle 42 includes a first handle body 42 a and a first handle body 42 a 42a is a second handle body 42b arranged at a right angle or a substantially right angle, the first handle body 42a is rotatably connected with the third transmission member 30, and the third stabilization motor 60 is arranged between the first handle body 42a and the third transmission member 30 , the second handle body 42b is connected with the second adjusting handle 44 .
  • the fixing member 40 can have a greater shape change, and the third transmission member 30 is disposed between the first handle body 42a and the second handle body 42b. , which is beneficial to reduce movement interference, and can use the first handle body 42a and the second handle body 42b to protect the third transmission member 30 .
  • the first adjustment handle 42 can be adapted to the structure of the third transmission member 30 , which is convenient for storage, and also helps to reduce the movement area of the photographing device 70 and reduce unnecessary collisions.
  • the length of the first handle body 42a is adjustable, and the length of the second handle body 42b is adjustable.
  • the lengths of the first handle body 42a and the second handle body 42b can be extended, and when not in use, the lengths of the two can be shortened, so that the fixing member 40 can be stored and stored, and can also be The volume of the device can be reduced, so as to reduce the packaging volume and the transportation cost.
  • the size change of the third transmission member 30 can be adapted.
  • the third transmission member 30 is rotatably disposed on the first handle body 42 a and the second handle body 42 a between the handle bodies 42b;
  • the stabilization device when the second adjustment handle 44 and the second handle body 42b are in the same linear direction, and the third adjustment handle 46 and the first handle body 42a are disposed opposite to each other, the stabilization device is in the first mode (as shown in the figure). In this way, it is possible to hold the fixing member 40 with both hands or to perform anti-shake and stabilization shooting in a low-position pull-up type, so as to meet the needs of different shooting scenarios.
  • the first transmission member 200 can correspond to the Z axis to realize the adjustment of the roll angle (Roll); the second transmission member 20 corresponds to the Y axis to realize the adjustment of the yaw angle (Yaw). ;
  • the third transmission member 30 corresponds to the X axis, and realizes the adjustment of the pitch angle (Pitch).
  • the first transmission member 200 can correspond to the Z axis to realize the adjustment of the roll angle (Roll); the third transmission member 30 corresponds to the Y axis to realize the adjustment of the yaw angle (Yaw). ; The second transmission member 20 corresponds to the X axis, and realizes the adjustment of the pitch angle (Pitch).
  • the stabilization device is in the second mode.
  • the fixing member 40 can be held with one hand to perform anti-shake and stabilized shooting, so as to meet the needs of the shooting scene that needs to be held with one hand.
  • the first transmission member 200 can correspond to the Z axis to realize the adjustment of the roll angle; the second transmission member 20 corresponds to the Y axis to realize the adjustment of the yaw angle; the third transmission member 30 Corresponding to the X axis, the adjustment of the pitch angle is realized.
  • the stabilization device is in the third mode. In this way, it is possible to hold the fixing member 40 with both hands to perform anti-shake and stabilized shooting.
  • the first transmission member 200 can correspond to the Z axis to realize the adjustment of the roll angle (Roll); the second transmission member 20 corresponds to the X axis to realize the adjustment of the pitch angle (Pitch); The third transmission member 30 corresponds to the Y axis, and realizes the adjustment of the yaw angle (Yaw).
  • the third adjusting handle 46 includes at least three supporting feet 46a that can be contracted and expanded. In this way, when the supporting feet 46a are opened, the fixing member 40 can also be used as a supporting rod, so as to facilitate the user to take pictures.
  • the first transmission member 200 can correspond to the Z axis to realize the adjustment of the roll angle (Roll);
  • the second transmission member 20 corresponds to the Y axis to realize the adjustment of the yaw angle (Yaw).
  • the third transmission member 30 corresponds to the X axis, and realizes the adjustment of the pitch angle (Pitch).
  • the fixing member 40 includes a first fixing body (not shown) and a universal gooseneck (not shown) fixed on the first fixing body.
  • the first fixing body and the third transmission The other end of the piece 30 is rotatably connected.
  • the universal gooseneck can be deformed, so that the fixing member 40 can be connected or held in various forms, so as to facilitate the user to use in different scenarios, so that the device can be used to prevent the photographing device 70 in various scenarios. Jitter stabilization.
  • the fixing member 40 can also be implemented with other structures, such as a clamping structure, to be reinforced on the mobile device.
  • the receiving portion 120 is provided with a light-transmitting area.
  • the display part such as a display
  • the display image can be viewed through the light-transmitting area; Light zones to acquire external images.
  • the light-transmitting region including but not limited to light-transmitting holes and light-transmitting members (formed by light-transmitting materials).
  • the receiving portion includes one of a receiving through cavity, a receiving through hole, or a receiving through groove. Furthermore, some components of the photographing device can be passed through the receiving through cavity, the receiving through hole or the receiving through groove. Exemplarily, the long lens can be arranged through the receiving through hole.
  • stabilization mechanism 10 can be used in place of the traditional tumbling axis stabilization mechanism 10, and can also improve the performance of the traditional stabilization device, reduce movement interference, and reduce occlusion, so that the user can view the camera from the display of the photographing device 70. 74 to check the shooting effect.
  • a photographing device includes the stabilization device in any of the above-mentioned embodiments.
  • the photographing device 70 includes a lens 72 , and the photographing device 70 is connected through a connecting structure. 300 is detachably fixed on the first transmission member 200 .
  • the above-mentioned photographing device applies the above-mentioned stabilization device, so that during stabilization of the photographing device 70 , the user can view the photographed image through the display 74 or the viewfinder of the photographing device 70 .
  • the center of gravity of the photographing device 70 can be set in the rotation area of the first transmission member 200 , so that during the use of the stabilization device, the force of the first transmission member 200 is more uniform, so that the variation range of the shaking compensation force of the photographing device 70 is small.
  • the shake compensation can be performed more accurately, which is beneficial for the photographing device to obtain a clear image during the movement process and improves the photographing quality.
  • the photographing apparatus further includes a mobile device, and the stabilization device is detachably disposed on the mobile device through the fixing member 40 .
  • the stabilization device can be fixed on the mobile device by using the fixing member 40, and then the mobile device can be used to obtain a clear image.
  • the mobile devices include, but are not limited to, automobiles, bicycles, motorcycles, trucks, ships, airplanes, and the like.
  • the mobile device includes an unmanned aerial vehicle, and the stabilization device is detachably arranged on the unmanned aerial vehicle through the fixing member 40 .
  • the unmanned aerial vehicle can integrate the single-lens reflex lens 72 for image acquisition by using the stabilization device, which can be applied to the image acquisition of plant protection operations.
  • first”, second, etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second” etc. may expressly or implicitly include at least one of that feature.
  • plural means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • connection In this application, unless otherwise expressly specified and limited, the terms “installation”, “connection”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • fixing and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • the specific meanings of the above terms in this application can be understood according to specific situations.

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Abstract

本申请公开了一种增稳机构、增稳装置及拍摄设备。该增稳机构包括安装组件、第一传动件、连接结构及电控增稳组件。安装组件包括导向件，导向件能够形成用于收容拍摄装置的至少部分部件的收容部。第一传动件与导向件滑动配合。连接结构设置于第一传动件，并随第一传动件转动。电控增稳组件能带动第一传动件沿导向件的周向转动。该增稳装置应用了增稳机构能带动拍摄装置翻滚，且拍摄装置的镜头随拍摄装置翻滚产生的运动幅度较小。如此，将增稳装置应用于拍摄设备中时，使用者可以通过拍摄装置的取景器或显示器来查看拍摄画面，有利于降低防抖增稳成本。

Description

增稳机构、增稳装置及拍摄设备 技术领域
本申请涉及电子设备技术领域，特别是涉及一种增稳机构、增稳装置及拍摄设备。
背景技术
拍摄装置(例如手机、相机、摄像机等)在进行视频或图像拍摄时，用户的身体或手臂容易抖动，导致拍摄装置所拍摄的图像会相应出现抖动或模糊。因而，在使用拍摄装置进行作业拍摄时，一般会采用增稳装置对拍摄装置进行防抖增稳，以使拍摄装置能获得清晰的图像。
传统的增稳装置包括俯仰轴(Pitch轴)增稳机构、偏航轴(Yaw轴)增稳机构和翻滚轴(Roll轴)增稳机构，可以在俯仰轴、偏航轴和翻滚轴三个转动轴方向对拍摄装置进行抖动补偿，实现拍摄增稳。但当部分拍摄装置的镜头尺寸较大时，由于传统的增稳装置的结构缺陷，导致拍摄装置的取景器或显示器容易被增稳装置遮挡，使得使用者无法从拍摄装置的取景器或显示器中查看拍摄画面。
发明内容
本申请实施例提供一种增稳机构、增稳装置及拍摄设备，可以解决拍摄装置的显示屏或取景器被遮挡的问题，从而使用户能够通过拍摄装置的显示屏或取景器查看拍摄画面。
其技术方案如下：
第一方面，本申请实施例提供一种增稳机构，包括安装组件、第一传动件、连接结构及电控增稳组件，安装组件包括导向件，导向件能够形成用于收容拍摄装置的至少部分部件的收容部；第一传动件与导向件滑动配合；连接结构设置于第一传动件，并随第一传动件转动；电控增稳组件能带动第一传动件沿导向件的周向转动。
上述增稳机构应用于增稳装置时，拍摄装置的部分部件(如镜头)可以收容于收容部中，并通过连接结构，将拍摄装置固定在第一传动件上。如此，电控增稳组件带动第一传动件转动时，能带动该部分部件绕导向件的中心线转动，此过程中，部分部件的运动幅度小，产生的运动干涉也小，有利于使用者通过拍摄装置的取景器或显示器的查看拍摄画面。
第二方面，本申请实施例还提供了一种增稳装置，包括上述增稳机构，增稳装置还包括第二传动件、第三传动件、固定件、第二增稳电机及第三增稳电机，第二传动件的一端与安装组件固定连接，另一端沿收容部的深度方向凸出安装组件设置；第三传动件的一端与第二传动件的另一端转动连接；固定件与第三传动件的另一端转动连接；第二增稳电机设置于第二传动件与第三传动件之间，用于带动第二传动件转动，使得第二传动件的转动轴线与连接结构的转动轴线相互垂直或大致垂直；第三增稳电机设置于第三传动件与固定件之间，用于带动第三传动件，使得第三传动件分别与第二传动件的转动轴线及连接结构的转动轴线相互垂直或大致垂直。
上述增稳装置使用时，电控增稳组件带动第一传动件转动时，拍摄装置的镜头可收容于收容部上，进而该镜头绕导向件的中心线转动。此过程中，镜头随拍摄装置翻转产生的运动幅度小，产生的运动干涉也小。如此，使用者可通过拍摄装置的取景器或显示器来查看拍摄画面，进而增稳装置无需额外配置独立的显示器来查看拍摄画面。同时，拍摄装置的重心线能够设置于第一传动件的转动区域内，使得增稳装置使用过程中，第一传动件的受力更加均匀，使得拍摄装置的抖动补偿力变化幅度小，能够更加精确地进行抖动补偿，有利于获得清晰的图像。
第三方面，本申请实施例还提供了一种拍摄设备，包括上述的增稳装置，拍摄设备还包括拍摄装置，拍摄装置通过连接结构可拆卸固设于第一传动件上。
上述拍摄设备应用了上述增稳装置，使得拍摄装置增稳过程中，使用者能够通过拍摄装置的显示器查看拍摄画面。且拍摄装置的重心线能够设置于第一传动件的转动区域内，使得增稳装置使用过程中，第一传动件的受力更加均匀，使得拍摄装置的抖动补偿力变化幅度小。进而能够更加精确地进行抖动补偿，有利于拍摄设备在运动过程中获得清晰的图像，提高拍摄质量。
附图说明
图1为的拍摄设备的结构示意图。
图2为图1所示的增稳装置的结构示意图。
图3为图2所示的增稳机构的结构示意图。
图4为另一视角下的增稳机构的结构示意图。
图5为图4所示的增稳机构的爆炸示意图。
图6为一实施例中所示的导向件与第一传动件的配合示意图。
图7为另一实施例中所示的导向件与第一传动件的配合示意图。
图8为一实施例中所示的增稳机构的示意图。
图9为另一实施例中所示的增稳机构的传动结构示意图。
图10为图9所示的增稳机构的局部示意图。
图11为再另一实施例中所示的增稳机构的传动结构示意图。
图12为再另一实施例中所示的增稳机构的传动结构示意图。
图13为再另一实施例中所示的增稳机构的传动结构示意图。
图14为再另一实施例中所示的增稳机构的传动结构示意图。
图15为再另一实施例中所示的增稳机构的结构示意图。
图16为再另一实施例中所示的增稳机构的结构示意图。
图17为图1所示的拍摄设备处于第一模式的结构示意图。
图18为图1所示的拍摄设备处于第一模式的另一使用场景的示意图。
图19为图1所示的拍摄设备处于第二模式的结构示意图。
图20为一实施例中所示的增稳装置的结构示意图。
附图标记说明：
10、增稳机构；100、安装组件；110、导向件；120、收容部；130、防护腔；200、第一传动件；300、连接结构；310、连接件；320、紧固组件；330、第一滑动件；340、第二滑动件；350、电控伸缩器；352、第一伸缩元件；354、第二伸缩元件；400、电 控增稳组件；410、定子；420、转子；430、第一增稳电机；440、主动件；450、从动件；460、柔性传动环；470、张紧器；480、第一伸缩器；482、第一柔性传动件；402、第一弧形柔性体；490、第二伸缩器；492、第二柔性传动件；404、第二弧形柔性体；500、轴承；600、行星齿轮；700、外圈；20、第二传动件；22、第一臂体；22a、第一本体；22b、第二本体；24、第二臂体；30、第三传动件；32、第三臂体；34、第四臂体；40、固定件；42、第一调节柄；42a、第一柄体；42b、第二柄体；44、第二调节柄；46、第三调节柄；46a、支撑脚；50、第二增稳电机；60、第三增稳电机；70、拍摄装置；72、镜头；74、显示器。
具体实施方式
以下结合附图及具体实施方式，对本申请进行进一步的详细说明。应当理解的是，此处所描述的具体实施方式仅用以解释本申请，并不限定本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。
基于姿态角或欧拉角(Euler Angle)原理，利用俯仰角(Pitch)、偏航角(Yaw)、翻滚角(Roll)来表达拍摄装置的摄像头的坐标系与地面的坐标系的关系，反应了拍摄装置相对地面的姿态，进而可以建立三轴坐标系，如(XYZ坐标系)。而传统的增稳装置基于上述原理可以在俯仰轴(Pitch轴)、偏航轴(Yaw轴)和翻滚轴(Roll轴)三个转动轴方向对拍摄装置进行抖动补偿，实现拍摄增稳。增稳装置包括俯仰轴增稳机构、偏航轴增稳机构和翻滚轴增稳机构。其中，俯仰轴增稳机构用于调节拍摄装置的俯仰角(Pitch)，使得拍摄装置能够围绕X轴转动；偏航轴增稳机构用于调节拍摄装置的偏航角(Yaw)，使得拍摄装置能够围绕Y轴转动；翻滚轴增稳机构用于调节拍摄装置的翻滚角(Roll)，使得拍摄装置能够围绕Z轴转动。
部分拍摄装置的镜头尺寸较大，使得拍摄装置整体尺寸会变大，拍摄装置的运动空间也会增大。而目前大部分增稳装置只能够对手机、平板电脑等镜头尺寸较小，并呈板状的拍摄装置的进行抖动补偿，实现增稳，但难以满足镜头尺寸较大的拍摄装置的增稳。故为了满足镜头尺寸较大的拍摄装置的增稳，需特殊设计增稳装置。但这类特殊设计的增稳装置为了不干涉镜头的运动，在某些角度下，拍摄装置的取景器或 显示器会被增稳装置的零件遮挡，导致使用者无法利用拍摄装置的取景器或显示器来查看拍摄效果，需额外配置一个外接的显示器来方便使用者查看拍摄效果。这不仅增加成本，也不利于提高增稳装置的适应性。
本申请提供一种增稳装置，能带动拍摄装置翻滚，且拍摄装置的部分部件(如镜头，特别是长镜头)随拍摄装置翻滚产生的运动幅度较小。如此，将增稳装置应用于拍摄时，使用者可以通过拍摄装置的取景器或显示器来查看拍摄画面，有利于降低防抖增稳成本。
如图1至图5所示，本申请实施例提供一种增稳装置包括增稳机构10、第二传动件20、第三传动件30、固定件40、第二增稳电机50及第三增稳电机60。
增稳机构10，包括安装组件100、第一传动件200、连接结构300及电控增稳组件400，安装组件100包括导向件110，导向件110形成用于收容拍摄装置的至少部分部件的收容部120；第一传动件200与导向件110滑动配合；连接结构300设置于第一传动件200，并随第一传动件200转动；电控增稳组件400能带动第一传动件200沿导向件110的周向转动。如此，拍摄装置70的部分部件可设置于收容部120中，并通过连接结构300，将拍摄装置70固定在第一传动件200上。电控增稳组件400能带动第一传动件200转动，进而带动拍摄装置70的部分部件绕导向件110的中心线转动，使得该镜头72的运动幅度小。
此外，第二传动件20的一端与安装组件100固定连接，另一端沿收容部120的深度方向凸出安装组件100设置；第三传动件30的一端与第二传动件20的另一端转动连接；固定件40与第三传动件30的另一端转动连接；第二增稳电机50设置于第二传动件20与第三传动件30之间，用于带动第二传动件20转动，使得第二传动件20的转动轴线与连接结构300的转动轴线相互垂直或大致垂直；第三增稳电机60设置于第三传动件30与固定件40之间，用于带动第三传动件30，使得第三传动件30分别与第二传动件20的转动轴线及连接结构300的转动轴线相互垂直或大致垂直。
可以是镜头，但不限于镜头，例如，也可以是镜头与其它部件的组合体。在本实施例中，以镜头作为一种部分部件进行描述，便于理解本申请的技术方案，但不应当理解为是对拍摄装置的部分部件的限定。拍摄装置70的镜头72可以收容于收容部120中，并通过连接结构300，将拍摄装置70固定在第一传动件200上。利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角(Roll)调节；第二传动件20对应X轴，实现对俯仰角(Pitch)的调节；第三传动件30对应Y轴，实现 对偏航角(Yaw)的调节。电控增稳组件400带动第一传动件200转动，拍摄装置70的镜头72绕导向件110的中心线转动。而镜头72随拍摄装置70翻转产生的运动幅度小，产生的运动干涉也小，使得使用者可通过拍摄装置70的取景器或显示器74来查看拍摄画面，进而增稳装置无需额外配置独立的显示器74来查看拍摄画面。同时，拍摄装置70的重心线能够设置于第一传动件200的转动区域内，使得增稳装置使用过程中，第一传动件200的受力更加均匀，使得拍摄装置70的抖动补偿力变化幅度小，能够更加精确地进行抖动补偿，有利于获得清晰的图像。
需要说明的是，“导向件110”是指能够实现第一传动件200沿周向转动的构件。该导向件110的具体结构可以有多种，包括但不限于导轨、导槽、弧形导向杆等等，能够实现第一传动件200沿圆周转动即可。
需要说明的是，第二传动件20的另一端与第三传动件30的一端转动连接，二者可通过直接连接也可以间接连接的方式实现，其具体实现方式可以有多种。
同理，第三传动件30的另一端与固定件40转动连接，二者亦可通过直接连接也可以间接连接的方式实现，其具体实现方式可以有多种
需要说明的是，“第二增稳电机50设置于第二传动件20与第三传动件30之间”包括第二增稳电机50固定在第三传动件30上，其输出轴与第二传动件20传动连接，使得第二增稳电机50能够带动第二传动件20相对于第三传动件30转动即可。同时，亦可通过第二增稳电机50实现第二传动件20与第三传动件30的转动连接。
同理，“第三增稳电机60设置于第三传动件30与固定件40之间”包括第三增稳电机60固定在固定件40上，其输出轴与第三传动件30传动连接，使得第三增稳电机60能够带动第三传动件30相对于固定件40转动即可。同时，亦可通过第二增稳电机50实现第三传动件30与固定件40的转动连接。
如图6所示，一些实施例中，导向件110呈圆环状，第一传动件200呈圆环状或呈圆弧状。如此，可以利用圆环状的导向件110实现第一传动件200的导向作用，使得第一传动件200能够沿圆周方向往复转动。同时第一传动件200呈圆环状或呈圆弧状，能够进一步减少运动幅度。
或者，如图7所示，另一些实施例中，导向件110呈圆弧状，第一传动件200呈圆环状或呈圆弧状。如此，可以利用圆弧状的导向件110实现第一传动件200的导向作用，使得第一传动件200能够沿圆周方向往复转动。同时第一传动件200呈圆环 状或呈圆弧状，能够进一步减少运动幅度。而当导向件110及第一传动件200均呈圆弧状时，第一传动件200可做小幅度的转动，也可以实现抖动补偿。
在上述任一实施例的基础上，如图9所示，一些实施例中，安装组件100设有防护腔130，导向件110设置于防护腔130内。如此，通过设置防护腔130可以更好地进行防护及润滑，使得第一传动件200与导向件110的配合精度更高，使用寿命更长。
需要说明的是，第一传动件200与导向件110的滑动配合包括但不限于磁悬浮滑动配合、滑动连接、间接滑动配合。
在上述任一实施例的基础上，一些实施例中，第一传动件200与导向件110滑动连接。如此，第一传动件200与导向件110可以通过连接的方式实现二者的滑动配合，易于实现，且成本低。
需要说明的是，第一传动件200与导向件110的滑动连接包括直接连接也包括间接连接。
一些实施例中，增稳机构10还包括轴承500(未示出)，第一传动件200通过轴承500与导向件110滑动连接。如此，利用轴承500实现第一传动件200与导向件110的滑动连接，有利于降低第一传动件200与导向件110的制造难度，降低制造成本。利用轴承500易于实现第一传动件200与导向件110的精密连接。
该轴承500包括但不限于滑动轴承500或滚动轴承500。
或者，如图8所示，另一些实施例中，增稳机构10还包括行星齿轮600，行星齿轮600可转动设置于安装组件100，并与第一传动件200固定连接，使得行星齿轮600能带动第一传动件200转动。增稳机构10还包括外圈700，外圈700可转动设置于安装组件100，外圈700设有内齿轮结构，导向件110设置于外圈700内，导向件110设有外齿轮结构，行星齿轮600与内齿轮结构及外齿轮结构相啮合，电控增稳组件400能带动外圈700转动，并通过外圈700能带动行星齿轮600沿导向件110的周向转动。如此，通过行星齿轮600机构来实现第一传动件200与导向件110的间接滑动配合，亦可实现第一传动件200沿导向件110的轴向转动。
该行星齿轮600的数量可根据实际需要进行选择，如2个以上。
电控增稳组件400可通过多种方式带动外圈700的转动，如皮带传动机构、链条传动机构、齿轮传动机构、环形电机等。
在上述任一实施例的基础上，一些实施例中，电控增稳组件400包括环形电机。如此，利用环形电机来带动第一传动件200沿导向件110转动，也即第一传动件200及安装组件100可独立于环形电机设置，使得第一传动件200与安装组件100的设计可以更加灵活。
该环形电机包括但不限于无刷环形电机、超声波环形电机、斜坡环形电机等。
或者，如图20所示，另一些实施例中，电控增稳组件包括弧形电机。如此，利用弧形电机来带动第一传动件200沿导向件110小幅度旋转，也即第一传动件200及安装组件100可独立于弧形电机设置，使得第一传动件200与安装组件100的设计可以更加灵活。
该弧形电机包括弧形线性电机，当然也包括其它类型的弧形电机，此处不做限定。
而另一些实施例中，如图4及图5所示，导向件110及第一传动件200均呈圆环状，第一传动件200与导向件110滑动连接，电控增稳组件400包括设置于安装组件100内的定子410以及设置于第一传动件200上的转子420，定子410与导向件110错开设置，且定子410与转子420磁激励配合，使得转子420能带动第一传动件200转动。如此，利用磁激励方式通过定子410带动转子420转动，进而实现第一传动件200沿导向件110的转动，能够进行抖动补偿。
进一步地，一些实施例中，安装组件100包括防护壳，并与导向件110及第一传动件200相配合形成圆环柱结构，圆环柱结构的内侧形成收容部120，定子410及转子420设置于圆环柱结构内，连接结构300至少部分伸出圆环柱结构设置。如此，电控增稳组件400与安装组件100及第一传动件200配合可构成环形电机结构，也即可利用传统的环形电机实现上述功能。同时利用连接结构300将拍摄装置70可拆卸地安装到第一传动件200上，便于利用本申请的增稳装置对拍摄装置70进行补偿。
当然了，在其他实施例中，安装组件100及第一传动件200呈正四棱柱状，收容部包括第一通孔，第一传动件200设有与第一通孔一一对应的第二通孔(未示出，但可参考5所示)，连接结构300设置于第二通孔的外侧。此时，安装组件100与第一传动件200可以与拍摄装置70本体形状相匹配，该连接结构300可以为卡扣结构，与拍摄装置70本体卡扣配合。如此，使得拍摄装置70的安装结构可以更加灵活。
如图9及图10所示，一些实施例中，第一传动件200与导向件110滑动连接， 电控增稳组件400包括第一增稳电机430、与第一增稳电机430传动连接的主动件440以及环绕第一传动件200设置的从动件450，第一增稳电机430通过主动件440带动从动件450转动，使得第一传动件200转动。如此，利用第一增稳电机430与主动件440及从动件450的配合，亦能够带动第一传动件200沿导向件110的周向转动。也即电控增稳组件400的实现方式可以有多种，包括但不限于本实施例及前述实施例。
当然了，上述实施例中，该增稳机构的具体结构还可以如图3或图4或图20所示。示例性地，如图20所示，该从动轮可呈弧状。
进一步地，一实施例中，主动件440为主动齿轮，从动件450为从动齿轮，主动齿轮能带动从动齿轮转动。如此，可以通过齿轮传动结构实现第一增稳电机430间接带动第一传动件200转动。该主动齿轮可以直接与从动齿轮相啮合，也有通过传动齿轮间接与从动齿轮啮合传动。
或者，如图9及图11所示，一实施例中，主动件440为蜗杆，从动件450为蜗轮，蜗杆与蜗轮相啮合。如此，可以通过蜗轮蜗杆传动结构实现第一增稳电机430间接带动第一传动件200转动。
或者，如图9及图12所示，一实施例中，主动件440为主动轮、从动件450为从动轮，电控增稳组件400还包括从动轮及主动轮传动配合的柔性传动环460。如此，可以利用柔性传动结构实现第一增稳电机430间接带动第一传动件200转动。
该柔性传动环460为皮带、链条或履带中的一种。
更进一步地，电控增稳组件400还包括张紧器470，张紧器470设置于主动轮与从动轮之间，且张紧器470与传动件相抵。如此，利用张紧器470提高柔性传动的精确性，使得抖动补偿更加精确。
该第一增稳机构10包括但不限于伺服电机等能够应用于抖动补偿的驱动电机。
或者，如图13所示，一实施例中，电控增稳组件400包括第一伸缩器480、第一柔性传动件482、第二伸缩器490及第二柔性传动件492；第一柔性传动件482的一端与第一伸缩器480传动连接，另一端与第一传动件200的一端固定连接；第二柔性传动件492的一端与第二伸缩器490传动连接，另一端与第一传动件200的另一端固定连接。如此，通过第一伸缩器480与第一柔性传动件482的配合，使得第一传动件200可沿第一转动方向(如顺时针方向)转动；而通过第二伸缩器490与第二柔性传动件492的配合，使得第一传动件200可沿第一转动方向的反方向转动(如逆时针方 向)。进而利用伸缩器亦可实现第一传动件200小幅度的转动，实现小抖动的补偿。
在上述实施例的基础上，如图14所示，一些实施例中，第一柔性传动件482包括与第一传动件200的移动方向同圆周设置的第一弧形柔性体402，第二柔性传动件492包括与与第一传动件200的移动方向同圆周设置的第二弧形柔性体404。如此，通过设置第一弧形柔性体402及第二弧形柔性体404，使得第一传动件200运动过程中的受力更加均匀，有利于提高抖动补偿精度。
需要说明的是，“第一伸缩器480及第二伸缩器490”的具体实现方式，包括但不仅限于直接输出伸缩动力输出设备，如气缸、直线电机、液压缸等；也可以采用转动动力设备(如伺服电机)+丝杆丝母传动机构，或转动动力设备(如伺服电机)+齿轮齿条传动机构，或转动动力设备+输送带机构(如皮带机构或链条机构等)来实现间接输出伸缩动力，只要能够满足使用要求即可，在此不做限制。
如前述实施例可知，电控增稳组件400的实现方式可以有多种，只要能带动第一传动件200转动即可。
同时，电控增稳组件400能带动外圈700转动时，亦可参考上述实施例实现。
在上述任一实施例的基础上，如图3所示，一些实施例中，连接结构300包括固设于第一传动件200上的连接件310以及设置于连接件310的紧固组件320。如此，通过连接件310将紧固组件320安装到第一传动件200上，使得第一传动件200可通过紧固组件320与拍摄装置70可拆卸连接。
该紧固组件320的具体结构包括但不限于紧固螺栓、插销、卡扣结构、磁吸结构等等。
一实施例中，该紧固组件320为可转动设置于连接件310上的紧固螺栓。
在上述连接结构300的任一实施例的基础上，一些实施例中，连接件310呈杆体状(未示出)，连接件310的一端与第一传动件200固定连接，另一端设有紧固组件320，使得紧固组件320沿收容部120的深度方向凸出安装组件100设置。如此，利用杆状的连接件310，使得紧固组件320凸出安装组件100设置，使得紧固组件320与第一传动件200之间间隔设置形成安装拍摄装置70本体的安装空间。
在上述连接结构300的任一实施例的基础上，如图3所示，一些实施例中，紧固组件320在连接件310上的位置可调。如此，使得拍摄装置70相对于滑动件的安装位置可调，便于使镜头72在收容部120内的位置可调，有利于使拍摄装置70的重心 线尽可能与第一传动件200的转动轴线重合，进一步提高第一传动件200的运动过程中的受力更加均匀，使得拍摄装置70的抖动补偿力变化幅度小，能够更加精确地进行抖动补偿。
在上述实施例的基础上，如图3所示，一些实施例中，连接结构300还包括第一滑动件330，连接件310与第一滑动件330可滑动连接，第一滑动件330的一端沿收容部120的深度方向凸出安装组件100设置，紧固组件320设置于第一滑动件330的一端。如此，通过设置第一滑动件330与连接件310配合，使得紧固组件320可以在一个方向上进行调整，进而拍摄装置70的重心线可以在一个维度上进行调节，尽可能与第一传动件200的转动轴线重合。如，通过在水平方向或竖向方向进行调整紧固组件320的位置，进而能调整拍摄装置70的安装位置，使得拍摄装置70的重心线尽可能与第一传动件200的转动轴线重合。
更进一步地，如图15所示，第一滑动件330的移动轨迹方向与收容部120的深度方向相互垂直或大致垂直，连接结构300还包括与第一滑动件330可滑动连接的第二滑动件340，第二滑动件340的移动轨迹方向分别与第一滑动件330的移动轨迹方向及收容部120的深度方向之间两两相互垂直或大致垂直，第二滑动件340设有紧固组件320。如此，利用第一滑动件330及第二滑动件340与连接件310的配合，使得紧固组件320可以在两个方向上进行调整，进而在两个维度上实现拍摄装置70的重心线的移动，使得拍摄装置70的重心线与第一传动件200的转动轴线尽可能地重合，有利于提高增稳效果。如，通过在水平方向及竖向方向进行调整紧固组件320的位置，进而能调整拍摄装置70的安装位置，使得拍摄装置70的重心线尽可能与第一传动件200的转动轴线重合。
需要说明的是，“第一滑动件330与连接件310的可滑动连接”及“第二滑动件340与第一滑动件330的可滑动连接”的具体实现方式，包括但不限于带阻尼的滑动连接(只有施加一定力才能够滑动)或者带锁紧结构的滑动连接(利用锁定或松开实现滑动与固定的切换)等。
另一些实施例中，如图16所示，连接结构300还包括电控伸缩器350，紧固组件320通过电控伸缩器350设置于连接件310，使得紧固组件320在连接件310上的位置可调。如此，可以通过电控方式实现紧固组件320的位置调节，进而可通过电控方式实现拍摄装置70相对于滑动件的安装位置可调，便于使镜头72在收容部120内的位置可调，亦有利于使拍摄装置70的重心线尽可能与第一传动件200的转动轴线重 合，进一步提高第一传动件200的运动过程中的受力更加均匀，使得拍摄装置70的抖动补偿力变化幅度小，能够更加精确地进行抖动补偿。
示例性地，电控伸缩器350包括第一伸缩元件352以及第二伸缩元件354，第一伸缩元件352与第二伸缩元件354相配合，使得紧固组件320能够相对于第一传动件200的转动中心的水平方向及竖向方向移动。如此，可以直接利用两个伸缩元件配合，将伸缩位移转换成紧固组件320在两个方向上的位置调节，进而在两个维度上实现拍摄装置70的重心线的移动，使得拍摄装置70的重心线与第一传动件200的转动轴线尽可能地重合，有利于提高增稳效果。
需要说明的是，“第一伸缩元件352及第二伸缩元件354”的具体实现方式，包括但不仅限于直接输出伸缩动力输出设备，如气缸、直线电机、液压缸等；也可以采用转动动力设备(如伺服电机)+丝杆丝母传动机构，或转动动力设备(如伺服电机)+齿轮齿条传动机构，或转动动力设备+输送带机构(如皮带机构或链条机构等)来实现间接输出伸缩动力，只要能够满足使用要求即可，在此不做限制。
在上述任一实施例的基础上，如图1及图2所示，一些实施例中，第二传动件20包括第一臂体22，第一臂体22的一端与安装组件100固定连接，第一臂体22的另一端凸出安装组件100设置，并与第三传动件30转动连接。如此，通过第一臂体22便于通过增稳机构10安装拍摄装置70，便于增稳机构10及拍摄装置70随第二传动件20转动。
在上述实施例的基础上，如图1及图16所示，一些实施例中，第一臂体22的长度可调。如此，使得能够适应不同尺寸的拍摄装置70安装，有利于提高本增稳装置的适应性能力。
进一步地，一些实施例中，第一臂体22包括第一本体22a及第二本体22b，第一本体22a的一端与安装组件100固定连接，第二本体22b与第三传动件30转动连接，第二本体22b与第一本体22a可滑动连接，使得第一臂体22的长度可调。如此，通过第一本体22a与第二本体22b的配合实现第一臂体22的长度可调。
需要说明的是，“第一本体22a与第二本体22b可滑动连接”的具体实现方式，包括但不限于带阻尼的滑动连接(只有施加一定力才能够滑动)或者带锁紧结构的滑动连接(利用锁定或松开实现滑动与固定的切换)等。
在上述第一臂体22的任一实施例的基础上，如图2及图3所示，一些实施例 中，第二传动件20包括第二臂体24，第一臂体22的一端通过第二臂体24与安装组件100固定连接，并使得第一臂体22与连接结构300的转动区域相错开。如此，利用第一臂体22与第二臂体24的配合，使得第二传动件20不会干涉拍摄装置70的安装及转动，以保证拍摄装置70的翻转补偿可靠。
示例性地，第一臂体22的长度方向与连接结构300的转动轴线相互平行或大致平行，第二臂体24的长度方向与连接结构300的转动轴线相互垂直或大致垂直。
需要说明的是，该“第一臂体22”可以为“第二传动件20”的一部分，即“第一臂体22”与“第二传动件20的其他部分一体成型制造；“第一臂体22”也可以与“第二传动件20”的其他部分分离，形成一个独立的构件，即“第一臂体22”可以独立制造，再与“第二传动件20的其他部分”组合成一个整体。
等同的，“某体”、“某部”可以为对应“构件”的一部分，即“某体”、“某部”与该“构件的其他部分”一体成型制造；也可以与“构件的其他部分”分离，形成一个独立的构件，即“某体”、“某部”可以独立制造，再与“构件的其他部分”组合成一个整体。本申请对上述“某体”、“某部”的表达，仅是其中一个实施例，为了方便阅读，而不是对本申请的保护的范围的限制，只要包含了上述特征且作用相同应当理解为是本申请等同的技术方案。
在上述第二传动件20的任一实施例中，第二传动件20集成到增稳机构10中。
也即，“第二传动件20”可以为“增稳机构10”这一模块的其中一个零件，即与“增稳机构10的其他构件”一起组装，然后再组装成增稳装置；也可以与“增稳机构10的其他构件”相对独立，独立组装到本装置中。
等同的，本申请“组件”、“器”“机构”、“装置”所包含的构件亦可灵活进行组合，即可根据实际需要进行模块化生产，以方便进行模块化组装。本申请对上述构件的划分，仅是其中一个实施例，为了方便阅读，而不是对本申请的保护的范围的限制，只要包含了上述构件且作用相同应当理解是本申请等同的技术方案。
在上述任一实施例的基础上，如图2及图3所示，一些实施例中，第三传动件30设置于第二传动件20与固定件40之间形成避让空间。如此，通过形成避让空间，方便增稳机构10及拍摄装置70运动，避免干涉，使得拍摄装置70上的取景器或显示器74不会被遮挡。
在上述实施例的基础上，如图2所示，一实施例中，第三传动件30包括第三 臂体32，第三臂体32与第三传动件30的转动轴线同向间隔设置，第三臂体32的一端与第二传动件20转动连接，使得第二传动件20的转动区域与固定件40相错开。如此，通过设置第三臂体32简化第三传动件30的结构，便于形成避让空间。
进一步地，如图2及图17所示，一些实施例中，第三传动件30包括第四臂体34，第四臂体34的一端与第三臂体32的另一端固定连接，第四臂体34的另一端与固定件40转动连接，使得第二传动件20的运动区域及增稳机构10的运动区域分别与固定件40相错开。如此，可以在两个方向上形成避让空间，有利于提高本装置的适应性。
示例性地，第三臂体32的长度方向与第三增稳电机60的转动轴线相互平行或大致平行，第四臂体34的长度方向与第三增稳电机60的转动轴线的转动轴线相互垂直或大致垂直。
在上述任一第三传动件30的实施例的基础上，一些实施例中，第三臂体32的长度的可调，第四臂体34的长度可调。如此，使得能够适应不同尺寸的拍摄装置70安装，进一步提高本增稳装置的适应性能力。
第三臂体32包括第三本体及第四本体，第三本体的一端与第二传动件20固定连接，第四本体与第三本体可滑动连接，使得第三臂体32的长度可调；第四臂体34包括第五本体及第六本体，第五本体的一端与第四本体固定连接，第六本体与固定件40转动连接，且第六本体与第五本体可滑动连接，使得第四臂体34的长度可调。如此，通过第三本体与第四本体的配合实现第三臂体32的长度可调，通过第五本体与第六本体的配合实现第三臂体32的长度可调。
需要说明的是，“第三本体与第四本体可滑动连接”及“第五本体与第六本体可滑动连接”的具体实现方式，包括但不限于带阻尼的滑动连接(只有施加一定力才能够滑动)或者带锁紧结构的滑动连接(利用锁定或松开实现滑动与固定的切换)等。其结构亦可参照“第一本体22a与第二本体22b”，如图16所示。
在上述的实施例的基础上，如图1、图17、图18及图19所示，一些实施例中，固定件40包括第一调节柄42、第二调节柄44及第三调节柄46，第一调节柄42与第三传动件30转动连接，且第三增稳电机60设置于第一调节柄42与第三传动件30之间，第一调节柄42与第二调节柄44之间的位置可调，第二调节柄44与第三调节柄46之间的位置可调。如此，通过第一调节柄42、第二调节柄44及第三调节柄46的配合，使得固定件40可以多种连接形态或握持形态，以方便使用者更加不同场景进行使 用，使得利用本装置能够在多种场景对拍摄装置70进行防抖增稳。
一些实施例中，第一调节柄42与第二调节柄44转动连接，并可在至少两个不同的夹角位置之间进行切换。如此，该固定件40至少具有两个变化形态。
在上述实施例的基础上，一实施例中，第一调节柄42与第二调节柄44带阻尼转动连接。如此，只需克服摩擦阻力才能调整第一调节柄42及第二调节柄44的连接状态，使得二者的状态调节可以有多种，以方便使用者根据实际使用情况调整固定件40的形态，以获得更好的拍摄效果。
或者，另一实施例中，第一调节柄42与第二调节柄44之间设有第一锁固件(未示出)，第一锁固件用于固定或松开第二调节柄44。如此，松开第一锁固件，使得第一调节柄42与第二调节柄44位置可以调节，完成调节后，锁紧第一锁固件即可将十二调节柄固定在第一调节柄42上。
在上述任一固定件40的实施例的基础上，一实施例中，第二调节柄44与第三调节柄46转动连接，并可在至少两个不同的固定位置之间进行切换。如此，该固定件40至少具有两个变化形态。
在上述实施例的基础上，一实施例中，第二调节柄44与第三调节柄46带阻尼转动连接。如此，只需克服摩擦阻力才能调整第二调节柄44及第三调节柄46的连接状态，使得二者的状态调节可以有多种，以方便使用者根据实际使用情况调整固定件40的形态，以获得更好的拍摄效果。
或者，另一实施例中，第二调节柄44与第三调节柄46之间设有第二锁固件，第二锁固件用于固定或松开第三调节柄46。如此，松开第二锁固件，使得第二调节柄44与第三调节柄46位置可以调节，完成调节后，锁紧第二锁固件即可将十三调节柄固定在第二调节柄44上。
在上述固定件40任一实施例的基础上，如图1、图17、图18及图19所示，一实施例中，第一调节柄42包括第一柄体42a及与第一柄体42a呈直角或大致直角设置的第二柄体42b，第一柄体42a与第三传动件30转动连接，且第三增稳电机60设置于第一柄体42a与第三传动件30之间，第二柄体42b与第二调节柄44连接。如此，通过第一柄体42a与第二柄体42b的配合，使得固定件40可以有更大的形态变化，且第三传动件30设置于第一柄体42a与第二柄体42b之间，有利于减少运动干涉，并可利用第一柄体42a与第二柄体42b防护第三传动件30。
同时，结合前述的第三臂体32与第四臂体34实施例。如此，第一调节柄42能够与第三传动件30的结构相适配，便于进行收纳，也有利于降低拍摄装置70运动区域，减少不必要的碰撞。
进一步地，第一柄体42a的长度可调，第二柄体42b的长度可调。如此，该固定件40使用时，可以伸长第一柄体42a及第二柄体42b的长度，而不使用时，可以收缩二者的长度，使得该固定件40能够进行收纳存放，也能够使本装置的体积可以缩小，以减小包装体积及运输成本。
同时，能够适应第三传动件30的尺寸变化。
在上述固定件40任一实施例的基础上，如图1、图17、图18及图19所示，一实施例中，第三传动件30可转动设置于第一柄体42a与第二柄体42b之间；
其中，当第二调节柄44与第二柄体42b在同一直线方向，且第三调节柄46与第一柄体42a相对设置时，增稳装置处于第一模式(如图所示)。如此，可以双手握持固定件40或低位提拉式进行防抖增稳拍摄，以满足不同拍摄场景的使用需要。
如图17所示，一种双手握持方式。此时，利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角(Roll)调节；第二传动件20对应Y轴，实现对偏航角(Yaw)的调节；第三传动件30对应X轴，实现对俯仰角(Pitch)的调节。
如图18所示，另一种低位提拉握持方式。此时，利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角(Roll)调节；第三传动件30对应Y轴，实现对偏航角(Yaw)的调节；第二传动件20对应X轴，实现对俯仰角(Pitch)的调节。
如图19所示，而当第二调节柄44与第二柄体42b呈夹角设置，并设置于第一柄体42a相对侧，且第三调节柄46与第二调节柄44在同一直线方向上时，增稳装置处于第二模式。如此，可以单手握持固定件40进行防抖增稳拍摄，以满足需要单手握持的拍摄场景的使用需要。此时，利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角调节；第二传动件20对应Y轴，实现对偏航角的调节；第三传动件30对应X轴，实现对俯仰角的调节。
如图1所示，而当第二调节柄44与第二柄体42b呈夹角设置，并设置于第一柄体42a相对侧，且第三调节柄46与第二调节柄44呈夹角设置，并设置于第二柄体 42b的相对侧时，增稳装置处于第三模式。如此，可以双手端握固定件40进行防抖增稳拍摄。此时，利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角(Roll)调节；第二传动件20对应X轴，实现对俯仰角(Pitch)的调节；第三传动件30对应Y轴，实现对偏航角(Yaw)的调节。
在上述固定件40任一实施例的基础上，如图19所示，一实施例中，第三调节柄46包括可收缩及张开的至少三个支撑脚46a。如此，当支撑脚46a张开时，该固定件40还可以用做支撑杆，以方便使用者进行拍照。此时，利用增稳装置进行抖动补偿时，第一传动件200可对应Z轴，实现对翻滚角(Roll)调节；第二传动件20对应Y轴，实现对偏航角(Yaw)的调节；第三传动件30对应X轴，实现对俯仰角(Pitch)的调节。
此外，另一实施例中，固定件40包括第一固定体(未示出)以及固设于第一固定体上的万向鹅颈管(未示出)，第一固定体与第三传动件30的另一端转动连接。如此，通过万向鹅颈管可变形，使得固定件40可以多种连接形态或握持形态，以方便使用者更加不同场景进行使用，使得利用本装置能够在多种场景对拍摄装置70进行防抖增稳。
当然了，该固定件40还可以采用其他结构实现，如夹持结构，加固在移动装置上。
在上述任一的实施例的基础上，一实施例中，收容部120设有透光区。如此，可方便拍摄装置的显示部件(如显示器)设置于收容部中，可通过透光区进行显示图像的查看；或者拍摄装置的图像获取部件(如镜头)设置于收容部中，可通过透光区获取外部图像。
该透光区的具体实现方式可以有多种，包括但不限于透光孔、透光件(透光材料形成)。
在上述任一的实施例的基础上，一实施例中，收容部包括收容通腔、收容通孔或收容通槽中的一种。进而该拍摄装置的部分部件可以穿设于收容通腔、收容通孔或收容通槽中。示例性地，可将长镜头穿出收容通孔设置。
需要说明的是，上述构件(如第一臂体22、第三臂体32、第四臂体34、第一柄体42a及第二柄体42b)长度可调的实现方式，除了上述举例，还可以包括其他传统的长度调节结构，如可拆卸式长度调节方式。
需要说明的是，“增稳机构10”可替换传统的翻滚轴增稳机构10使用，亦能够提高传统增稳装置的性能，减少运动干涉，减少遮挡，使得使用者可以从拍摄装置70的显示器74中查看拍摄效果。
如图1、图2及图17至图19所示，一些实施例中，一种拍摄设备，包括上述任一实施例中的增稳装置，拍摄装置70包括镜头72，拍摄装置70通过连接结构300可拆卸固设于第一传动件200上。
上述拍摄设备应用了上述增稳装置，使得拍摄装置70增稳过程中，使用者能够通过拍摄装置70的显示器74或取景器查看拍摄画面。且拍摄装置70的重心线能够设置于第一传动件200的转动区域内，使得增稳装置使用过程中，第一传动件200的受力更加均匀，使得拍摄装置70的抖动补偿力变化幅度小。进而能够更加精确地进行抖动补偿，有利于拍摄设备在运动过程中获得清晰的图像，提高拍摄质量。
一些实施例中，拍摄设备还包括移动装置，增稳装置通过固定件40可拆卸设置于移动装置。如此，利用固定件40该增稳装置可以固定在移动装置，进而可以利用移动装置进行清晰图像的获取。
该移动装置包括但不限于汽车、自行车、摩托车、货车、轮船、飞机等。
示例性地，移动装置包括无人飞行器，增稳装置通过固定件40可拆卸设置于无人飞行器。如此，无人飞行器利用本增稳装置可以集成单反镜头72进行图像获取，可以应用于植保作业的图像获取。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、 “固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。

Claims (55)

  1. 一种增稳机构，应用于拍摄装置，其特征在于，包括：
    安装组件，所述安装组件包括导向件，所述导向件能够形成用于收容所述拍摄装置的至少部分部件的收容部；
    第一传动件，所述第一传动件与所述导向件滑动配合；
    连接结构，所述连接结构设置于所述第一传动件，并随所述第一传动件转动；及
    电控增稳组件，所述电控增稳组件能带动所述第一传动件沿所述导向件的周向转动。
  2. 根据权利要求1所述的增稳机构，其特征在于，所述导向件呈圆环状，所述第一传动件呈圆环状或呈圆弧状。
  3. 根据权利要求1所述的增稳机构，其特征在于，所述导向件呈圆弧状，所述第一传动件呈圆环状或呈圆弧状。
  4. 根据权利要求1所述的增稳机构，其特征在于，所述安装组件设有防护腔，所述导向件设置于所述防护腔内。
  5. 根据权利要求1所述的增稳机构，其特征在于，所述收容部设有透光区。
  6. 根据权利要求1所述的增稳机构，其特征在于，所述收容部包括收容通腔、收容通孔或收容通槽中的一种。
  7. 根据权利要求1所述的增稳机构，其特征在于，所述第一传动件与所述导向件滑动连接。
  8. 根据权利要求7所述的增稳机构，其特征在于，所述增稳机构还包括轴承，所述第一传动件通过所述轴承与所述导向件滑动连接，所述收容部呈通孔状。
  9. 根据权利要求1所述的增稳机构，其特征在于，所述增稳机构还包括行星齿轮，所述行星齿轮可转动设置于所述安装组件，并与所述第一传动件固定连接，使得所述行星齿轮能带动所述第一传动件转动；所述增稳机构还包括外圈，所述外圈可转动设置于所述安装组件，所述外圈设有内齿轮结构，所述导向件设置于所述外圈内，所述导向件设有外齿轮结构，所述行星齿轮与所述内齿轮结构及所述外齿轮结构相啮合，所述电控增稳组件能带动所述外圈转动，并通过所述外圈能带动所述行星齿轮沿所述导向件的周向转动。
  10. 根据权利要求1所述的增稳机构，其特征在于，所述电控增稳组件包括环形电机或弧形电机。
  11. 根据权利要求1所述的增稳机构，其特征在于，所述导向件及所述第一传动件 均呈圆环状，所述第一传动件与所述导向件滑动连接，所述电控增稳组件包括设置于所述安装组件内的定子以及设置于所述第一传动件上的转子，所述定子与所述导向件错开设置，且所述定子与所述转子磁激励配合，使得所述转子能带动所述第一传动件转动。
  12. 根据权利要求11所述的增稳机构，其特征在于，所述安装组件包括防护壳，并与所述导向件及所述第一传动件相配合形成圆环柱结构，所述圆环柱结构的内侧形成所述收容部，所述定子及所述转子设置于所述圆环柱结构内，所述连接结构至少部分伸出所述圆环柱结构设置。
  13. 根据权利要求1所述的增稳机构，其特征在于，所述第一传动件与所述导向件滑动连接，所述电控增稳组件包括第一增稳电机、与所述第一增稳电机传动连接的主动件以及环绕所述第一传动件设置的从动件，所述第一增稳电机通过所述主动件带动所述从动件转动，使得所述第一传动件转动。
  14. 根据权利要求13所述的增稳机构，其特征在于，所述主动件为主动齿轮，所述从动件为从动齿轮，所述主动齿轮能带动所述所述从动齿轮转动。
  15. 根据权利要求13所述的增稳机构，其特征在于，所述主动件为蜗杆，所述从动件为蜗轮，所述蜗杆与所述蜗轮相啮合。
  16. 根据权利要求13所述的增稳机构，其特征在于，所述主动件为主动轮、所述从动件为从动轮，所述电控增稳组件还包括所述从动轮及主动轮传动配合的柔性传动环。
  17. 根据权利要求16所述的增稳机构，其特征在于，所述柔性传动环为皮带、链条或履带中的一种。
  18. 根据权利要求16所述的增稳机构，其特征在于，所述电控增稳组件还包括张紧器，所述张紧器设置于所述主动轮与所述从动轮之间，且所述张紧器与所述传动件相抵。
  19. 根据权利要求1所述的增稳机构，其特征在于，所述电控增稳组件包括第一伸缩器、第一柔性传动件、第二伸缩器及第二柔性传动件；所述第一柔性传动件的一端与所述第一伸缩器传动连接，另一端与所述第一传动件的一端固定连接；所述第二柔性传动件的一端与所述第二伸缩器传动连接，另一端与所述第一传动件的另一端固定连接。
  20. 根据权利要求1所述的增稳机构，其特征在于，所述第一柔性传动件包括与所述第一传动件的移动方向同圆周设置的第一弧形柔性体，所述第二柔性传动件包括与 与所述第一传动件的移动方向同圆周设置的第二弧形柔性体。
  21. 根据权利要求1至20任一项所述的增稳机构，其特征在于,所述连接结构包括固设于所述第一传动件上的连接件以及设置于所述连接件的紧固组件。
  22. 根据权利要求21所述的增稳机构，其特征在于,所述连接件呈杆体状，所述连接件的一端与所述第一传动件固定连接，另一端设有所述紧固组件，使得所述紧固组件沿所述收容部的深度方向凸出所述安装组件设置。
  23. 根据权利要求22所述的增稳机构，其特征在于,所述紧固组件在所述连接件上的位置可调。
  24. 根据权利要求22所述的增稳机构，其特征在于,所述连接结构还包括第一滑动件，所述连接件与所述第一滑动件可滑动连接，所述第一滑动件的一端沿所述收容部的深度方向凸出所述安装组件设置，所述紧固组件设置于所述第一滑动件的一端。
  25. 根据权利要求24所述的增稳机构，其特征在于,所述第一滑动件的移动轨迹方向与所述收容部的深度方向相互垂直或大致垂直，所述连接结构还包括与所述第一滑动件可滑动连接的第二滑动件，所述第二滑动件的移动轨迹方向分别与所述第一滑动件的移动轨迹方向及所述收容部的深度方向之间两两相互垂直或大致垂直，所述第二滑动件设有所述紧固组件。
  26. 根据权利要求23所述的增稳机构，其特征在于,所述连接结构还包括电控伸缩器，所述紧固组件通过电控伸缩器设置于所述连接件，使得所述紧固组件在所述连接件上的位置可调。
  27. 根据权利要求26所述的增稳机构，其特征在于,所述电控伸缩器包括第一伸缩元件以及第二伸缩元件，所述第一伸缩元件与所述第二伸缩元件相配合，使得所述紧固组件能够相对于所述第一传动件的转动中心的水平方向及竖向方向移动。
  28. 根据权利要求1所述的增稳机构，其特征在于，所述增稳机构还包括第二传动件，所述第二传动件的一端与所述安装组件固定连接，另一端沿所述收容部的深度方向凸出所述安装组件设置。
  29. 根据权利要求28所述的增稳机构，其特征在于，所述第二传动件包括第一臂体，所述第一臂体的一端与所述安装组件固定连接，且所述第一臂体的另一端沿所述收容部的深度方向凸出所述安装组件设置。
  30. 根据权利要求29所述的增稳机构，其特征在于，所述第二传动件包括第二臂体，所述第一臂体通过所述第二臂体与所述安装组件固定连接，并使得所述第一臂体与所述连接结构的转动大致区域相错开。
  31. 一种增稳装置，其特征在于，包括如权利要求1至30任一项所述的增稳机构；所述增稳装置还包括：
    第二传动件，所述第二传动件的一端与所述安装组件固定连接，另一端沿所述收容部的深度方向凸出所述安装组件设置；
    第三传动件，所述第三传动件的一端与所述第二传动件的另一端转动连接；
    固定件，所述固定件与所述第三传动件的另一端转动连接；
    第二增稳电机，所述第二增稳电机设置于所述第二传动件与所述第三传动件之间，用于带动所述第二传动件转动，使得所述第二传动件的转动轴线与所述连接结构的转动轴线相互垂直或大致垂直；及
    第三增稳电机，所述第三增稳电机设置于所述第三传动件与所述固定件之间，用于带动所述第三传动件，使得所述第三传动件分别与所述第二传动件的转动轴线及所述连接结构的转动轴线相互垂直或大致垂直。
  32. 根据权利要求31所述的增稳装置，其特征在于，所述第二传动件包括第一臂体，所述第一臂体的一端与所述安装组件固定连接，所述第一臂体的另一端凸出所述安装组件设置，并与所述第三传动件转动连接。
  33. 根据权利要求32所述的增稳装置，其特征在于，所述第一臂体的长度可调。
  34. 根据权利要求33所述的增稳装置，其特征在于，所述第一臂体包括第一本体及第二本体，所述第一本体的一端与所述安装组件固定连接，第二本体与所述第三传动件转动连接，所述第二本体与所述第一本体可滑动连接，使得所述第一臂体的长度可调。
  35. 根据权利要求32所述的增稳装置，其特征在于，所述第二传动件包括第二臂体，所述第一臂体的一端通过所述第二臂体与所述安装组件固定连接，并使得所述第一臂体与所述连接结构的转动区域相错开。
  36. 根据权利要求35所述的增稳装置，其特征在于，所述第一臂体的长度方向与所述连接结构的转动轴线相互平行或大致平行，所述第二臂体的长度方向与所述所述连接结构的转动轴线相互垂直或大致垂直。
  37. 根据权利要求31所述的增稳装置，其特征在于，所述第三传动件设置于所述第二传动件与所述固定件之间形成避让空间。
  38. 根据权利要求31所述的增稳装置，其特征在于，所述第三传动件包括第三臂体，所述第三臂体与所述第三传动件的转动轴线同向间隔设置，所述第三臂体的一端与所述第二传动件转动连接，使得所述第二传动件的转动区域与所述固定件相错开。
  39. 根据权利要求38所述的增稳装置，其特征在于，所述第三传动件包括第四臂体，所述第四臂体的一端与所述第三臂体的另一端固定连接，所述第四臂体的另一端与所述固定件转动连接，使得所述第二传动件的运动区域及所述增稳机构的运动区域分别与所述固定件相错开。
  40. 根据权利要求39所述的增稳装置，其特征在于，所述第三臂体的长度方向与所述第三增稳电机的转动轴线相互平行或大致平行，所述第四臂体的长度方向与所述第三增稳电机的转动轴线的转动轴线相互垂直或大致垂直。
  41. 根据权利要求39所述的增稳装置，其特征在于，所述第三臂体的长度的可调，所述第四臂体的长度可调。
  42. 根据权利要求41所述的增稳装置，其特征在于，所述第三臂体包括第三本体及第四本体，所述第三本体的一端与所述第二传动件固定连接，所述第四本体与所述第三本体可滑动连接，使得所述第三臂体的长度可调；
    所述第四臂体包括第五本体及第六本体，所述第五本体的一端与所述第四本体固定连接，所述第六本体与所述固定件转动连接，且所述第六本体与所述第五本体可滑动连接，使得所述第四臂体的长度可调。
  43. 根据权利要求31至42任一项所述的增稳装置，其特征在于，所述固定件包括第一调节柄、第二调节柄及第三调节柄，所述第一调节柄与所述第三传动件转动连接，且所述第三增稳电机设置于所述第一调节柄与所述第三传动件之间，所述第一调节柄与所述第二调节柄之间的位置可调，所述第二调节柄与所述第三调节柄之间的位置可调。
  44. 根据权利要求43所述的增稳装置，其特征在于，所述第一调节柄与所述第二调节柄转动连接，并可在至少两个不同的夹角位置之间进行切换。
  45. 根据权利要求44所述的增稳装置，其特征在于，所述第一调节柄与所述第二调节柄带阻尼转动连接；
    或者，所述第一调节柄与所述第二调节柄之间设有第一锁固件，所述第一锁固件用于固定或松开所述第二调节柄。
  46. 根据权利要求43所述的增稳装置，其特征在于，所述第二调节柄与所述第三调节柄转动连接，并可在至少两个不同的固定位置之间进行切换。
  47. 根据权利要求46所述的增稳装置，其特征在于，所述第二调节柄与所述第三调节柄带阻尼转动连接；
    或者，所述第二调节柄与所述第三调节柄之间设有第二锁固件，所述第二锁固件 用于固定或松开所述第三调节柄。
  48. 根据权利要求43所述的增稳装置，其特征在于，所述第一调节柄包括第一柄体及与所述第一柄体呈直角或大致直角设置的第二柄体，所述第一柄体与所述第三传动件转动连接，且所述第三增稳电机设置于所述第一柄体与所述第三传动件之间，所述第二柄体与所述第二调节柄连接。
  49. 根据权利要求48所述的增稳装置，其特征在于，所述第一柄体的长度可调，所述第二柄体的长度可调。
  50. 根据权利要求48所述的增稳装置，其特征在于，所述第三传动件可转动设置于所述第一柄体与所述第二柄体之间；
    其中，当所述第二调节柄与所述第二柄体在同一直线方向，且第三调节柄与所述第一柄体相对设置时，所述增稳装置处于第一模式；
    当所述第二调节柄与所述第二柄体呈夹角设置，并设置于所述第一柄体相对侧，且所述第三调节柄与所述第二调节柄在同一直线方向上时，所述增稳装置处于第二模式；
    当所述第二调节柄与所述第二柄体呈夹角设置，并设置于所述第一柄体相对侧，且所述第三调节柄与所述第二调节柄呈夹角设置，并设置于第二柄体的相对侧时，所述增稳装置处于第三模式。
  51. 根据权利要求43所述的增稳装置，其特征在于，所述第三调节柄包括可收缩及张开的至少三个支撑脚。
  52. 根据权利要求31至42任一项所述的增稳装置，其特征在于，所述固定件包括第一固定体以及固设于第一固定体上的万向鹅颈管，所述第一固定体与所述第三传动件的另一端转动连接。
  53. 一种拍摄设备，其特征在于，包括如权利要求31至52任一项所述的增稳装置，所述拍摄设备还包括拍摄装置，所述拍摄装置通过所述连接结构可拆卸固设于所述第一传动件上。
  54. 根据权利要求53所述的拍摄设备，其特征在于，所述拍摄设备还包括移动装置，所述增稳装置通过所述固定件可拆卸设置于所述移动装置。
  55. 根据权利要求54所述的拍摄设备，其特征在于，所述移动装置包括无人飞行器，所述增稳装置通过所述固定件可拆卸设置于所述无人飞行器。
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