WO2017132801A1 - Vertical stabilisation mechanism as well as tripod head device and shooting equipment - Google Patents

Abstract

Disclosed are a vertical stabilisation mechanism (40) as well as a tripod head device (100) and shooting equipment (500) which employ the vertical stabilisation mechanism (40). The vertical stabilisation mechanism (40) comprises a mounting piece (425), a bearing piece (445) and a constant-force elastic piece (463). Two ends of the constant-force elastic piece (463) are connected to the mounting piece (425) and the bearing piece (445) respectively, such that the constant-force elastic piece (463) deforms by absorbing vibrating or shaking energy when the mounting piece (425) is vibrating or shaking, so as to prevent a vibrating or shaking movement from being transferred to the bearing piece (445).

Description

Vertical stabilization mechanism and pan/tilt device and shooting equipment Technical field

The invention relates to the field of film and television shooting, in particular to a vertical stabilization mechanism, a pan/tilt device and a photographing device for photographing.

Background technique

For the purpose of stable shooting, many shooting equipments are used with the pan/tilt unit. The pan/tilt heads generally have a stabilizing function in the direction of rotation. For example, the three-axis head can be used on the pitch axis (pitch axis) and the heading axis (yaw axis). The rotation direction of the roll axis (roll axis) compensates for the shake of the pan/tilt, but the pan/tilt does not have an ideal compensation effect for the jitter in the direction of gravity. If the pan/tilt is shaken or vibrated in the vertical direction, it will affect the image quality of the shooting device.

Summary of the invention

In view of this, it is necessary to provide a vertical stabilization mechanism, a pan-tilt device, and a photographing device that avoid the above problems.

A vertical stabilization mechanism for supporting loads. The vertical stabilizing mechanism comprises a mounting member, a bearing member and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the carrier member, so that the mounting member generates vibration Or when dithered, the constant force elastic member absorbs the vibration or the energy of the vibration to deform, thereby preventing the vibration or the shaking motion from being transmitted to the carrier.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the The constant force elastic member is shortened or elongated.

Further, the sensor is an inertial measurement unit, and the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking. The carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

A pan-tilt device for supporting an imaging device. The pan/tilt device includes a vertical stabilizing mechanism, and the vertical stabilizing mechanism includes a mounting member, a bearing member, and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the The carrier member causes the constant force elastic member to absorb the vibration or the energy of the vibration to generate deformation when the vibration or the vibration is generated, so as to prevent the vibration or the shaking motion from being transmitted to the carrier.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the The constant force elastic member is shortened or elongated.

Further, the sensor is an inertial measurement unit, and the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking. The carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

Further, the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .

Further, the axial stabilization mechanism is a three-axis pan/tilt.

Further, the carrier is provided with a first pan/tilt connection, the axial stabilization device includes a second pan/tilt connection, and the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.

A photographing apparatus includes an image forming apparatus, a pan/tilt head device, and a supporting device. The pan/tilt device includes a vertical stabilizing mechanism, and the vertical stabilizing mechanism includes a mounting member, a bearing member, and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the mounting member and the The carrier member causes the constant force elastic member to absorb the vibration or the energy of the vibration to generate deformation when the vibration or the vibration is generated, so as to prevent the vibration or the shaking motion from being transmitted to the carrier.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a driving member coupled to the constant force elastic member and capable of driving the constant force elastic member to be shortened or elongated.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the vertical stabilization mechanism further includes a controller and a sensor, the controller is configured to control the movement of the driving component according to the posture information of the vertical stabilization mechanism detected by the sensor to drive the The constant force elastic member is shortened or elongated.

Further, the sensor is an inertial measurement unit, and the controller controls the driving member to drive the constant force elastic member to move when the inertial measurement unit detects that the mounting member generates vibration or shaking. The carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

Further, the photographing apparatus further includes a supporting device, and the support member is detachably disposed on the supporting device.

Further, the supporting device includes a first joint, and the supporting member is provided with a second joint adapted to the first joint, and the first joint and the second joint cooperate to realize the shaft Mechanical connection or/and electrical connection to the stabilizing mechanism and the support device.

Further, the supporting device is a hand-held supporting device or an unmanned aerial vehicle.

Further, the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .

Further, the axial stabilization mechanism is a three-axis pan/tilt.

Further, the carrier is provided with a first pan/tilt connection, the axial stabilization device includes a second pan/tilt connection, and the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.

A vertical stabilization mechanism for supporting loads. The vertical stabilizing mechanism includes a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving member; the vertical stabilizing mechanism further comprises a controller for sensing attitude information of the vertical stabilization mechanism, and the controller controlling the driving member to drive when the sensor detects vibration or jitter of the mounting member The carrier moves relative to the mounting member in a direction opposite to the direction of vibration or dithering.

Further, the sensor is an inertial measurement unit.

Further, the controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.

Further, the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

A pan-tilt device for supporting an imaging device. The pan/tilt device includes a vertical stabilizing mechanism including a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving device The vertical stabilizing mechanism further includes a controller for sensing attitude information of the vertical stabilizing mechanism, and the controller detecting that the mount is generated by the sensor When vibrating or shaking, the driving member is controlled to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.

Further, the sensor is an inertial measurement unit.

Further, the controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.

Further, the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

Further, the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .

Further, the axial stabilization mechanism is a three-axis pan/tilt.

Further, the carrier is provided with a first pan/tilt connection, the axial stabilization device includes a second pan/tilt connection, and the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.

A photographing apparatus includes an image forming apparatus, a pan/tilt head device, and a supporting device. The pan/tilt device includes a vertical stabilizing mechanism including a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, and the carrier member is coupled to the driving device The vertical stabilizing mechanism further includes a controller for sensing attitude information of the vertical stabilizing mechanism, and the controller detecting that the mount is generated by the sensor When vibrating or shaking, the driving member is controlled to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.

Further, the sensor is an inertial measurement unit.

Further, the controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the inertial measuring unit detects that the mounting member generates vibration or shaking. motion.

Further, the vertical stabilizing mechanism further includes a constant force elastic member disposed between the driving member and the carrier, and the controller is configured to detect the vertical stabilization mechanism according to the sensor The attitude information controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.

Further, the constant force elastic member is a constant force coil spring or a constant force coil spring.

Further, the vertical stabilizing mechanism further includes a mounting seat disposed on the mounting member, and the constant force elastic member is a constant force spring provided on the mounting seat.

Further, the mounting base includes a base disposed on the mounting member and a pivot shaft disposed on the base, one end of the constant force spring is wound on the pivot shaft, and the other end is connected On the carrier.

Further, the driving member is an electric motor, and the vertical stabilizing mechanism further includes an electronic governor, and the electronic governor is connected to the driving member.

Further, the stabilizing mechanism further includes a guiding assembly disposed between the mounting member and the carrier, the guiding assembly for guiding the movement of the carrier relative to the mounting member direction.

Further, the guiding assembly is a linear guiding mechanism.

Further, the guiding assembly includes a sliding rail disposed on the mounting member and a slider disposed on the sliding rail, and the carrier is disposed on the sliding block.

Further, the guiding component is a space linkage mechanism.

Further, the guiding assembly includes a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting member and the carrier, the second connection Two ends of the rod set are respectively pivotally connected to the mounting member and the carrier.

Further, the first link set and the second link set are symmetrically disposed with respect to the mounting member and the carrier.

Further, the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link, the second link set including a pivot a third connecting rod connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; two ends of the carrying member are respectively pivotally connected to the second connecting rod and the first On the four links.

Further, the vertical stabilization mechanism further includes a limiting member for limiting the extreme displacement of the carrier relative to the movement of the mounting member.

Further, the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering shock shock between the carrier and the mounting member.

Further, the vertical stabilizing mechanism further includes a support member rotatably disposed on the support member.

Further, the photographing apparatus further includes a supporting device, and the support member is detachably disposed on the supporting device.

Further, the supporting device includes a first joint, and the supporting member is provided with a second joint adapted to the first joint, and the first joint and the second joint cooperate to realize the shaft Mechanical connection or/and electrical connection to the stabilizing mechanism and the support device.

Further, the supporting device is a hand-held supporting device or an unmanned aerial vehicle.

Further, the pan/tilt device further includes an axial stabilization mechanism, and the axial stabilization mechanism is coupled to the imaging device and the vertical stabilization mechanism for compensating for axial jitter of the pan-tilt device .

Further, the axial stabilization mechanism is a three-axis pan/tilt.

Further, the carrier is provided with a first pan/tilt connection, the axial stabilization device includes a second pan/tilt connection, and the second pan-tilt connector and the first pan-tilt connector are mutually Cooperating with the mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.

Compared with the prior art, the photographing device and the pan/tilt device can eliminate the influence of the vertical direction of the photographing device on the photographing by setting the vertical stabilizing mechanism, and can ensure the quality and effect of photographing.

DRAWINGS

FIG. 1 is a perspective view of a photographing apparatus according to a first embodiment of the present invention.

FIG. 2 is a schematic view of another perspective of the photographing apparatus shown in FIG. 1. FIG.

FIG. 3 is a schematic perspective view of a photographing apparatus according to a second embodiment of the present invention.

Main component symbol description

Shooting equipment 500,600

Image acquisition device 300,400

Support device 200

First joint 204

PTZ device 100

Vertical stabilization mechanism 40

Support assembly 42

Second joint 421

Support 423

Mounting parts 425

Guide assembly 44

First link set 441

First link 4411

Second link 4413

Second link set 443

Third link 4431

Fourth link 4433

Carrier 445

Connecting shaft 447

First pan/tilt connector 449

Stabilizing component 46,86

Mounting seat 461,861

Base 4611, 8611

Pivot 4613, 86113

Constant force elastic parts 463,863

Limiter 465

Axial stabilization mechanism 60

First axis drive unit 61

Second PTZ connector 611

First bracket 63

Second axis drive unit 65

Second bracket 67

Third axis drive unit 69

Drive 867

Electronic governor 869

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Referring to FIGS. 1 and 2 , the photographing apparatus 500 of the first embodiment of the present invention includes an image acquisition device 300 , a pan-tilt device 100 , and a support device 200 . The pan-tilt device 100 is disposed between the image acquisition device 300 and the support device 200 for changing a shooting angle of the image acquisition device 300 and eliminating the influence of jitter on the image acquisition device 300.

The image acquisition device 300 is used to capture an image/video. The image acquisition device 300 may be an imaging device such as a digital camera or a video camera, or may be a portable communication device such as a mobile phone or a tablet computer having an imaging function.

The support device 200 is used to support the image acquisition device 300 and the pan/tilt device 100. In the embodiment, the supporting device 200 is a hand-held supporting device, that is, the user can hold the supporting device 200 for shooting. A shooting function key (not shown) is provided on the supporting device 200, and the shooting function key allows a user to operate to control shooting, for example, controlling a shooting mode of the image capturing device 300, and capturing the image capturing device 300. Angle, etc. The support device 200 further includes a first joint 204 for connecting the pan-tilt device 100. The support device 200 can be mechanically and/or electrically connected to the pan-tilt device 100 and/or the image acquisition device 300 via the first joint 204.

The pan-tilt device 100 includes an axial stabilization mechanism 60 and a vertical stabilization mechanism 40. The vertical stabilization mechanism 40 is disposed between the support device 200 and the axial stabilization mechanism 60. The vertical stabilization mechanism 40 is for eliminating the influence of the vertical shake of the photographing apparatus 500 on the image acquisition device 300. The axial stabilization mechanism 60 is configured to mount the image acquisition device 300 and to eliminate the influence of the axial shake of the imaging device 500 on the image acquisition device 300. It should be noted that the vertical jitter generally refers to jitter having a vertical component, that is, as long as the jitter of the photographing apparatus 500 has a component in the vertical direction, it may be referred to as vertical jitter, in other words, the vertical shake photographing apparatus 500. The direction of macroscopic motion is not necessarily vertical, but may also have a certain angle with the vertical direction.

The vertical stabilization mechanism 40 includes a support assembly 42, a guide assembly 44, and a stabilizing assembly 46. Specifically in the illustrated embodiment, the support assembly 42 is disposed on the support device 200, and the guide assembly 44 and the stabilization assembly 46 are disposed on the support assembly 42. The guide assembly 44 is used to mount the axial stabilization mechanism 60 and to guide the direction of movement of the axial stabilization mechanism 60 relative to the support assembly 42. The stabilizing component 46 is for eliminating the influence of the shaking or vibration of the photographing apparatus 500 in the vertical direction on the image capturing device 300.

The support assembly 42 is detachably mounted at one end of the support device 200 and includes a second joint 421 , a support member 423 , and a mounting member 425 .

The second joint 421 is adapted to the first joint 204 to integrally mount the support assembly 42 on the support device 200. The second joint 421 can be snap-fitted, screwed or interference-fitted to the first joint 204.

The support member 423 is substantially in the shape of a bent rod that is disposed on the support device 200. Specifically, one end of the support member 423 is connected to the support device 200 through the second joint 421, and the other end of the support member 423 extends in a direction away from the support device 200.

The mounting member 425 is disposed on the support member 423 for mounting the guide assembly 44 and the stabilizing assembly 46. Specifically in the illustrated embodiment, the mounting member 425 is substantially plate-shaped and is adjustably disposed at an end of the support member 423 that faces away from the support device 200, and the mounting member 425 is capable of opposing the support Pieces 423 rotate. By adjusting the mounting angle of the mounting member 425, the mounting angle of the guiding assembly 44 and the stabilizing assembly 46 can be adjusted, so that the stabilizing assembly 46 can be disposed along the vertical direction to achieve a vertical direction. Anti-shake function.

The guide assembly 44 is disposed on the mounting member 425 for limiting the direction of movement of the axial stabilizing mechanism 60 such that the axial stabilizing mechanism 60 is only movable in the vertical direction described above. In the present embodiment, the guide assembly 44 is a space linkage mechanism. The guide assembly 44 includes a first link set 441, a second link set 443, and a carrier 445.

The first link set 441 and the second link set 443 are respectively disposed on two sides of the mounting member 425, and the two are substantially symmetrically disposed with respect to the mounting member 425.

The first link set 441 includes a first link 4411 and a second link 4413. In the present embodiment, the first link 4411 and the second link 4413 are each substantially a wide and flat rod-shaped bracket. One end of the first link 4411 is pivotally connected to one side of the mounting member 425 via a connecting shaft 447, and the other end of the first connecting rod 4411 extends in a direction away from the mounting member 425. The second link 4413 is rotatably coupled to the first link 4411. Specifically, one end of the second link 4413 is pivotally connected to one end of the first link 4411 away from the mounting member 425 through another connecting shaft 447.

The second link set 443 is disposed on the other side of the mounting member 425, and the structure of the second link set 443 is substantially the same as the structure of the first link set 441. Similar to the first link set 441, the second link set 443 includes a third link 4431 pivotally connected to the mounting member 425 and a third pivotally connected to the third link 4431. Four-link 4433.

The carrier 445 is disposed on the first link set 441 and the second link set 443 for mounting the axial stabilization mechanism 60. In the present embodiment, the carrier 445 is substantially in the shape of a plate that is substantially parallel to the mounting member 425 and is located on a side of the mounting member 425 that is adjacent to the support device 200. Two ends of the carrier 445 are respectively pivotally connected to the second link 4413 and the fourth link 4433. Specifically, one end of the carrier 445 is pivotally connected to one end of the second link 4413 away from the first link 4411 through a connecting shaft, and the other end of the carrier 445 is pivotally connected through a connecting shaft. The pivoting of the fourth link 4433 is away from an end of the third link 4431.

A first pan/tilt connector 449 is disposed on the carrier 445, and the first pan-tilt connector 449 is adapted to be coupled with a portion of the structure of the axial stabilization mechanism 60 to achieve the axial increase. The mechanical mechanism or/and electrical connection of the stabilizing mechanism 60 to the vertical stabilization mechanism 40.

The first link set 441, the second link set 443 and the carrier 445 constitute a space link mechanism, and the execution end of the space link mechanism only has a translational freedom in one direction to define The direction of motion of the axial stabilization mechanism 60 is described. In particular, in the illustrated embodiment, the carrier 445 acts as an actuator end of the space linkage mechanism that is only movable in a direction perpendicular to the mounting member 425. When the supporting device 200 is placed in the vertical direction and the mounting member 425 is disposed in the horizontal direction, the carrier 445 can only move in the vertical direction.

The stabilizing component 46 is disposed on the mounting member 425 for vertical stabilization of the axial stabilizing mechanism 60 and the image capturing device 300. The stabilizing assembly 46 includes a mounting seat 461 , a constant force elastic member 463 , and a limiting member 465 . Specifically, in the illustrated embodiment, the mounting seat 461 is disposed on the mounting member 425 , and the constant force elastic member 463 is coupled between the mounting seat 461 and the carrier 445 .

The mount 461 includes a base 4611 and a pivot 4613 disposed on the base 4611. In the present embodiment, the number of the bases 4611 is two, and the two bases 4611 are spaced apart from each other on the mounting member 425, and are located at a side of the mounting member 425 facing away from the carrier 445. side. In this embodiment, the base 4611 and the mounting member 425 are assembled together. It can be understood that in other embodiments, the base 4611 and the mounting member 425 may be integrally formed; The mount 461 can be omitted, and the constant force elastic member 463 is directly disposed on the mount 425. The pivot 4613 is disposed on the two bases 4611 for mounting the constant force elastic member 463.

In the embodiment, the constant force elastic member 463 is a constant force spring. One end of the constant force elastic member 463 is wound around the pivot shaft 4613, and the other end of the constant force elastic member 463 is coupled to the carrier member 445. When the constant force elastic member 463 is deformed, its elastic force does not substantially change with the magnitude of the deformation amount. In other words, when the constant force elastic member 463 is a constant force spring, and the length of the constant force elastic member 463 is maintained within a predetermined range, the elastic force thereof does not substantially change with the change in length. By adjusting the length of the constant force elastic member 463, the distance between the carrier 445 and the mounting member 425 can be adjusted, that is, the axial stabilization mechanism 60 and the image acquisition device 300 are adjusted. When the distance between the mounting members 425 is such that the image capturing device 300 is shaken in the vertical direction, the speed or acceleration of the axial stabilizing mechanism 60 and the image capturing device 300 in the vertical direction does not occur. Significant changes, thereby ensuring stability of the image acquisition device 300 in the vertical direction.

The elastic pulling force of the constant force elastic member 463 may be selected according to the weight of the load thereof, thereby controlling the mounting distance of the image capturing device 300 with respect to the mounting member 425. Specifically, the vertical stabilizing mechanism 40 can select the pulling force of the constant force elastic member 463 according to the weight of the load that it needs to carry, and therefore, the vertical stabilizing mechanism 40 can be different according to different models and types. The load flexibly adjusts the tension and length of the constant force elastic member 463. In the present embodiment, the load is the image acquisition device 300 and the axial stabilization mechanism 60. In some cases, the load may include only the image acquisition device 300.

The limiting member 465 is disposed on the carrier 445 for limiting the distance between the carrier 445 and the mounting member 425. Specifically in the illustrated embodiment, the limiting member 465 is disposed on a side of the carrier 445 that faces the mounting member 425. When the carrier 445 is moved to the extreme position toward the mounting member 425, the limiting member 465 abuts against the mounting member 425 to stop the movement of the carrier 445. It can be understood that the limiting member 465 can also be disposed at other locations. For example, the limiting member 465 can be disposed on the mounting member 425 or disposed on the first link group 441 or the The second link set 443 is configured to limit the distance between the carrier 445 and the mounting member 425. It can be understood that the limiting member 465 can also be provided with a buffering member (not shown), the cushioning member is made of a material having certain elasticity for buffering the mounting member 425 and the carrier member. Shock shock between 445. The cushioning member may be an elastic member such as a buffer foam, an intersection, a spring or a spring. It can be understood that the cushioning member can also be disposed at other parts, for example, the cushioning member can be disposed on the mounting member 425 or disposed on the first link group 441 or the second link group. 443 superior.

The axial stabilizing mechanism 60 is disposed on the carrier 445 and on a side of the carrier 445 that faces away from the mounting member 425. The axial stabilization mechanism 60 is configured to mount the image acquisition device 300 and adjust the shooting direction and the shooting angle of the image acquisition device 300.

In the present embodiment, the axial stabilization mechanism 60 is a three-axis support device, and more specifically, the axial stabilization mechanism 60 is a three-axis pan/tilt that can be wound around the first axis a1 (eg, heading ( The yaw) axis, the second axis a2 (eg, a roll axis), and the third axis a3 (eg, a pitch axis) adjust the angle of the image acquisition device 300. The axial stabilization mechanism 60 includes a first shaft drive unit 61, a first bracket 63, a second shaft drive unit 65, a second bracket 67, and a third shaft drive unit 69. The first bracket 63 is connected to the first shaft driving unit 61 and is rotatable around the first axis a1 by the first shaft driving unit 61; the second shaft driving unit 65 is fixedly disposed on The first bracket 63 is away from the end of the first shaft driving unit 61; the second bracket 67 is connected to the second shaft driving unit 65 and can be driven by the second shaft driving unit 65 The second axis a2 is rotated; the third axis driving unit 69 is disposed at an end of the second bracket 67 away from the second axis driving unit 65, and the image acquiring device 300 and the third axis driving unit 69 Connected and rotatable about the third axis a3 by the third shaft drive unit 69. In the present embodiment, the first shaft drive unit 61, the second shaft drive unit 65, and the third shaft drive unit 69 are brushless motor assemblies.

In this embodiment, the pan-tilt device 100 may further include a sensor (not shown) and a controller (not shown). The sensor is used to sense attitude information of the photographing device 500. Specifically, the sensor may be an inertial measurement unit (IMU). The controller is configured to control at least one of the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 to rotate according to the sensed information of the sensor to eliminate The influence of the axial shake of the photographing apparatus 500 on the image acquisition device 300. Specifically, the sensor is configured to sense posture information of the photographing apparatus 500, and determine whether the photographing apparatus 500 generates jitter about a rotation direction of an axis, and if yes, the controller controls the first A corresponding one of the one-axis driving unit 61, the second-axis driving unit 65, and the third-axis driving unit 69 rotates in a direction opposite to the axial shaking direction of the photographing apparatus 500 to eliminate the photographing apparatus The effect of the axial jitter of 500 on the image acquisition device 300.

It can be understood that the controller can also control at least one rotation of the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 in response to a user's instruction information, and adjust the The photographing direction or photographing angle of the image capturing device 300.

The axial stabilization mechanism 60 further includes a second pan-tilt connection 611 fixedly connected to the first shaft drive unit 61, and the second pan-tilt connection 611 is configured to connect the vertical stabilization mechanism 40. . The second pan/tilt connection 611 can be engaged, screwed or interference fit with the vertical stabilizer mechanism 40. In addition, the second pan-tilt connector 611 further includes an electrical connection portion (not shown), and when the axial stabilization mechanism 60 and the vertical stabilization mechanism 40 are connected to each other, the electrical connection portion can The image acquiring device 300 and/or the first shaft driving unit 61, the second shaft driving unit 65, and the third shaft driving unit 69 are electrically connected to other electronic components (for example, disposed in the supporting device) Power, controller, processor, etc.).

It can be understood that the axial stabilization mechanism 60 can also be a single-axis pan/tilt, a two-axis pan/tilt or other types of pan/tilt.

In use, the length of the constant force elastic member 463 is first adjusted according to the image acquiring device 300 and the axial stabilization mechanism 60 (the axial stabilization mechanism 60 may be omitted in some cases). The vertical stabilization mechanism 40 is capable of balancing the weight of the image acquisition device 300 and the axial stabilization mechanism 60 by the tensile force of the constant force elastic member 463. In use, when no vertical shake occurs, the vertical stabilization mechanism 40 can support the image acquisition device 300 and the axial stabilization mechanism 60; when the support device 200 has vertical jitter, the support The device 200 simultaneously drives the support assembly 42 of the vertical stabilization mechanism 40, the change in the initial position of the image acquisition device 300 has hysteresis due to the effect of inertia, and the movement of the support assembly 42 causes the constant When the length of the force elastic member 463 is elongated, the image capturing device 300 is substantially maintained at the initial position, and at this time, the constant force elastic member 463 absorbs the energy of the shaking by deformation, thereby eliminating the vertical shake. The effect on the image acquisition device 300 ensures the effect of the shooting.

In summary, since the two ends of the constant force elastic member 463 are respectively connected to the mounting seat 461 and the carrier 445, the supporting device 200 generates a vertical shaking or vibration. The constant force elastic member 463 can absorb the energy of the vibration or vibration to deform, but the elastic force of the constant force elastic member 463 does not change significantly, which can prevent or hinder the vertical vibration or jitter from being transmitted to The image acquisition device 300, and due to the presence of inertia, the image acquisition device 300 maintains the initial position substantially unchanged, thereby ensuring that the image acquisition device 300 is stable in the vertical direction.

Please refer to FIG. 3 at the same time. FIG. 3 is a schematic diagram of the mechanism of the photographing apparatus 600 according to the second embodiment of the present invention. In the second embodiment, the structure of the photographing apparatus 600 is substantially the same as that of the photographing apparatus 500 of the first embodiment, except that the stabilizing component 86 of the photographing apparatus 600 further includes a driving member 867.

The driving member 867 is disposed on the base 8611 of the mounting seat 861 and connected to the rotating shaft 8613. The driving member 867 is configured to drive the rotating shaft 8613 to rotate to drive the constant force elastic member 863 to wind up or unfold, thereby adjusting the length of the constant force elastic member 863 to adjust the image capturing device 400 relative to the mounting member 425. Installation distance.

In the second embodiment of the present invention, the driving member 867 is a brushless motor. Further, the stabilizing component 86 further includes an electronic governor 869 disposed on the mounting seat 861 and configured to adjust the rotational speed and the rotational direction of the driving member 867.

Further, in the second embodiment of the present invention, the pan/tilt device of the photographing apparatus 600 may further include a sensor (not shown) and a controller (not shown) as described above. The sensor is configured to sense attitude information of the photographing device 600. Specifically, the sensor may be an inertial measurement unit (IMU). The controller is configured to control the driving member 867 to drive the constant force elastic member 863 to wind up or unfold according to the sensed information of the sensor to eliminate vertical shaking of the photographing device 600 to obtain the image. The impact of device 400. Specifically, the sensor is configured to sense posture information of the photographing device 600, and determine whether the photographing device 600 generates vertical shake, and if so, the controller controls the driving member 867 to drive the constant The force elastic member 863 is wound or unfolded to move the image acquiring device 400 relative to the supporting device in a direction opposite to the vertical shaking direction, so that the position of the image capturing device 400 relative to the external reference object remains substantially unchanged. Thereby, the influence of the vertical shake of the photographing apparatus 600 on the image acquisition device 400 is eliminated.

In the photographing apparatus 500 shown in FIGS. 1 to 3, the supporting device 200 is in a vertical state, that is, the longitudinal direction of the supporting device 200 is disposed in a vertical direction; the mounting member 425 is horizontal. a state in which the stabilizing assembly 46 is placed in the vertical state when the support assembly 42 is disposed, thereby being realized by the self-gravity and inertia of the axial stabilization mechanism 60 and the image acquisition device 300 Vertical anti-shake function.

The third embodiment of the present invention further provides a photographing apparatus (not shown), and the structure of the photographing apparatus of the third embodiment is substantially the same as that of the photographing apparatus 600 of the second embodiment, and the difference is that the third embodiment The photographing apparatus of the mode omits the constant force elastic member 863 in the second embodiment, and connects the driving member to the guide assembly, so that the guide assembly can drive the axial stabilization under the driving of the driving member The device and the image acquisition device move.

Specifically, in the embodiment, the vertical stabilization mechanism of the photographing apparatus specifically includes a support component, a guide component, and a stabilizing component, the stabilizing component includes a mounting seat and a driving component, and the mounting seat is disposed in the On the support assembly, the driving member is disposed on the mounting seat, and the guiding assembly is coupled to the driving end of the driving member. The driving member is capable of driving the guiding assembly to move to drive the axial stabilization device and the image capturing device to move.

Further, in the third embodiment of the present invention, the pan/tilt device of the photographing apparatus may further include a sensor (not shown) and a controller (not shown) as described above. The sensor is configured to sense posture information of the photographing device, and specifically, the sensor may be an inertial measurement unit (IMU). The controller is configured to control the driving component to drive the guiding component to move according to the sensed information of the sensor to eliminate the influence of the vertical shaking of the photographing device on the image acquiring device. Specifically, the sensor is configured to sense posture information of the photographing device, and determine whether the photographing device generates vertical shake, and if yes, the controller controls the driving member to drive the guide assembly to expand or Retracting, moving the image acquiring device relative to the supporting device in a direction opposite to the vertical shaking direction, so that the position of the image capturing device relative to the external reference object remains substantially unchanged, thereby eliminating the vertical position of the photographing device The effect of jitter on the image acquisition device.

It can be understood that in the third embodiment, the guiding component can be omitted, and the carrier is connected to the driving end of the driving component, so that the driving component can drive the carrier to drive the image acquiring device. Move in the vertical direction. At this time, the driving member may be a linear driver such as a linear motor, a cylinder, or a screw nut mechanism.

Compared with the prior art, the photographing apparatus and the pan/tilt head device provided by the embodiments of the present invention can eliminate the influence of the vertical direction of the photographing device on the photographing by setting the vertical stabilizing mechanism, and can ensure the quality of the photographing. And effects.

In the first and second embodiments described above, the constant force spring is an inner diameter mounting manner. It can be understood that in other embodiments, the constant force spring can be disposed in an outer diameter mounting manner. The structure of the mounting base 461 and the mounting base 461 can also be modified accordingly. For example, the mounting seat 461 may be a unitary structure, and a receiving portion for receiving the constant force spring is disposed thereon, and the constant force spring is disposed in the receiving portion in an OD mounting manner, and Connected to the carrier 445.

It can be understood that the structure of the constant force elastic member is not limited to the constant force spring structure, and may be other constant force elastic members or constant force elastic mechanisms. For example, the constant force elastic member may be a constant force coil spring, a constant force coil spring or a constant force elastic component, and the two ends of the constant force elastic member are respectively connected to the mounting seat and the carrier. When the supporting device generates a vertical direction of shaking or vibration, the constant force elastic member can absorb the energy of the shaking or shaking to generate deformation to prevent the vibration or the vibration from being transmitted to the image acquiring device, thereby ensuring The image acquisition device is stable in the vertical direction.

It will be appreciated that the structure of the above described guide assembly is not limited to the spatial linkage described above, but may be provided as other linear guide structures. For example, the guide assembly is a slide rail structure. Specifically, the guide assembly includes a slide rail disposed on the support assembly and a slider slidably disposed on the slide rail, the carrier member is disposed on the slider, and is capable of The slider slides along the slide rail.

It will be appreciated that the controller for controlling the movement of the drive member described above may be independent of the controller of the pan/tilt device described above, in other words, a controller for controlling the movement of the drive member and The corresponding sensor may be a component of the vertical stabilization mechanism, and the controller and the sensor serve as dedicated controllers and sensors of the vertical stabilization mechanism for implementing vertical protection of the photographing device Shake function.

It can be understood that the above supporting device is not limited to the hand-held supporting device, and may also be other movable supporting devices, such as an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and the like. The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments of the present invention. Neither should the spirit and scope of the technical solutions of the present invention be deviated. Those skilled in the art can also make other variations and the like in the spirit of the present invention for use in the design of the present invention as long as it does not deviate from the technical effects of the present invention. All changes made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims (126)

 A vertical stabilizing mechanism for supporting a load, wherein: the vertical stabilizing mechanism comprises a mounting member, a bearing member and a constant force elastic member, wherein two ends of the constant force elastic member are respectively connected to the The mounting member and the carrier member cause the constant force elastic member to absorb the vibration or the shaking energy to generate deformation when the mounting member generates vibration or shaking to prevent the vibration or the shaking motion from being transmitted to the carrier.  The vertical stabilizing mechanism according to claim 1, wherein the stabilizing mechanism further comprises a guiding assembly, the guiding assembly is disposed between the mounting member and the carrier, and the guiding assembly is The direction of movement of the carrier relative to the mounting member is guided.  The vertical stabilizer according to claim 2, wherein said guide member is a linear guide mechanism.  The vertical stabilizing mechanism according to claim 3, wherein the guide assembly comprises a slide rail disposed on the mounting member and a slider disposed on the slide rail, the carrier member being disposed at On the slider.  A vertical stabilizer according to claim 3, wherein said guide assembly is a space linkage.  The vertical stabilizing mechanism according to claim 3, wherein the guide assembly comprises a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the The mounting member and the carrier are respectively pivotally connected to the mounting member and the carrier member respectively.  The vertical stabilizer according to claim 6, wherein said first link set and said second link set are symmetrically disposed about said mounting member and said carrier member.  The vertical stabilizer according to claim 6, wherein the first link set includes a first link pivotally connected to the mounting member and pivotally connected to the first link a second link, the second link set includes a third link pivotally connected to the mounting member and a fourth link pivotally connected to the third link; both ends of the carrier The pivotal connection is respectively performed on the second link and the fourth link.  The vertical stabilizing mechanism according to claim 2, wherein said vertical stabilizing mechanism further comprises a limiting member for limiting the limit of movement of said carrier relative to said mounting member Displacement.  The vertical stabilizing mechanism according to claim 9, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member, wherein the buffering member is used for buffering Impact shock between the carrier and the mounting member.  The vertical stabilizing mechanism according to claim 1, wherein the vertical stabilizing mechanism further comprises a mounting seat disposed on the mounting member, wherein the constant force elastic member is disposed at the mounting seat Constant force on the clockwork.  The vertical stabilizer according to claim 11, wherein said mounting base comprises a base disposed on said mounting member and a pivot shaft disposed on said base, said constant force spring One end is wound on the pivot and the other end is attached to the carrier.  The vertical stabilizer according to claim 1, wherein the constant force elastic member is a constant force coil spring or a constant force coil spring.  A vertical stabilizing mechanism according to claim 1, wherein said vertical stabilizing mechanism further comprises a driving member, said driving member being coupled to said constant force elastic member and capable of driving said constant force The elastic member is shortened or elongated.  The vertical stabilizing mechanism according to claim 14, wherein the driving member is a motor, the vertical stabilizing mechanism further comprises an electronic governor, and the electronic governor is connected to the driving member on.  A vertical stabilization mechanism according to claim 14 wherein said vertical stabilization mechanism further comprises a controller and a sensor for said vertical stabilization mechanism detected by said sensor The attitude information controls the movement of the driving member to drive the constant force elastic member to shorten or elongate.  A vertical stabilization mechanism according to claim 16, wherein said sensor is an inertial measurement unit, and said controller controls said said inertial measurement unit to detect vibration or jitter of said mounting member The driving member drives the constant force elastic member to move, so that the carrier moves relative to the mounting member in a direction opposite to the vibration or shaking direction.  A vertical stabilizer according to claim 1, wherein said vertical stabilizing mechanism further comprises a support member, said mounting member being rotatably disposed on said support member.  A pan-tilt device for supporting an image forming apparatus, wherein the pan-tilt device comprises a vertical stabilizing mechanism, and the vertical stabilizing mechanism comprises a mounting member, a bearing member and a constant force elastic member, the constant The two ends of the force elastic member are respectively connected to the mounting member and the carrier member, so that when the mounting member generates vibration or shaking, the constant force elastic member absorbs the vibration or the energy of the vibration to deform, thereby preventing deformation. This vibration or dithering motion is transmitted to the carrier.  The pan/tilt head device according to claim 19, wherein the stabilizing mechanism further comprises a guiding assembly, the guiding assembly is disposed between the mounting member and the carrier, and the guiding assembly is used for guiding The direction of movement of the carrier relative to the mounting member.  A pan/tilt head according to claim 20, wherein said guide member is a linear guide mechanism.  A pan/tilt head device according to claim 21, wherein said guide assembly comprises a slide rail disposed on said mounting member and a slider disposed on said slide rail, said carrier member being disposed in said On the slider.  The pan/tilt head according to claim 21, wherein said guide assembly is a space link mechanism.  The pan/tilt head device according to claim 21, wherein the guide assembly comprises a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting part And the two ends of the second link set are respectively pivotally connected to the mounting member and the carrier.  A pan/tilt head according to claim 24, wherein said first link set and said second link set are symmetrically disposed about said mounting member and said carrier member.  The pan/tilt head device according to claim 24, wherein the first link set includes a first link pivotally connected to the mounting member and a second pivotal connection to the first link a connecting rod, the second connecting rod group includes a third connecting rod pivotally connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; Connected to the second link and the fourth link.  A pan/tilt head according to claim 20, wherein said vertical stabilizing mechanism further comprises a limit member for limiting the extreme displacement of said carrier relative to said mounting member.  The pan/tilt head device according to claim 27, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member, wherein the buffering member is configured to buffer the bearing Shock shock between the piece and the mounting piece.  The pan/tilt head device according to claim 19, wherein the vertical stabilizing mechanism further comprises a mounting seat disposed on the mounting member, the constant force elastic member being disposed on the mounting seat Constant force clockwork.  A pan/tilt head according to claim 29, wherein said mounting base includes a base disposed on said mounting member and a pivot shaft disposed on said base, one end of said constant force spring Winding on the pivot and the other end connected to the carrier.  The gimbal apparatus according to claim 19, wherein said constant force elastic member is a constant force coil spring or a constant force coil spring.  A pan/tilt head device according to claim 19, wherein said vertical stabilizing mechanism further comprises a driving member, said driving member being coupled to said constant force elastic member and capable of driving said constant force elastic member Shorten or stretch.  A pan/tilt head according to claim 32, wherein said driving member is a motor, and said vertical stabilizing mechanism further comprises an electronic governor, said electronic governor being coupled to said driving member.  A pan-tilt device according to claim 32, wherein said vertical stabilizing mechanism further comprises a controller and a sensor, said controller for determining attitude information of said vertical stabilizing mechanism according to said sensor And controlling the movement of the driving member to drive the constant force elastic member to shorten or elongate.  A pan-tilt device according to claim 34, wherein said sensor is an inertial measurement unit, and said controller controls said drive member when said inertial measurement unit detects that said mounting member generates vibration or jitter The constant force elastic member is moved to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.  A pan/tilt head according to claim 19, wherein said vertical stabilizing mechanism further comprises a support member, said mounting member being rotatably disposed on said support member.  A pan-tilt device according to claim 19, wherein said pan-tilt device further comprises an axial stabilizing mechanism, said axial stabilizing mechanism being coupled to said image forming device and said vertical stabilizing mechanism, It is used to compensate the axial jitter of the pan-tilt device.  A pan/tilt head according to claim 37, wherein said axial stabilizing mechanism is a three-axis pan/tilt.  The pan/tilt head device according to claim 37, wherein the carrier member is provided with a first pan/tilt connection, and the axial stabilization device comprises a second pan/tilt connection, the second pan/tilt The connector and the first pan-tilt connector cooperate to achieve a mechanical connection or/and an electrical connection between the axial stabilization mechanism and the vertical stabilization mechanism.  A photographing apparatus comprising an image forming apparatus, a pan/tilt head device and a supporting device, wherein the pan/tilt head device comprises a vertical stabilizing mechanism, and the vertical stabilizing mechanism comprises a mounting member, a bearing member and a constant force elastic member The two ends of the constant force elastic member are respectively connected to the mounting member and the carrier member, so that the constant force elastic member absorbs the energy of the vibration or the shaking when the mounting member generates vibration or shaking. Deformation to prevent this vibration or dithering motion from being transmitted to the carrier.  The photographing apparatus according to claim 40, wherein said stabilizing mechanism further comprises a guide assembly, said guide assembly being disposed between said mount and said carrier, said guide assembly being used for guiding The direction of movement of the carrier relative to the mounting member.  A photographing apparatus according to claim 40, wherein said guide member is a linear guide mechanism.  The photographing apparatus according to claim 41, wherein said guide assembly comprises a slide rail disposed on said mount member and a slider disposed on said slide rail, said carrier member being disposed on said slide On the block.  A photographing apparatus according to claim 42, wherein said guide member is a space link mechanism.  The photographing apparatus according to claim 42, wherein the guide assembly comprises a first link set and a second link set, wherein two ends of the first link set are respectively pivotally connected to the mounting piece and The two ends of the second connecting rod group are respectively pivotally connected to the mounting member and the carrier member.  The photographing apparatus according to claim 42, wherein said first link group and said second link set are symmetrically disposed with respect to said mounting member and said carrier member.  The photographing apparatus according to claim 45, wherein said first link set includes a first link pivotally connected to said mounting member and a second link pivotally connected to said first link The second link set includes a third link pivotally connected to the mounting member and a fourth link pivotally connected to the third link; the two ends of the carrier are respectively pivotally connected On the second link and the fourth link.  A photographing apparatus according to claim 45, wherein said vertical stabilizing mechanism further comprises a stopper for limiting an extreme displacement of said carrier relative to said mount.  The photographing apparatus according to claim 41, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member, wherein the buffering member is used for buffering the carrier member. And shock shock between the mounting members.  A photographing apparatus according to claim 48, wherein said vertical stabilizing mechanism further comprises a mounting seat provided on said mounting member, said constant force elastic member being a constant disposed on said mounting seat Force to make a note.  The photographing apparatus according to claim 40, wherein said mounting base comprises a base provided on said mounting member and a pivot shaft disposed on said base, said one end of said constant force spring Wrap around the pivot and connect the other end to the carrier.  A photographing apparatus according to claim 50, wherein said constant force elastic member is a constant force coil spring or a constant force coil spring.  A photographing apparatus according to claim 40, wherein said vertical stabilizing mechanism further comprises a driving member, said driving member being coupled to said constant force elastic member and capable of driving said constant force elastic member to be shortened Or stretch.  A photographing apparatus according to claim 40, wherein said driving member is a motor, and said vertical stabilizing mechanism further comprises an electronic governor, said electronic governor being coupled to said driving member.  The photographing apparatus according to claim 53, wherein the vertical stabilizing mechanism further comprises a controller and a sensor, wherein the controller is configured to detect posture information of the vertical stabilizing mechanism according to the sensor, The drive member is controlled to move to shorten or elongate the constant force elastic member.  The photographing apparatus according to claim 53, wherein said sensor is an inertial measurement unit, and said controller controls said driving member to drive when said inertial measurement unit detects that said mounting member generates vibration or jitter The constant force elastic member moves to move the carrier relative to the mounting member in a direction opposite to the vibration or shaking direction.  A photographing apparatus according to claim 55, wherein said vertical stabilizing mechanism further comprises a support member rotatably provided on said support member.  A photographing apparatus according to claim 40, wherein said photographing apparatus further comprises support means, and said support member is detachably provided on said support means.  The photographing apparatus according to claim 57, wherein said supporting means comprises a first joint, said support member is provided with a second joint adapted to said first joint, said first joint The second joints cooperate to achieve a mechanical connection or/and an electrical connection between the axial stabilizing mechanism and the support device.  A photographing apparatus according to claim 58, wherein said supporting means is a hand-held supporting means or an unmanned aerial vehicle.  A photographing apparatus according to claim 58, wherein said pan-tilt means further comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming means and said vertical stabilizing mechanism, Compensating for the axial jitter of the pan-tilt device.  A photographing apparatus according to claim 40, wherein said axial stabilizing mechanism is a three-axis pan/tilt head.  The photographing apparatus according to claim 61, wherein said carrier is provided with a first pan-tilt connection, said axial stabilization device comprises a second pan-tilt connection, said second pan-tilt connection Cooperating with the first pan-tilt connector to achieve mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.  A vertical stabilization mechanism for supporting a load, characterized in that: the vertical stabilization mechanism comprises a mounting member, a carrier member and a driving member, the driving member is disposed on the mounting member, the carrier member Connected to the driving member; the vertical stabilization mechanism further includes a controller for sensing attitude information of the vertical stabilization mechanism, and the controller detecting the sensor When the mounting member generates vibration or shaking, the driving member is controlled to drive the carrier to move in a direction opposite to the vibration or shaking direction of the mounting member.  A vertical stabilizer according to claim 64, wherein said sensor is an inertial measurement unit.  The vertical stabilizing mechanism according to claim 65, wherein the controller controls the driving member to drive the carrier relative to each other when the inertial measuring unit detects that the mounting member generates vibration or jitter. The mounting member moves in the opposite direction of the direction of vibration or shaking.  A vertical stabilizer according to claim 64, wherein said vertical stabilizing mechanism further comprises a constant force elastic member disposed between said driving member and said carrier, said controller being for And controlling, according to the posture information of the vertical stabilization mechanism detected by the sensor, the driving member to drive the constant force elastic member to shorten or extend to drive the carrier to move.  A vertical stabilizer according to claim 67, wherein said constant force elastic member is a constant force coil spring or a constant force coil spring.  The vertical stabilizing mechanism according to claim 67, wherein said vertical stabilizing mechanism further comprises a mounting seat disposed on said mounting member, said constant force elastic member being disposed at said mounting seat Constant force on the clockwork.  A vertical stabilizer according to claim 69, wherein said mounting base includes a base disposed on said mounting member and a pivot shaft disposed on said base, said constant force spring One end is wound on the pivot and the other end is attached to the carrier.  A vertical stabilization mechanism according to claim 64, wherein said driving member is a motor, said vertical stabilization mechanism further comprising an electronic governor, said electronic governor being coupled to said driving member on.  The vertical stabilizing mechanism according to claim 64, wherein the stabilizing mechanism further comprises a guiding assembly, the guiding assembly is disposed between the mounting member and the carrier, and the guiding assembly is The direction of movement of the carrier relative to the mounting member is guided.  A vertical stabilizer according to claim 72, wherein said guide member is a linear guide mechanism.  A vertical stabilizer according to claim 73, wherein said guide assembly comprises a slide rail disposed on said mounting member and a slider disposed on said slide rail, said carrier member being disposed at On the slider.  A vertical stabilizer according to claim 73, wherein said guide assembly is a space linkage.  The vertical stabilizing mechanism according to claim 73, wherein the guide assembly comprises a first link set and a second link set, wherein two ends of the first link set are respectively pivotally connected to the The mounting member and the carrier are respectively pivotally connected to the mounting member and the carrier member respectively.  A vertical stabilizer according to claim 76, wherein said first link set and said second link set are symmetrically disposed about said mounting member and said carrier member.  The vertical stabilizer according to claim 76, wherein the first link set includes a first link pivotally connected to the mounting member and pivotally connected to the first link a second link, the second link set includes a third link pivotally connected to the mounting member and a fourth link pivotally connected to the third link; both ends of the carrier The pivotal connection is respectively performed on the second link and the fourth link.  A vertical stabilizing mechanism according to claim 72, wherein said vertical stabilizing mechanism further comprises a limiting member for limiting the limit of movement of said carrier relative to said mounting member Displacement.  The vertical stabilizing mechanism according to claim 79, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member, wherein the buffering member is used for buffering Impact shock between the carrier and the mounting member.  A vertical stabilizer according to claim 64, wherein said vertical stabilizing mechanism further comprises a support member, said mounting member being rotatably disposed on said support member.  A pan-tilt device for supporting an image forming apparatus, wherein the pan-tilt device comprises a vertical stabilizing mechanism, the vertical stabilizing mechanism comprising a mounting member, a carrier and a driving member, the driving member is arranged On the mounting member, the carrier is coupled to the driving member; the vertical stabilization mechanism further includes a controller and a sensor for sensing posture information of the vertical stabilization mechanism The controller controls the driving member to move the carrier in a reverse direction of the vibration or shaking direction when the sensor detects vibration or shaking of the mounting member.  A pan-tilt device according to claim 82, wherein said sensor is an inertial measurement unit.  The pan/tilt head device according to claim 83, wherein said controller controls said driving member to drive said carrier member relative to said inertial measuring unit when said mounting member generates vibration or jitter The mounting member moves in the opposite direction of the direction of vibration or shaking.  A pan/tilt head device according to claim 82, wherein said vertical stabilizing mechanism further comprises a constant force elastic member disposed between said driving member and said carrier member, said controller for The attitude information of the vertical stabilization mechanism detected by the sensor controls the driving member to drive the constant force elastic member to shorten or extend to drive the carrier to move.  A gimbal apparatus according to claim 85, wherein said constant force elastic member is a constant force coil spring or a constant force coil spring.  A pan/tilt head device according to claim 85, wherein said vertical stabilizing mechanism further comprises a mounting seat provided on said mounting member, said constant force elastic member being disposed on said mounting seat Constant force clockwork.  A pan/tilt device according to claim 87, wherein said mounting base includes a base disposed on said mounting member and a pivot shaft disposed on said base, one end of said constant force spring Winding on the pivot and the other end connected to the carrier.  A pan/tilt head according to claim 82, wherein said driving member is a motor, and said vertical stabilizing mechanism further comprises an electronic governor, said electronic governor being coupled to said driving member.  A pan/tilt head device according to claim 82, wherein said stabilizing mechanism further comprises a guiding assembly, said guiding assembly being disposed between said mounting member and said carrier member, said guiding member being for guiding The direction of movement of the carrier relative to the mounting member.  A pan/tilt head according to claim 90, wherein said guide member is a linear guide mechanism.  A pan/tilt head device according to claim 91, wherein said guide assembly comprises a slide rail disposed on said mounting member and a slider disposed on said slide rail, said carrier member being disposed in said On the slider.  A pan/tilt head according to claim 91, wherein said guide assembly is a space link mechanism.  The pan/tilt head device according to claim 91, wherein the guide assembly comprises a first link set and a second link set, and two ends of the first link set are respectively pivotally connected to the mounting part And the two ends of the second link set are respectively pivotally connected to the mounting member and the carrier.  A pan/tilt head according to claim 94, wherein said first link set and said second link set are symmetrically disposed about said mounting member and said carrier member.  The pan/tilt head device according to claim 94, wherein the first link set includes a first link pivotally connected to the mounting member and a second pivotal connection to the first link a connecting rod, the second connecting rod group includes a third connecting rod pivotally connected to the mounting member and a fourth connecting rod pivotally connected to the third connecting rod; Connected to the second link and the fourth link.  A pan/tilt head according to claim 90, wherein said vertical stabilizing mechanism further comprises a limit member for limiting the extreme displacement of said carrier relative to said mounting member.  The gimbal apparatus according to claim 97, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member, wherein the buffering member is configured to buffer the bearing Shock shock between the piece and the mounting piece.  A pan/tilt head according to claim 82, wherein said vertical stabilizing mechanism further comprises a support member, said mounting member being rotatably disposed on said support member.  A pan-tilt device according to claim 82, wherein said pan-tilt device further comprises an axial stabilizing mechanism, said axial stabilizing mechanism being coupled to said image forming device and said vertical stabilizing mechanism, It is used to compensate the axial jitter of the pan-tilt device.  A pan/tilt head according to claim 100, wherein said axial stabilizing mechanism is a three-axis pan/tilt.  The pan/tilt head device according to claim 100, wherein the carrier member is provided with a first pan/tilt connection, and the axial stabilization device comprises a second pan/tilt connection, the second platform The connector and the first pan-tilt connector cooperate to achieve a mechanical connection or/and an electrical connection between the axial stabilization mechanism and the vertical stabilization mechanism.  A photographing apparatus comprising an image forming apparatus, a pan/tilt head device and a supporting device, wherein the pan/tilt head device comprises a vertical stabilizing mechanism, and the vertical stabilizing mechanism comprises a mounting member, a carrier member and a driving member, a driving member disposed on the mounting member, the carrier member being coupled to the driving member; the vertical stabilization mechanism further comprising a controller and a sensor for sensing the vertical stabilization The posture information of the mechanism, the controller controls the driving member to drive the opposite direction of the mounting member along the vibration or shaking direction when the sensor detects vibration or shaking of the mounting member. motion.  A photographing apparatus according to claim 103, wherein said sensor is an inertial measurement unit.  The photographing apparatus according to claim 104, wherein said controller controls said driving member to drive said carrier relative to said mounting when said inertial measuring unit detects that said mounting member generates vibration or jitter The piece moves in the opposite direction of the direction of vibration or shaking.  The photographing apparatus according to claim 103, wherein said vertical stabilizing mechanism further comprises a constant force elastic member disposed between said driving member and said carrier, said controller for The attitude information of the vertical stabilization mechanism detected by the sensor controls the driving member to drive the constant force elastic member to shorten or elongate to drive the carrier to move.  A photographing apparatus according to claim 106, wherein said constant force elastic member is a constant force coil spring or a constant force coil spring.  A photographing apparatus according to claim 106, wherein said vertical stabilizing mechanism further comprises a mounting seat provided on said mounting member, said constant force elastic member being constant on said mounting seat Force to make a note.  A photographing apparatus according to claim 108, wherein said mount includes a base provided on said mounting member and a pivot shaft disposed on said base, said one end of said constant force spring Wrap around the pivot and connect the other end to the carrier.  A photographing apparatus according to claim 103, wherein said driving member is a motor, and said vertical stabilizing mechanism further comprises an electronic governor, said electronic governor being coupled to said driving member.  The photographing apparatus according to claim 103, wherein said stabilizing mechanism further comprises a guide assembly, said guide assembly being disposed between said mount and said carrier, said guide assembly being used for guiding The direction of movement of the carrier relative to the mounting member.  A photographing apparatus according to claim 111, wherein said guide member is a linear guide mechanism.  The photographing apparatus according to claim 112, wherein said guide assembly comprises a slide rail disposed on said mount member and a slider disposed on said slide rail, said carrier member being disposed on said slide On the block.  A photographing apparatus according to claim 112, wherein said guide member is a space link mechanism.  The photographing apparatus according to claim 112, wherein the guide assembly comprises a first link set and a second link set, wherein two ends of the first link set are pivotally connected to the mounting member and The two ends of the second connecting rod group are respectively pivotally connected to the mounting member and the carrier member.  A photographing apparatus according to claim 115, wherein said first link group and said second link group are symmetrically disposed with respect to said mounting member and said carrier member.  The photographing apparatus according to claim 115, wherein the first link set includes a first link pivotally connected to the mounting member and a second link pivotally connected to the first link The second link set includes a third link pivotally connected to the mounting member and a fourth link pivotally connected to the third link; the two ends of the carrier are respectively pivotally connected On the second link and the fourth link.  A photographing apparatus according to claim 111, wherein said vertical stabilizing mechanism further comprises a stopper for limiting an extreme displacement of said carrier relative to said mount.  The photographing apparatus according to claim 118, wherein the limiting member is disposed on the carrier, and the limiting member is further provided with a buffering member for buffering the carrier member. And shock shock between the mounting members.  A photographing apparatus according to claim 103, wherein said vertical stabilizing mechanism further comprises a support member, said mount member being rotatably disposed on said support member.  A photographing apparatus according to claim 120, wherein said photographing apparatus further comprises support means, and said support member is detachably provided on said support means.  The photographing apparatus according to claim 121, wherein said supporting means comprises a first joint, and said support member is provided with a second joint adapted to said first joint, said first joint being The second joints cooperate to achieve a mechanical connection or/and an electrical connection between the axial stabilizing mechanism and the support device.  A photographing apparatus according to claim 121, wherein said supporting means is a hand-held supporting means or an unmanned aerial vehicle.  A photographing apparatus according to claim 103, wherein said pan-tilt means further comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming means and said vertical stabilizing mechanism, Compensating for the axial jitter of the pan-tilt device.  A photographing apparatus according to claim 124, wherein said axial stabilizing mechanism is a three-axis pan/tilt head.  The photographing apparatus according to claim 124, wherein the carrier is provided with a first pan-tilt connection, the axial stabilization device comprises a second pan-tilt connection, and the second pan-tilt connection Cooperating with the first pan-tilt connector to achieve mechanical connection or/and electrical connection of the axial stabilizing mechanism and the vertical stabilizing mechanism.

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