WO2017132813A1 - Vertical stabilisation mechanism, tripod head device and shooting equipment - Google Patents

Abstract

Disclosed is a vertical stabilisation mechanism (22) used for supporting a load (10). The vertical stabilisation mechanism (22) comprises parallelogram-shaped frames (221, 222, 223, 224) and an elastic piece (225). The adjacent edges of the frames (221, 222, 223, 224) are pivotally connected in such a way that included angles between the adjacent edges can vary. Two ends of the elastic piece (225) are connected to two of the adjacent edges of the frames (222, 223) respectively. The frames (221, 222, 223, 224) support the load (10) and balance the gravitational force of the load (10) by the elastic force of the elastic piece (225). Further disclosed are a tripod head device (20) and shooting equipment (100).

Description

Vertical stabilization mechanism, 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 devices are used with the pan/tilt device. The pan/tilt device generally has a rotation direction stabilization function for the shooting device. For example, the three-axis pan/tilt can be rotated in the pitch axis, yaw axis, and roll axis. The pan/tilt is compensated, but the pan/tilt does not have an ideal compensation effect for the jitter in the direction of gravity.

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 includes a parallelogram frame and an elastic member, and the adjacent sides of the frame are pivoted such that the angle between the adjacent sides can be changed. Two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the load by the elastic force of the elastic member and balances the gravity of the load.

Further, the vertical stabilizing mechanism includes a first vertical rod, a second vertical rod opposite to the first vertical rod, a first cross rod, and a second cross rod opposite to the first cross rod, The first vertical rod, the second vertical rod, the first horizontal rod and the second horizontal rod constitute four sides of the frame, and the first vertical rod is used away from one end of the first horizontal rod for Supporting the load, the two ends of the elastic member are respectively connected to the first horizontal bar and the second vertical rod at a predetermined height.

Further, one end of the elastic member is connected to the first crossbar through a first connecting member.

Further, the first connecting member is a pivoting member rotatable relative to the first crossbar; or

The first connecting member is integrally formed on the first crossbar; or

The first connecting member is fixedly coupled to the first crossbar.

Further, a hook structure is formed on an end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, and the hook structure is sleeved on the connecting shaft Form a rotatable connection.

Further, the elastic member is a coil spring.

Further, the vertical stabilization mechanism further includes an adjustment assembly disposed on the second vertical rod and connected to the elastic member, the adjustment assembly for adjusting the end of the elastic member relative to the The height of the connection of the second vertical rod.

Further, the adjusting component comprises an adjusting rod and an adjusting sleeve sleeved with the adjusting rod, the adjusting rod is rotatably disposed on the second vertical rod, and the adjusting sleeve is connected with the elastic member and sleeved Provided on the adjustment rod, the adjustment sleeve is capable of adjusting a connection position on the adjustment rod by relative rotation with the adjustment rod.

Further, the adjustment lever includes an operation portion and an adjustment portion connected to the operation portion, the operation portion protrudes from a surface of the second rod, and the adjustment sleeve is disposed on the adjustment portion.

Further, the adjusting portion has a cylindrical shape, and an external thread is provided on the cylindrical surface thereof, and the adjusting sleeve is a sleeve having an internal thread adapted to the external thread, the adjusting sleeve and the adjusting rod Threaded connection.

Further, the side of the adjustment sleeve extends to form a connecting protrusion, and the connecting protrusion is connected to the end of the elastic member.

Further, the vertical stabilization mechanism includes an angle adjustment assembly for adjusting a connection angle of the vertical stabilization mechanism with respect to the support device.

Further, the angle adjusting assembly includes a first connecting portion and a second connecting portion that are rotatably connected to each other, and the first connecting portion is fixedly connected to the second vertical rod.

Further, after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, the first connecting portion and the second connecting portion can be relatively fixed.

Further, the second connecting portion includes a locking operation member, and the first connecting portion and the second connecting portion are relatively rotatable or relatively fixed by operating the locking operating member.

Further, the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.

Further, the damper member includes at least one of an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper rail.

Further, the distance from the center of gravity of the load to the two pivot centers on the first vertical rod is greater than or equal to -10 mm and less than or equal to 10 mm.

Further, the distance from the center of gravity of the load to the two pivot centers on the first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm.

Further, a distance from a position of a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -2 mm and less than or equal to 0 mm. .

Further, a distance from a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -0.6 mm and less than or equal to -0.2 mm .

Further, a distance from the tension point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is -0.4 mm.

A pan-tilt device for supporting an imaging device. The pan-tilt device includes a vertical stabilizing mechanism including a parallelogram frame and an elastic member. The adjacent sides of the frame are pivoted such that the angle of the adjacent sides can be varied. Two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the imaging device by the elastic force of the elastic member and balances the gravity of the imaging device.

Further, the vertical stabilizing mechanism includes a first vertical rod, a second vertical rod opposite to the first vertical rod, a first cross rod, and a second cross rod opposite to the first cross rod, The first vertical rod, the second vertical rod, the first horizontal rod and the second horizontal rod constitute four sides of the frame, and the first vertical rod is used away from one end of the first horizontal rod for The imaging device is supported, and two ends of the elastic member are respectively connected to predetermined heights of the first cross bar and the second vertical bar.

Further, one end of the elastic member is connected to the first crossbar through a first connecting member.

Further, the first connecting member is a pivoting member rotatable relative to the first crossbar; or

The first connecting member is integrally formed on the first crossbar; or

The first connecting member is fixedly coupled to the first crossbar.

Further, a hook structure is formed on an end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, and the hook structure is sleeved on the connecting shaft Form a rotatable connection.

Further, the elastic member is a coil spring.

Further, the vertical stabilization mechanism further includes an adjustment assembly disposed on the second vertical rod and connected to the elastic member, the adjustment assembly for adjusting the end of the elastic member relative to the The height of the connection of the second vertical rod.

Further, the adjusting component comprises an adjusting rod and an adjusting sleeve sleeved with the adjusting rod, the adjusting rod is rotatably disposed on the second vertical rod, and the adjusting sleeve is connected with the elastic member and sleeved Provided on the adjustment rod, the adjustment sleeve is capable of adjusting a connection position on the adjustment rod by relative rotation with the adjustment rod.

Further, the adjustment lever includes an operation portion and an adjustment portion connected to the operation portion, the operation portion protrudes from a surface of the second rod, and the adjustment sleeve is disposed on the adjustment portion.

Further, the adjusting portion has a cylindrical shape, and an external thread is provided on the cylindrical surface thereof, and the adjusting sleeve is a sleeve having an internal thread adapted to the external thread, the adjusting sleeve and the adjusting rod Threaded connection.

Further, the side of the adjustment sleeve extends to form a connecting protrusion, and the connecting protrusion is connected to the end of the elastic member.

Further, the vertical stabilization mechanism includes an angle adjustment assembly for adjusting a connection angle of the vertical stabilization mechanism with respect to the support device.

Further, the angle adjusting assembly includes a first connecting portion and a second connecting portion that are rotatably connected to each other, and the first connecting portion is fixedly connected to the second vertical rod.

Further, after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, the first connecting portion and the second connecting portion can be relatively fixed.

Further, the second connecting portion includes a locking operation member, and the first connecting portion and the second connecting portion are relatively rotatable or relatively fixed by operating the locking operating member.

Further, the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.

Further, the damper member includes at least one of an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper rail.

Further, the distance from the center of gravity of the imaging device to the line connecting the centers of the two pivots on the first vertical rod is greater than or equal to -10 mm and less than or equal to 10 mm.

Further, a distance from a center of gravity of the imaging device to a line connecting the centers of the two pivots on the first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm.

Further, a distance from a position of a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -2 mm and less than or equal to 0 mm. .

Further, a distance from a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -0.6 mm and less than or equal to -0.2 mm .

Further, a distance from the tension point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is -0.4 mm.

Further, the pan-tilt device includes an axial stabilizing mechanism connected to the imaging device and the vertical stabilizing mechanism for compensating for axial shake of the pan-tilt device.

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

Further, the axial stabilizing mechanism includes a first joint portion, the first vertical rod includes a second joint portion adapted to the first joint portion, and the second joint portion is A joint portion cooperates to realize mechanical connection and electrical connection between the axial stabilizing mechanism and the vertical stabilizing mechanism.

Further, the vertical stabilization mechanism includes a third joint portion connected to the second vertical rod, and the second joint portion and the third joint portion are electrically connected to each other.

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 parallelogram frame and an elastic member. The adjacent sides of the frame are pivoted such that the angle of the adjacent sides can be varied. Two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the imaging device by the elastic force of the elastic member and balances the gravity of the imaging device. The support device is capable of supporting the pan/tilt device.

Further, the vertical stabilizing mechanism includes a first vertical rod, a second vertical rod opposite to the first vertical rod, a first cross rod, and a second cross rod opposite to the first cross rod, The first vertical rod, the second vertical rod, the first horizontal rod and the second horizontal rod constitute four sides of the frame, and the first vertical rod is used away from one end of the first horizontal rod for The imaging device is supported, and two ends of the elastic member are respectively connected to predetermined heights of the first cross bar and the second vertical bar.

Further, one end of the elastic member is connected to the first crossbar through a first connecting member.

The first connecting member is a pivoting member rotatable relative to the first crossbar; or

The first connecting member is integrally formed on the first crossbar; or

The first connecting member is fixedly coupled to the first crossbar.

Further, a hook structure is formed on an end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, and the hook structure is sleeved on the connecting shaft Form a rotatable connection.

Further, the elastic member is a coil spring.

Further, the vertical stabilization mechanism further includes an adjustment assembly disposed on the second vertical rod and connected to the elastic member, the adjustment assembly for adjusting the end of the elastic member relative to the The height of the connection of the second vertical rod.

Further, the adjusting component comprises an adjusting rod and an adjusting sleeve sleeved with the adjusting rod, the adjusting rod is rotatably disposed on the second vertical rod, and the adjusting sleeve is connected with the elastic member and sleeved Provided on the adjustment rod, the adjustment sleeve is capable of adjusting a connection position on the adjustment rod by relative rotation with the adjustment rod.

Further, the adjustment lever includes an operation portion and an adjustment portion connected to the operation portion, the operation portion protrudes from a surface of the second rod, and the adjustment sleeve is disposed on the adjustment portion.

Further, the adjusting portion has a cylindrical shape, and an external thread is provided on the cylindrical surface thereof, and the adjusting sleeve is a sleeve having an internal thread adapted to the external thread, the adjusting sleeve and the adjusting rod Threaded connection.

Further, the side of the adjustment sleeve extends to form a connecting protrusion, and the connecting protrusion is connected to the end of the elastic member.

Further, the vertical stabilization mechanism includes an angle adjustment assembly for adjusting a connection angle of the vertical stabilization mechanism with respect to the support device.

Further, the angle adjusting assembly includes a first connecting portion and a second connecting portion that are rotatably connected to each other, and the first connecting portion is fixedly connected to the second vertical rod.

Further, after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, the first connecting portion and the second connecting portion can be relatively fixed.

Further, the second connecting portion includes a locking operation member, and the first connecting portion and the second connecting portion are relatively rotatable or relatively fixed by operating the locking operating member.

Further, the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.

Further, the damper member includes at least one of an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper rail.

Further, the distance from the center of gravity of the imaging device to the line connecting the centers of the two pivots on the first vertical rod is greater than or equal to -10 mm and less than or equal to 10 mm.

Further, a distance from a center of gravity of the imaging device to a line connecting the centers of the two pivots on the first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm.

Further, a distance from a position of a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -2 mm and less than or equal to 0 mm. .

Further, a distance from a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is greater than or equal to -0.6 mm and less than or equal to -0.2 mm .

Further, a distance from a pulling point of the elastic member toward one end of the second vertical rod to a line between two pivot centers on the second vertical rod is -04 mm.

Further, the pan-tilt device includes an axial stabilizing mechanism connected to the imaging device and the vertical stabilizing mechanism for compensating for axial shake of the pan-tilt device.

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

Further, the axial stabilizing mechanism includes a first joint portion, the first vertical rod includes a second joint portion adapted to the first joint portion, and the second joint portion is A joint portion cooperates to realize mechanical connection and electrical connection between the axial stabilizing mechanism and the vertical stabilizing mechanism.

The vertical stabilizing mechanism includes a third joint portion connected to the second vertical rod, and the second joint portion and the third joint portion are electrically connected to each other.

Further, the supporting device includes a fourth connector adapted to the third connector, and the supporting device is electrically connected to the pan/tilt device and/or the imaging device through the fourth connector.

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

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

2 is a partial cross-sectional view of another angle of the photographing apparatus of FIG. 1.

3 is a schematic view of the photographing apparatus of FIG. 1 in another state.

4 is a schematic view of a vertical stabilizing mechanism of the photographing apparatus of FIG. 2.

Figure 5 is a graph showing the relationship between the support force of the vertical stabilizing mechanism of Figure 4 and the load height.

Fig. 6 is a graph showing the relationship between the support force of the vertical stabilizer mechanism of Fig. 4 and the load height at different distances e.

Fig. 7 is a graph showing the relationship between the support force of the vertical stabilizer mechanism of Fig. 4 and the load height at different distances g.

Main component symbol description

Shooting equipment 100 Imaging device 10 PTZ device 20 First axis A1 Second axis A2 Third axis A3 Axial stabilization mechanism twenty one First axis drive unit 211 First bracket 212 Second axis drive unit 213 Second bracket 214 Third axis drive unit 215 First joint 210 Vertical stabilization mechanism twenty two First vertical rod 221 Second joint 221a Second vertical rod 222 Groove 2221 First crossbar 223 Second crossbar 224 Elastic part 225 First connector 226 Adjustment component 227 Adjusting lever 2271 Operation department 2271a Adjustment department 2271b Adjustment sleeve 2272 Connecting protrusion 2272a Angle adjustment component 228 First connection 2281 Second connection 2282 Containment department 2282a Third joint 2282c Damping member 229 First pivot S1 Second pivot S2 Third pivot S3 Fourth pivot S4 Support device 30 Shooting function key 31 Fourth joint 32

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

detailed description

Referring to FIGS. 1 and 2 , the photographing apparatus 100 of the first embodiment of the present invention includes an imaging device 10 , a pan-tilt device 20 , and a support device 30 . The pan-tilt device 20 is disposed between the imaging device 10 and the support device 30 for changing the shooting angle of the imaging device 10 and eliminating the influence of jitter on the imaging device 10.

The imaging device 10 is used to capture an image/video. The imaging device 10 can be a digital camera, a video camera, a mobile phone with a camera function, a tablet computer, or the like.

The pan-tilt device 20 includes an axial stabilization mechanism 21 and a vertical stabilization mechanism 22. In this embodiment, the axial stabilization mechanism 21 is a three-axis support device, and more specifically, the axial stabilization mechanism 21 is a three-axis pan/tilt, which can be around the first axis a1 (for example, heading (yaw) The axis), the second axis a2 (eg, a roll axis), and the third axis a3 (eg, a pitch axis) adjust the angle of the imaging device 10. The axial stabilizing mechanism 21 includes a first shaft driving unit 211, a first bracket 212, a second shaft driving unit 213, a second bracket 214, and a third shaft driving unit 215. The first bracket 212 is connected to the first shaft driving unit 211 and can be rotated around the first shaft by the first shaft driving unit 211; the second shaft driving unit 213 is fixedly disposed in the The first bracket 212 is away from the end of the first shaft driving unit 211; the second bracket 214 is connected to the second shaft driving unit 213 and can be driven by the second shaft driving unit 213 The second shaft driving unit 215 is fixedly disposed at an end of the second bracket 214 away from the second shaft driving unit 213, and the imaging device 10 is connected to the third shaft driving unit 215 The third shaft can be rotated about the third axis by the third shaft driving unit 215. In the embodiment, the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 are brushless motors.

In this embodiment, the pan-tilt device 20 may include a sensor (not shown) and a controller (not shown). The sensor is used to sense posture information of the photographing apparatus 100. 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 211, the second shaft driving unit 213, and the third shaft driving unit 215 to rotate according to the sensed information of the sensor to eliminate The influence of the axial shake of the photographing apparatus 100 on the imaging device 10. More specifically, the controller drives and controls at least one of the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 along an axial direction of the photographing apparatus 100 The direction in which the dithering direction is reversed is rotated to eliminate the influence of the axial shake of the photographing apparatus 100 on the imaging device 10.

It can be understood that the controller can also control at least one rotation of the first axis driving unit 211, the second axis driving unit 213, and the third axis driving unit 215 in response to the user's instruction information, to implement the user. The purpose of the desired angle/direction shot.

The axial stabilizing mechanism 21 further includes a first joint portion 210 fixedly coupled to the first shaft driving unit 211, and the first joint portion 210 is configured to connect the vertical stabilizing mechanism 22. The first joint portion 210 can be engaged, screwed or interference fit with the vertical stabilizer mechanism 22. In addition, the first joint portion 210 further includes an electrical connection portion (not shown). When the axial stabilization mechanism 21 and the vertical stabilization mechanism 22 are connected to each other, the electrical connection portion can The imaging device 10 and/or the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 are electrically connected to other electronic components (for example, a power source disposed in the supporting device, Controller, processor, etc.).

It can be understood that the axial stabilization mechanism 21 can also be a single-axis pan/tilt, a two-axis pan/tilt or other types of pan/tilt.

The vertical stabilization mechanism 22 is capable of balancing the gravity of the imaging device 10 and the pan-tilt device 20 and for eliminating the influence of the vertical shake of the photographing apparatus 100 on the imaging device 10. 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 100 has a component in the vertical direction, it may be referred to as vertical jitter, in other words, the vertical shake photographing apparatus 100 The direction of macroscopic motion is not necessarily vertical, but may also have a certain angle with the vertical direction. The vertical stabilizing mechanism 22 includes a first vertical rod 221, a second vertical rod 222, a first cross rod 223, a second cross rod 224, and an elastic member 225. The first vertical rod 221 is pivotally connected to one end of the first horizontal rod 223 and the second horizontal rod 224, respectively, and two ends of the second vertical rod 222 and the first horizontal rod respectively 223 and the other end of the second crossbar 224 are pivotally connected. In this embodiment, the first cross bar 223 and the second cross bar 224 are parallel to each other and have substantially the same length, such that the first vertical bar 221, the second vertical bar 222, and the first horizontal cross. The rod 223 and the second crossbar 224 constitute a quadrilateral frame, and the adjacent sides of the quadrilateral frame are pivoted such that the angle between the adjacent sides is adjustable. An end of the second crossbar 224 connected to the first vertical rod 221 is closer to the imaging device 10 than an end of the first crossbar 223 connected to the first vertical rod 221.

In this embodiment, the first vertical rod 221 and the first horizontal rod 223 are pivotally connected to each other by a first pivot s1, and between the first vertical rod 221 and the second horizontal rod 224 The second vertical rod 222 and the first horizontal rod 223 are pivotally connected to each other by a third pivot s3, and the second vertical rod 222 and the first portion are pivotally connected to each other. The two cross bars 224 are pivotally connected to each other by a fourth pivot s4.

The first vertical rod 221 includes a second joint portion 221a adapted to the first joint portion 210, and the second joint portion 221a and the first joint portion 210 cooperate to realize the axial increase The mechanical mechanism and electrical connection of the stabilizing mechanism 21 to the vertical stabilizing mechanism 22 are provided.

The elastic member 225 is connected between the first crossbar 223 and the second vertical rod 222, and the component of the tensile force of the elastic member 225 in the vertical direction can balance the gravity of the imaging device 10, The gravity of the pan-tilt device 20 and the self-weight of the vertical stabilizing mechanism 22, in other words, the vertical stabilizing mechanism 22 can balance the imaging device 10 and the pan/tilt head by the pulling force of the elastic member 225 The weight of the device 20. In this embodiment, the elastic member 225 is a coil spring, and one end of the elastic member 225 is connected to the first cross bar 223, and the other end is connected to a predetermined height of the second vertical rod 222, so that the elastic portion is elastic. The length direction of the piece 225 forms an angle with the length of the first cross bar 223. In this embodiment, one end of the elastic member 225 is connected to the first cross bar 223 through the first connecting member 226. Specifically, the first connecting member 226 is a pivoting member that is rotatable relative to the first crossbar 223. It can be understood that the first connecting member 226 can also be integrally formed on the first crossbar 223. The member attached to or fixed to the first crossbar 223 may be connected to one end of the elastic member 225 to the first crossbar 223. In addition, the first connecting member 226 can also be omitted, and the end of the elastic member 225 is directly connected to the first crossbar 223. At this time, the end of the elastic member 225 can form a hook structure. A connecting shaft corresponding to the hook is formed on the first cross bar 223, and the hook structure is sleeved on the connecting shaft to form a rotatable connection.

In the present embodiment, the vertical stabilization mechanism 22 further includes an adjustment assembly 227 for adjusting the connection height of the end of the elastic member 225 with respect to the second vertical rod 222.

Specifically, the adjustment assembly 227 includes an adjustment rod 2271 and an adjustment sleeve 2272 that is sleeved with the adjustment rod 2271. The adjusting rod 2271 is rotatably disposed on the second vertical rod 222, and the length direction of the adjusting rod 2271 is substantially parallel to the longitudinal direction of the second vertical rod 222. The adjustment lever 2271 includes an operation portion 2271a and an adjustment portion 2271b connected to the operation portion 2271a. The operation portion 2271a protrudes from the surface of the second vertical rod 222, and the operation portion 2271a allows a user to directly or indirectly operate to rotate the adjustment rod 2271. In the present embodiment, the operation portion 2271a is substantially in the shape of a truncated cone, and the circumferential side surface thereof is a surface having a certain roughness so that the user can more easily operate the adjustment rod 2271 to rotate. It can be understood that the operating portion 2271a can also be an elliptical platform or a polygonal prismatic platform. The adjusting portion 2271b has a cylindrical shape, and an external thread is provided on the cylindrical surface thereof. The second vertical rod 222 is provided with a groove 2221 toward a side surface of the first vertical rod 221, and the adjusting portion 2271b is located in the groove 2221 so that the adjusting sleeve 2272 can protrude into the The inside of the recess 2221 is connected to the adjusting portion 2271b.

The adjustment sleeve 2272 is a sleeve having an internal thread. The internal thread of the adjusting sleeve 2272 can be adapted to the external thread of the adjusting portion 2271b to achieve the screw connection of the adjusting sleeve 2272 with the adjusting rod 2271. The side of the adjusting sleeve 2272 extends to form a connecting protrusion 2272a, and the connecting protrusion 2272a is connected to the end of the elastic member 225.

The connecting position of the adjusting sleeve 2272 and the adjusting portion 2271b can be adjusted by rotating the adjusting rod 2271, that is, adjusting the connecting height of the end portion of the elastic member 225 with respect to the second vertical rod 222, by adjusting the The connection height of the end of the elastic member 225 relative to the second vertical rod 222 can adjust the tension of the elastic member 225, so that the vertical stabilization mechanism 22 can be adjusted according to the weight of the load it needs to carry. The pulling force of the elastic member 225, therefore, the vertical stabilizing mechanism 22 can flexibly adjust the required force for balancing the weight of the load according to the load of different models and types. In the embodiment, the load is the The imaging device 10 and the axial stabilization mechanism 21, in some cases, the load may include only the imaging device 10.

In the present embodiment, the vertical stabilization mechanism 22 further includes an angle adjustment component 228 for adjusting the connection angle of the vertical stabilization mechanism 22 and the support device. The angle adjusting component 228 includes a first connecting portion 2281 and a second connecting portion 2282 that are rotatably connected to each other, and the first connecting portion 2281 is fixedly connected to the second vertical rod 222. The first connecting portion 2281 is rotated by a predetermined angle with respect to the second connecting portion 2282 (the predetermined angle may be plural, for example, 1°, 2°, 3°, 5°, 10°, 20°, 30°) After the 45°, 60°, 75°, 90°, etc., the first connecting portion 2281 and the second connecting portion 2282 can be relatively fixed. In the embodiment, the first connecting portion 2281 is integrally formed with the second vertical rod 222, and the first connecting portion 2281 is substantially in the shape of a flat arch. The second connecting portion 2282 is provided with a receiving portion 2282a. The first connecting portion 2281 is inserted into the receiving portion 2282a and rotatably connected to the second connecting portion 2282. In order to achieve relative fixation between the first connecting portion 2281 and the second connecting portion 2282 after the predetermined angle is rotated, the first connecting portion 2281 and the second connecting portion 2282 may adopt a disk tooth. The structures (not shown) are in mesh with each other, and the disc tooth structure can be disengaged when it is necessary to adjust the connection angle between the first connecting portion 2281 and the second connecting portion 2282. It can be understood that the fixed connection angle can also be adjusted between the first connecting portion 2281 and the second connecting portion 2282 by other matching methods. In addition, the structure in which the first connecting portion 2281 and the second connecting portion 2282 are rotatably coupled to each other may be interchanged. For example, the first connecting portion 2281 defines a receiving portion, and the second connecting portion 2282 is inserted into the receiving portion. The accommodating portion is rotatably connected to the first connecting portion 2281.

The second connecting portion 2282 includes a locking operating member 2282b. The first connecting portion 2281 and the second connecting portion 2282 are relatively rotatable or relatively fixed between the second connecting portion 2282 by operating the locking operating member 2282b. In the embodiment, the locking operation member 2282b is a button. When the locking operation member 2282b is pressed, the first connecting portion 2281 and the second connecting portion 2282 are relatively rotatable to release the locking operation. In the case of the piece 2282b, the first connecting portion 2281 and the second connecting portion 2282 are relatively fixed. It can be understood that when the structures of the first connecting portion 2281 and the second connecting portion 2282 are rotatably coupled with each other, the locking operating member 2282b may also be disposed on the first connecting portion 2281.

The second connecting portion 2282 further includes a third joint portion 2282c for connecting the support device 30. The third joint portion 2282c can be engaged, screwed or interference fit with the support device 30. In addition, the third joint portion 2282c further includes an electrical connection portion (not shown), and the second joint portion 221a and the third joint portion 2282c may pass through a soft circuit board (not shown). The cables are electrically connected to each other. When the second connecting portion 2282 and the supporting device 30 are connected to each other, the electrical connecting portion can electrically connect the imaging device 10 and/or the axial stabilizing mechanism 21 to the supporting device 30 to realize The imaging device 10 and/or the axial stabilization mechanism 21 are controlled by the support device 30. In the present embodiment, the third joint portion 2282c has a similar structure to the first joint portion 210.

In the present embodiment, the vertical stabilizing mechanism 22 further includes a damper 229 for eliminating the resonance phenomenon caused by the shake, thereby further stabilizing the photographing. One end of the damper member 229 is rotatably connected to the first vertical rod 221, and the other end is rotatably connected to the second cross rod 224. In other embodiments, the two ends of the damping member 229 may be respectively connected to the first vertical rod 221 and the first horizontal rod 223, the first horizontal rod 223 and the second vertical rod 222, or the second vertical rod 222 and the second horizontal rod 224. The damper 229 may be any one or a combination of an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulse damper, a viscous damper, a damper rail, and the like.

It can be understood that the damper 229 can be omitted; in addition, at least one of the first pivot s1, the second pivot s2, the third pivot s3, and the fourth pivot s4 can also be disposed. A rotational friction to eliminate the resonance caused by the jitter.

The support device 30 is used to support the imaging device 10 and the pan-tilt device 20. In this embodiment, the support device 30 is a hand-held support device, that is, the user can hold the support device 30 for shooting, and the support device 30 is provided with a shooting function key 31, which allows the user to operate. Shooting is controlled, for example, controlling a shooting mode of the imaging device 10, a shooting angle of the imaging device, and the like. The support device 30 further includes a fourth joint portion 32 adapted to the third joint portion 2282c, and the support device 30 can be coupled by the fourth joint portion 32 and the third joint portion 2282c. It is mechanically coupled to the vertical stabilization mechanism 22 and may also be electrically coupled to the axial stabilization mechanism 21 and/or the imaging device 10.

Before use, first, according to the imaging device 10 and the axial stabilization mechanism 21 (the axial stabilization mechanism 21 may be omitted in some cases), the tension of the elastic member 225 is adjusted, so that the The vertical stabilizing mechanism 22 is capable of balancing the weight of the image forming apparatus 10 and the axial stabilizing mechanism 21 by the pulling force of the elastic member 225. In use, when no vertical shake occurs, the vertical stabilization mechanism 22 can horizontally support the imaging device 10 and the axial stabilization mechanism 21; when the support device 30 has vertical jitter, the inertia The interaction between the imaging device 10 and the axial stabilization mechanism 21 and the vertical stabilization mechanism 22 changes, and the vertical stabilization mechanism 22 will hesitate to generate the force of the elastic member. The movement opposite to the direction of the shake is to compensate for the influence of the vertical shake on the imaging device 10, and the effect of photographing is ensured.

In the photographing apparatus 100 shown in Fig. 1, the supporting device 30 is in a vertical state. In addition, the angle between the vertical stabilization mechanism 22 and the support device 30 can be adjusted by the angle adjustment component 228 according to the user's shooting habits and other specific shooting requirements, so that the angle can be predetermined. The support device 30 is held for photographing. Referring to FIG. 3, in the photographing apparatus 100, the connection angle between the vertical stabilization mechanism 22 and the support device 30 is substantially 0 degrees, so that the support device 30 can be horizontally held for photographing.

It will be appreciated that the support device 30 is not limited to a hand-held support device, but may be other movable support devices, such as unmanned aerial vehicles, unmanned vehicles, unmanned vehicles, and the like.

The compensating effect of the photographing apparatus 100 on the shake in the vertical direction, that is, the stabilizing effect in the vertical direction is affected by the multi-faceted parameters of the vertical stabilizing mechanism 22. Hereinafter, the test parameters will be specifically described.

Referring to FIG. 4, the distance from the center of gravity of the first pivot s1 and the second pivot s2 is marked as g, and the elastic member 225 is directed to the pull position of one end of the second vertical rod 222. a distance from a line connecting the third pivot s3 and the fourth pivot s4 is marked as e, and a connection between the load and the first vertical rod 221 is marked as the load height h, When the first crossbar 223 and the second crossbar 224 are in a horizontal position, the load height h is zero. The distance between the position of the pull point toward one end of the second vertical rod 222 and the third pivot s3 is denoted by d.

Referring to FIG. 5, a graph showing the relationship between the supporting force of the vertical stabilizing mechanism 22 and the load height h is shown. In order to eliminate the influence of low frequency jitter in the vertical direction, the natural frequency of the vertical stabilization mechanism 22 is lower than a predetermined value, and the optimum shape of the curve is approximately horizontal but slightly left high and right low; the steeper the slope of the curve The higher the natural frequency of the vertical stabilization mechanism 22 is.

Tests have shown that, in the case where the above supporting force is satisfied, the larger the median diameter of the elastic member 225, the smaller the wire diameter, and the smaller the number of turns, the better the vertical stabilizing effect. The distance d affects the tensile force of the elastic member 225, so it is necessary to match the relationship between the supporting force of the vertical stabilizing mechanism 22 for the load and the gravity of the load, and the smaller the difference, the better.

Furthermore, the distance e also affects the effect of the vertical stabilization. Defining that when e is a positive value, the spring pull point is to the left of the line between the third pivot s3 and the fourth pivot s4; when e is 0, the spring pull point is at the third a line connecting the pivot s3 and the fourth pivot s4; when e is a negative value, the spring pull point 1 is connected between the third pivot s3 and the fourth pivot s4 Right. Referring to FIG. 6, the support force of the vertical stabilizer mechanism 22 for the load is selected when e=0 mm, e=1 mm, e=-0.6 mm, and e=-1 mm, respectively. The corresponding relationship diagram of the load height h shows that the curve has a more ideal shape when e=0.6 mm. In this embodiment, the distance e is greater than or equal to -2 mm and less than or equal to 0 mm. Preferably, the distance e is greater than or equal to -0.6 mm and less than or equal to -0.2 mm; more specifically, the distance e is -0.4 Mm.

The distance g also affects the vertical stabilization effect of the vertical stabilization mechanism 22, see FIG. 7, which shows the vertical increase when g=-20 mm, g=0 mm, and g=20 mm, respectively. A graph showing the relationship between the supporting force of the stabilizing mechanism 22 and the load height h, it can be seen that when g=0 mm, the curve has a more ideal shape. In the present embodiment, the distance g is greater than or equal to -10 mm and less than or equal to 10 mm, and preferably, the distance g is greater than or equal to -5 mm and less than or equal to 5 mm.

By providing the vertical stabilization mechanism, the photographing device can eliminate the influence of the shaking of the vertical direction of the photographing device on the photographing, and can ensure the quality and effect of photographing.

It is to be understood that those skilled in the art can 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 (75)

 A vertical stabilizing mechanism for supporting a load, wherein: the vertical stabilizing mechanism comprises a parallelogram frame and an elastic member, and the adjacent sides of the frame are pivoted such that the angle between the adjacent sides can be changed. Two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the load by the elastic force of the elastic member and balances the gravity of the load.  The vertical stabilizing mechanism according to claim 1, wherein said vertical stabilizing mechanism comprises a first vertical rod, a second vertical rod opposite said first vertical rod, a first cross rod, and a second crossbar opposite to the first crossbar, the first vertical bar, the second vertical bar, the first crossbar, and the second crossbar constitute four sides of the frame, the first A vertical rod is away from an end of the first crossbar for supporting a load, and two ends of the elastic member are respectively connected to predetermined heights of the first crossbar and the second vertical rod.  The vertical stabilizer according to claim 2, wherein one end of the elastic member is coupled to the first crossbar by a first connecting member.  A vertical stabilizer according to claim 3, wherein said first connecting member is a pivoting member rotatable relative to said first crossbar; or The first connecting member is integrally formed on the first crossbar; or The first connecting member is fixedly coupled to the first crossbar.  The pan/tilt head device according to claim 2, wherein a hook structure is formed at an end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, The hook structure is sleeved on the connecting shaft to form a rotatable connection.  The vertical stabilizer according to claim 1, wherein said elastic member is a coil spring.  The vertical stabilizing mechanism according to claim 2, wherein said vertical stabilizing mechanism further comprises an adjustment assembly disposed on said second vertical rod and coupled to said elastic member, said adjusting The assembly is for adjusting a height of the connection of the end of the elastic member relative to the second vertical rod.  The vertical stabilization mechanism according to claim 7, wherein the adjustment assembly comprises an adjustment rod and an adjustment sleeve that is sleeved with the adjustment rod, and the adjustment rod is rotatably disposed on the second vertical rod The adjusting sleeve is connected to the elastic member and sleeved on the adjusting rod, and the adjusting sleeve is capable of adjusting a connecting position on the adjusting rod by relative rotation with the adjusting rod.  The vertical stabilizer according to claim 8, wherein the adjustment lever includes an operation portion and an adjustment portion connected to the operation portion, the operation portion protruding from a surface of the second rod, The adjustment sleeve is disposed on the adjustment portion.  The vertical stabilizing mechanism according to claim 9, wherein the adjusting portion has a cylindrical shape, and an external thread is provided on a cylindrical surface thereof, and the adjusting sleeve has an inner surface adapted to the external thread. a threaded sleeve, the adjustment sleeve being threadedly coupled to the adjustment rod. A vertical stabilizer according to claim 8, wherein a side portion of said adjustment sleeve extends to form a connecting projection, and said connecting projection is connected to an end of said elastic member. The vertical stabilization mechanism according to claim 2, wherein said vertical stabilization mechanism comprises an angle adjustment assembly for adjusting a connection of said vertical stabilization mechanism relative to said support device angle. The vertical stabilizer according to claim 12, wherein said angle adjusting assembly comprises a first connecting portion and a second connecting portion that are rotatably coupled to each other, said first connecting portion and said second connecting portion The vertical rods are fixedly connected. The vertical stabilization mechanism according to claim 13, wherein after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, between the first connecting portion and the second connecting portion Can be relatively fixed. A vertical stabilizer according to claim 14, wherein said second connecting portion includes a locking operating member, said first connecting portion and said second connecting portion by operating said locking operating member It can be rotated relative to each other or relatively fixed. The vertical stabilizing mechanism of claim 1 wherein said vertical stabilizing mechanism further comprises a damper member coupled between adjacent ones of said frames. A vertical stabilizer according to claim 16, wherein said damper member comprises an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper slide. At least one of the tracks. The vertical stabilizing mechanism according to claim 2, wherein a distance from a center of gravity of the load to the center of the two pivots on the first vertical rod is greater than or equal to -10 mm and less than or equal to 10 mm. The vertical stabilizer according to claim 2, wherein the distance from the center of gravity of the load to the center of the two pivots on the first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm. The vertical stabilizer according to claim 2, wherein the position of the elastic member toward the end of the second vertical rod is offset from the connection between the two pivot centers of the second vertical rod The distance of the line is greater than or equal to -2 mm and less than or equal to 0 mm. The vertical stabilizer according to claim 2, wherein the position of the elastic member toward the end of the second vertical rod is offset from the connection between the two pivot centers of the second vertical rod The distance of the line is greater than or equal to -0.6 mm and less than or equal to -0.2 mm. The vertical stabilizer according to claim 2, wherein the position of the elastic member toward the end of the second vertical rod is offset from the connection between the two pivot centers of the second vertical rod The line distance is -0.4 mm.  A pan-tilt device for supporting an imaging device, the pan-tilt device comprising a vertical stabilization mechanism, the vertical stabilization mechanism comprising a parallelogram frame and an elastic member, the adjacent sides of the frame being pivotally connected to each other The angle of the edge can be varied, and the two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the imaging device by the elastic force of the elastic member and balances the gravity of the imaging device .  A pan/tilt device according to claim 23, wherein said vertical stabilizing mechanism comprises a first vertical rod, a second vertical rod opposite said first vertical rod, a first cross rod, and said a second crossbar opposite to the first crossbar, the first vertical bar, the second vertical bar, the first crossbar, and the second crossbar forming four sides of the frame, the first vertical An end of the rod away from the first crossbar is used to support the image forming device, and two ends of the elastic member are respectively connected to the first cross bar and the second height of the second vertical rod.  A pan/tilt head according to claim 23, wherein one end of said elastic member is coupled to said first crossbar by a first connecting member.  A pan/tilt head according to claim 25, wherein said first connecting member is a pivoting member rotatable relative to said first crossbar; or The first connecting member is integrally formed on the first crossbar; or The first connecting member is fixedly coupled to the first crossbar.  The pan/tilt head device according to claim 23, wherein a hook structure is formed at one end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, The hook structure is sleeved on the connecting shaft to form a rotatable connection.  A pan/tilt head according to claim 23, wherein said elastic member is a coil spring.  A pan/tilt head device according to claim 24, wherein said vertical stabilizing mechanism further comprises an adjustment assembly disposed on said second vertical rod and connected to said elastic member, said adjustment assembly Adjusting the connection height of the end of the elastic member relative to the second vertical rod.  The pan/tilt head device according to claim 29, wherein the adjusting assembly comprises an adjusting rod and an adjusting sleeve that is sleeved with the adjusting rod, and the adjusting rod is rotatably disposed on the second vertical rod, The adjusting sleeve is connected to the elastic member and sleeved on the adjusting rod, and the adjusting sleeve is capable of adjusting a connecting position on the adjusting rod by relative rotation with the adjusting rod.  A pan-tilt device according to claim 30, wherein said adjustment lever includes an operation portion and an adjustment portion connected to said operation portion, said operation portion protruding from a surface of said second lever, said An adjustment sleeve is disposed on the adjustment portion.  The pan/tilt head device according to claim 31, wherein the adjusting portion has a cylindrical shape, and an external thread is provided on a cylindrical surface thereof, and the adjusting sleeve has an internal thread adapted to the external thread. a sleeve, the adjustment sleeve being threadedly connected to the adjustment rod. A pan/tilt head according to claim 30, wherein the side portion of the adjusting sleeve extends to form a connecting projection, and the connecting projection is connected to the end of the elastic member. A pan/tilt head according to claim 24, wherein said vertical stabilizing mechanism comprises an angle adjustment assembly for adjusting a connection angle of said vertical stabilizing mechanism relative to said support means. A pan/tilt device according to claim 34, wherein said angle adjusting assembly comprises a first connecting portion and a second connecting portion that are rotatably coupled to each other, said first connecting portion and said second vertical member Fixedly connected. The pan/tilt head device according to claim 35, wherein after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, the first connecting portion and the second connecting portion are opposite to each other fixed. A pan/tilt head according to claim 36, wherein said second connecting portion includes a locking operation member between said first connecting portion and said second connecting portion by operating said locking operating member Can be relatively rotated or relatively fixed. The pan/tilt head according to claim 23, wherein said vertical stabilizing mechanism further comprises a damper member coupled between adjacent ones of said frames. A pan-tilt device according to claim 38, wherein said damper member comprises an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper rail. At least one of them. A pan-tilt device according to claim 24, wherein a distance from a center of gravity of said imaging device to a line connecting the centers of the two pivots on said first vertical bar is greater than or equal to -10 mm and less than or equal to 10 Mm. The pan-tilt device according to claim 24, wherein a distance from a center of gravity of the image forming means to a line connecting the centers of the two pivots on the first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm. The pan/tilt head device according to claim 24, wherein the position of the pulling point of the elastic member toward one end of the second vertical rod is offset from the line between the two pivot centers of the second vertical rod The distance mark is greater than or equal to -2 mm and less than or equal to 0 mm. The pan/tilt head device according to claim 24, wherein the position of the pulling point of the elastic member toward one end of the second vertical rod is offset from the line between the two pivot centers of the second vertical rod The distance is greater than or equal to -0.6 mm and less than or equal to -0.2 mm. The pan/tilt head device according to claim 24, wherein the position of the pulling point of the elastic member toward one end of the second vertical rod is offset from the line between the two pivot centers of the second vertical rod The distance is -0.4 mm. A pan-tilt device according to claim 24, wherein said pan-tilt means comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming apparatus and said vertical stabilizing mechanism, Compensating for the axial jitter of the pan-tilt device. A pan/tilt head according to claim 45, wherein said axial stabilizing mechanism is a three-axis head. A pan/tilt head according to claim 45, wherein said axial stabilizing mechanism comprises a first joint portion, said first upright rod comprising a second fitting to said first joint portion The joint portion, the first joint portion of the second joint portion cooperate with each other to realize mechanical connection and electrical connection between the axial stabilizing mechanism and the vertical stabilizing mechanism. A pan/tilt head according to claim 47, wherein said vertical stabilizing mechanism comprises a third joint portion connected to said second vertical rod, said second joint portion and said third joint The parts are electrically connected to each other.  A photographing apparatus comprising an image forming apparatus, a pan and tilt apparatus, and a supporting apparatus, the pan tilting apparatus comprising a vertical stabilizing mechanism comprising a parallelogram frame and an elastic member, the adjacent side of the frame The pivoting enables the angle of the adjacent side to be changed, and the two ends of the elastic member are respectively connected to two adjacent sides of the frame, and the frame supports the image forming device by the elastic force of the elastic member and balances the The gravity of the imaging device capable of supporting the pan-tilt device.  A photographing apparatus according to claim 49, wherein said vertical stabilizing mechanism comprises a first vertical rod, a second vertical rod opposite to said first vertical rod, a first cross rod, and said a second crossbar opposite the crossbar, the first vertical bar, the second vertical bar, the first cross bar and the second cross bar forming four sides of the frame, the first vertical bar An end away from the first crossbar is used to support the image forming apparatus, and both ends of the elastic member are respectively connected to the first crossbar and the predetermined height of the second vertical rod.  A photographing apparatus according to claim 50, wherein one end of said elastic member is coupled to said first crossbar by a first connecting member.  The photographing apparatus according to claim 51, wherein said first connecting member is a pivoting member rotatable relative to said first crossbar; or The first connecting member is integrally formed on the first crossbar; or The first connecting member is fixedly coupled to the first crossbar.  The pan/tilt head device according to claim 50, wherein a hook structure is formed at an end of the elastic member facing away from the second vertical rod, and a connecting shaft corresponding to the hook is formed on the first crossbar, The hook structure is sleeved on the connecting shaft to form a rotatable connection.  A photographing apparatus according to claim 49, wherein said elastic member is a coil spring.  A photographing apparatus according to claim 50, wherein said vertical stabilizing mechanism further comprises an adjustment member disposed on said second vertical rod and connected to said elastic member, said adjustment assembly being for Adjusting the height of the connection of the end of the elastic member with respect to the second vertical rod.  The photographing apparatus according to claim 55, wherein the adjusting assembly comprises an adjusting rod and an adjusting sleeve that is sleeved with the adjusting rod, and the adjusting rod is rotatably disposed on the second vertical rod, The adjusting sleeve is connected to the elastic member and sleeved on the adjusting rod, and the adjusting sleeve is capable of adjusting a connecting position on the adjusting rod by relative rotation with the adjusting rod.  A photographing apparatus according to claim 56, wherein said adjustment lever includes an operation portion and an adjustment portion connected to said operation portion, said operation portion protruding from a surface of said second lever, said adjusting The sleeve is disposed on the adjustment portion.  The photographing apparatus according to claim 57, wherein said adjusting portion has a cylindrical shape, and an external thread is provided on a cylindrical surface thereof, and said adjusting sleeve is a sleeve having an internal thread adapted to said external thread. a sleeve, the adjustment sleeve being screwed to the adjustment rod. A photographing apparatus according to claim 56, wherein a side portion of said adjustment sleeve extends to form a connecting projection, and said connecting projection is connected to an end of said elastic member. A photographing apparatus according to claim 50, wherein said vertical stabilizing mechanism comprises an angle adjusting assembly for adjusting a connection angle of said vertical stabilizing mechanism with respect to said supporting means. The photographing apparatus according to claim 60, wherein said angle adjusting assembly comprises a first connecting portion and a second connecting portion that are rotatably coupled to each other, said first connecting portion being fixed to said second vertical rod Connected. The photographing apparatus according to claim 61, wherein after the first connecting portion is rotated by a predetermined angle with respect to the second connecting portion, the first connecting portion and the second connecting portion can be relatively fixed . A photographing apparatus according to claim 62, wherein said second connecting portion includes a locking operation member, and said first connecting portion and said second connecting portion are capable of being operated by said locking operating member Relative rotation or relatively fixed. A photographing apparatus according to claim 60, wherein said vertical stabilizing mechanism further comprises a damper member coupled between adjacent ones of said frames. A photographing apparatus according to claim 64, wherein said damper member comprises an air spring damper, a hydraulic damper, a spring damper, a hydraulic damper, a pulsation damper, a viscous damper, and a damper rail. At least one. A photographing apparatus according to claim 50, wherein a distance from a center of gravity of said image forming means to a line of two pivot centers on said first vertical rod is said to be greater than or equal to -10 mm and less than or equal to 10 mm . A photographing apparatus according to claim 50, wherein a distance from a center of gravity of said image forming means to a line of two pivot centers on said first vertical rod is greater than or equal to -5 mm and less than or equal to 5 mm. The photographing apparatus according to claim 50, wherein a distance from a pulling point of the elastic member toward one end of the second vertical rod is offset from a line between two pivot centers on the second vertical rod The mark is greater than or equal to -2 mm and less than or equal to 0 mm. The photographing apparatus according to claim 50, wherein a distance from a pulling point of the elastic member toward one end of the second vertical rod is offset from a line between two pivot centers on the second vertical rod Greater than or equal to -0.6 mm and less than or equal to -0.2 mm. The photographing apparatus according to claim 50, wherein a distance from a pulling point of the elastic member toward one end of the second vertical rod is offset from a line between two pivot centers on the second vertical rod It is -0.4 mm. A photographing apparatus according to claim 50, wherein said pan-tilt means comprises an axial stabilizing mechanism, said axial stabilizing mechanism being connected to said image forming apparatus and said vertical stabilizing mechanism for Compensating for the axial jitter of the pan-tilt device. A photographing apparatus according to claim 71, wherein said axial stabilizing mechanism is a three-axis pan/tilt. A photographing apparatus according to claim 71, wherein said axial stabilizing mechanism comprises a first joint portion, and said first upright rod includes a second joint adapted to said first joint portion And the first joint portion of the second joint portion cooperates to realize mechanical connection and electrical connection between the axial stabilizing mechanism and the vertical stabilizing mechanism. A photographing apparatus according to claim 73, wherein said vertical stabilizing mechanism comprises a third joint portion connected to said second vertical rod, said second joint portion and said third joint portion Electrically connected to each other. A photographing apparatus according to claim 74, wherein said supporting means includes a fourth joint adapted to said third joint, said support means passing said fourth joint and said head The device and/or imaging device are electrically connected.

Images