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WO2017132813A1 - Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue. - Google Patents

Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue. Download PDF

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Publication number
WO2017132813A1
WO2017132813A1 PCT/CN2016/073112 CN2016073112W WO2017132813A1 WO 2017132813 A1 WO2017132813 A1 WO 2017132813A1 CN 2016073112 W CN2016073112 W CN 2016073112W WO 2017132813 A1 WO2017132813 A1 WO 2017132813A1
Authority
WO
WIPO (PCT)
Prior art keywords
vertical
rod
elastic member
adjusting
pan
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/073112
Other languages
English (en)
Chinese (zh)
Inventor
尹承禹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201680006911.2A priority Critical patent/CN107278246B/zh
Priority to CN202010039344.9A priority patent/CN111076044A/zh
Priority to PCT/CN2016/073112 priority patent/WO2017132813A1/fr
Publication of WO2017132813A1 publication Critical patent/WO2017132813A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Definitions

  • 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.
  • the pan/tilt device generally has a rotation direction stabilization function for the shooting device.
  • 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.
  • 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.
  • 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.
  • one end of the elastic member is connected to the first crossbar through a first connecting member.
  • first connecting member is a pivoting member rotatable relative to the first crossbar
  • the first connecting member is integrally formed on the first crossbar; or
  • the first connecting member is fixedly coupled to the first crossbar.
  • 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.
  • the elastic member is a coil spring.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first connecting portion and the second connecting portion can be relatively fixed.
  • 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.
  • the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • one end of the elastic member is connected to the first crossbar through a first connecting member.
  • first connecting member is a pivoting member rotatable relative to the first crossbar
  • the first connecting member is integrally formed on the first crossbar; or
  • the first connecting member is fixedly coupled to the first crossbar.
  • 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.
  • the elastic member is a coil spring.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first connecting portion and the second connecting portion can be relatively fixed.
  • 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.
  • the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the axial stabilizing mechanism includes a first joint portion
  • the first vertical rod includes a second joint portion adapted to the first joint portion
  • 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 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.
  • 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.
  • 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;
  • the first connecting member is integrally formed on the first crossbar; or
  • the first connecting member is fixedly coupled to the first crossbar.
  • 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.
  • the elastic member is a coil spring.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first connecting portion and the second connecting portion can be relatively fixed.
  • 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.
  • the vertical stabilizing mechanism further includes a damper member coupled between adjacent two sides of the frame.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the axial stabilization mechanism is a three-axis pan/tilt.
  • the axial stabilizing mechanism includes a first joint portion
  • the first vertical rod includes a second joint portion adapted to the first joint portion
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a perspective view of a photographing apparatus according to a first embodiment of the present invention.
  • FIG. 2 is a partial cross-sectional view of another angle of the photographing apparatus of FIG. 1.
  • FIG. 3 is a schematic view of the photographing apparatus of FIG. 1 in another state.
  • FIG. 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.
  • FIG. 1 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 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.
  • 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.
  • the first shaft driving unit 211, the second shaft driving unit 213, and the third shaft driving unit 215 are brushless motors.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.).
  • 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.
  • 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.
  • 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.
  • 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 weight of the device 20 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.
  • one end of the elastic member 225 is connected to the first cross bar 223 through the first connecting member 226.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the fixed connection angle can also be adjusted between the first connecting portion 2281 and the second connecting portion 2282 by other matching methods.
  • the structure in which the first connecting portion 2281 and the second connecting portion 2282 are rotatably coupled to each other may be interchanged.
  • the first connecting portion 2281 defines a receiving portion
  • 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.
  • 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.
  • 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.
  • 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.
  • the third joint portion 2282c has a similar structure to the first joint portion 210.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the supporting device 30 is in a vertical state.
  • 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.
  • 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.
  • 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.
  • the test parameters will be specifically described.
  • 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,
  • 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.
  • FIG. 5 a graph showing the relationship between the supporting force of the vertical stabilizing mechanism 22 and the load height h is shown.
  • 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.
  • 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.
  • the distance e is greater than or equal to -2 mm and less than or equal to 0 mm.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un mécanisme de stabilisation vertical (22) utilisé pour supporter une charge (10). Le mécanisme de stabilisation vertical (22) comprend des cadres en forme de parallélogramme (221, 222, 223, 224) et une pièce élastique (225). Les bords adjacents des cadres (221, 222, 223, 224) sont connectés de manière pivotante de telle sorte que les angles inclus entre les bords adjacents puissent varier. Deux extrémités de la pièce élastique (225) sont connectées à deux des bords adjacents des cadres (222, 223), respectivement. Les cadres (221, 222, 223, 224) supportent la charge (10) et équilibrent la force gravitationnelle de la charge (10) par la force élastique de la pièce élastique (225). L'invention concerne en outre un dispositif de tête de trépied (20) et un équipement de prise de vue (100).
PCT/CN2016/073112 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue. Ceased WO2017132813A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680006911.2A CN107278246B (zh) 2016-02-01 2016-02-01 竖向增稳机构、云台装置及拍摄设备
CN202010039344.9A CN111076044A (zh) 2016-02-01 2016-02-01 竖向增稳机构、云台装置及拍摄设备
PCT/CN2016/073112 WO2017132813A1 (fr) 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/073112 WO2017132813A1 (fr) 2016-02-01 2016-02-01 Mécanisme de stabilisation vertical, dispositif de tête de trépied et équipement de prise de vue.

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WO2017132813A1 true WO2017132813A1 (fr) 2017-08-10

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WO (1) WO2017132813A1 (fr)

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CN113294671A (zh) * 2018-03-23 2021-08-24 深圳市大疆创新科技有限公司 竖向增稳机构
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US11603959B2 (en) 2018-03-23 2023-03-14 SZ DJI Technology Co., Ltd. Load-stabilizing apparatus
US12146609B2 (en) 2018-03-23 2024-11-19 SZ DJI Technology Co., Ltd. Load-stabilizing apparatus
CN110325822A (zh) * 2018-04-25 2019-10-11 深圳市大疆创新科技有限公司 云台位姿修正方法和装置
US12345370B1 (en) 2018-04-25 2025-07-01 SZ DJI Technology Co., Ltd. Gimbal pose correction method and device
US11402056B2 (en) * 2018-07-13 2022-08-02 Guilin Zhishen Information Technology Co., Ltd. Frame assembly for stabilizer, and stabilizer
US20240218969A1 (en) * 2018-07-13 2024-07-04 Guilin Zhishen Information Tech Co Ltd Frame assembly for stabilizer, and stabilizer
CN111678469A (zh) * 2020-05-27 2020-09-18 成都齐友科技有限公司 一种定位测量支架
CN112253973A (zh) * 2020-11-11 2021-01-22 河南科技大学第一附属医院 一种医用内窥镜固定支架装置
CN113090879A (zh) * 2021-03-17 2021-07-09 桂林智神信息技术股份有限公司 一种手持式稳定器
CN113264197A (zh) * 2021-06-04 2021-08-17 深圳市道通智能航空技术股份有限公司 拍摄装置支架、拍摄装置及无人机

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