CN213361689U

CN213361689U - Stabilizer device with front and rear compensation

Info

Publication number: CN213361689U
Application number: CN202021259320.6U
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-06-04
Anticipated expiration: 2030-06-30

Abstract

The utility model discloses a stabilizer device with front and back compensation, which comprises a holder, a frame and a front and back compensation motor, wherein the fixed end of the front and back compensation motor is connected with the frame, and the rotating end is connected with the holder; and the rotating end of the front and rear compensation motor is used for driving the cradle head to swing back and forth relative to the rack. The utility model discloses a stabilizer device of compensation around area, compensation motor realizes the compensation to user and cloud platform relative motion through the front and back, and compensation motor rotates around can active control again, makes the stabilizer device can use as the rocking arm.

Description

Stabilizer device with front and rear compensation

Technical Field

The utility model relates to a stabilizer especially relates to a stabilizer device of compensation around area.

Background

At present, in order to prevent shooting shake, many shooting devices are erected on a stabilizer for shooting, but when the stabilizer is used, the range of stable and compensation motion is limited due to the constraint of the volume of the stabilizer, the traditional stabilizer can only control a three-axis motor through a control system, so that a camera keeps stable in a space range surrounded by a motor shaft of the stabilizer, namely, the relative motion between the camera and the stabilizer is compensated or controlled, but the motion of a user in a moving shooting process cannot be compensated, for example, when shooting motion in a large space range, the camera can swing along with the large-amplitude front-back motion of a holding part, the traditional stabilizer cannot enable the camera to keep a certain point position in the space unchanged or move on a certain line, and the motion cannot be compensated or controlled by the existing stabilizer. The existing stabilizer can only control the camera to move in a space range limited by a motor shaft of the stabilizer, the range is very limited, shooting of a plurality of specific tracks cannot be met, the stabilizer is held by hands to move for shooting, the moving speed and the range of the hands are difficult to control, and the like, so that the shooting quality and the shooting effect are influenced. In the prior art, some vertical vibration reduction stabilizers exist, but the stabilizers can only compensate and control the motion in the vertical direction and cannot compensate and control the swing in the horizontal direction.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model provides a stabilizer device of compensation around area aims at solving current stabilizer and can't compensate, can't satisfy specific orbit shooting scheduling problem to the motion that removes the shooting in-process user.

The utility model discloses take following technical scheme to realize above-mentioned purpose:

a stabilizer device with front and back compensation comprises a holder, a rack and a front and back compensation motor, wherein the fixed end of the front and back compensation motor is connected with the rack, and the rotating end of the front and back compensation motor is connected with the holder; and the rotating end of the front and rear compensation motors is used for driving the holder to swing back and forth relative to the rack, so that the holder keeps a vertical posture or is controlled to rotate around a front and rear compensation motor shaft.

The working principle of the technical scheme is as follows: one end of the front and rear compensation motors is provided with a front and rear compensation motor control board, the other end of the front and rear compensation motors is provided with an annular magnet, the front and rear compensation motor control board is provided with a magnetic encoder, the magnetic encoder is matched with the annular magnet to detect the relative rotation angle of the two ends of the front and rear compensation motors, and the holder is provided with an IMU (also called an inertia measurement unit) which is in communication connection with the front and rear compensation motor control board and is used for measuring the three-axis attitude angle or angular rate and; the front and rear compensation motor control board sends the angle information of relative rotation of the two ends of the motor to the IMU module in real time, and the IMU module collects the attitude information of the holder in real time, namely the IMU module can acquire the angle data of the front and rear compensation motors and the attitude information of the holder; the IMU module stores angle information of two rotating ends of a front compensation motor and a rear compensation motor at initial moments (a rack and the cloud platform are in the vertical direction) and posture information of the cloud platform, controls the front compensation motor and the rear compensation motor to generate torque according to a selected working mode, and compensates the deviation of the front direction and the rear direction, so that the cloud platform is always kept in the vertical direction no matter how the rack swings in the front direction and the rear direction, namely the cloud platform is always kept in the vertical direction no matter how the hands of a user move in the front direction and the rear direction, and when shooting the camera moves in a large space range, the camera can be kept at a certain point in space and does not change or move along a certain line (on a movement track expected by the user), and meanwhile, the swing in the front direction and the rear direction; the method comprises the following working modes:

1. the IMU module reads angle information of a front compensation motor and a rear compensation motor and posture information of the cradle head in real time and compares the angle information with initial moment information to calculate a posture information deviation at the moment, and sends a control instruction to a front compensation motor control board and a rear compensation motor control board according to the deviation to control the front compensation motor and the rear compensation motor to generate torque so that the cradle head overcomes an inclination angle from the rack and always keeps the vertical posture of the cradle head.

2. The IMU module reads angle information of the front and back compensation motors and posture information of the cloud deck in real time and compares the angle information with initial moment information to calculate angle information deviation at the moment, and sends a control instruction to a front and back compensation motor control board according to the deviation to control the front and back compensation motors to generate torque so that the stabilizer moves back and forth along with the rack.

3. In the active control mode, a user can also actively control the rotation of the front and rear compensation motors to drive the tripod head to overturn around the motor axis of the front and rear compensation motors, so that the shooting requirements of more scenes are met.

In the technical scheme, the fixed ends of the front and rear compensation motors can be directly or indirectly fixedly connected with the rack; in the scheme of direct connection, the fixed ends of the front and rear compensation motors are directly and fixedly connected with the rack, in the scheme of indirect connection, the fixed ends of the front and rear compensation motors can be fixedly connected with the rack through a connecting rod, and the rotating ends of the front and rear compensation motors in the connection scheme can both drive the cradle head to swing back and forth relative to the rack.

The further technical scheme is that a frame of the rack is provided with a notch structure, and the fixed end of the front compensation motor and the fixed end of the rear compensation motor are fixedly connected with one end of the notch structure. The structure of the technical scheme can ensure that the gravity center of the cradle head is positioned in the space enclosed by the frame, reduce the load of the front and back compensation motors, and prolong the short endurance time and the service life.

The technical scheme includes that the novel tripod head further comprises a bearing and a connecting rod, the bearing comprises a first rotating portion and a second rotating portion which rotate relatively, the first rotating portion is fixedly connected with the other end of the notch structure, the second rotating portion is connected with the rotating end of the front compensation motor and the rear compensation motor through the connecting rod, and the tripod head is connected with the rotating end of the front compensation motor and the rear compensation motor through the connecting rod. According to the structure of the technical scheme, the rotating ends of the front and rear compensation motors are connected with the rack through the connecting rod and the bearing, so that the rotating ends and the fixed ends of the front and rear compensation motors are connected with the rack, and the stability of the stabilizer device is further improved.

The further technical scheme is that the holder comprises a course shaft motor, a roll shaft motor, a pitch shaft motor and a loading platform which are sequentially connected, wherein the fixed end of the course shaft motor is connected with the rotating end of the front compensation motor and the rotating end of the rear compensation motor, and the axis of the course shaft motor is perpendicular to the axis of the front compensation motor and the axis of the rear compensation motor.

The further technical scheme is that the holder further comprises a vertical vibration damping mechanism, the vertical vibration damping mechanism comprises a first end and a second end which move relatively in the vertical direction, wherein the first end is connected with the rotating end of the front and rear compensation motors, and the second end is connected with the fixed end of the course shaft motor. In the technical scheme, the fixed end of the course shaft motor is connected with the rotating end of the front and rear compensation motors through the vertical vibration reduction mechanism, so that the horizontal front and rear direction is compensated, the vertical up and down direction movement can be compensated, and more shooting scenes can be met.

The stabilizer device further comprises a counterweight mechanism, and the counterweight mechanism is fixedly connected with the holder; the gravity center of the holder and the gravity center of the counterweight mechanism are positioned at two sides of the axis of the front and rear compensation motors. The counterweight mechanism in the technical scheme can drive the pan-tilt to move by using smaller torque, so that the movement burden of the front compensation motor and the rear compensation motor is reduced.

The further technical scheme is that the cloud platform still includes the counter weight connecting rod, counter weight mechanism passes through counter weight connecting rod fixed connection with the cloud platform, the cloud platform passes through counter weight connecting rod and front and back compensation motor's rotation end fixed connection.

The further technical proposal is that the counterweight mechanism is connected with the counterweight connecting rod through a thread or a dovetail locking mechanism.

The further technical scheme is that the shape of the frame is one of annular or square.

The frame of the frame is also provided with a holding part and a control panel. The portion of gripping among this technical scheme is used for user's both hands to grip stabilizer device, and control panel can include but not limited to parts such as control button, display screen, and control button is used for compensation motor, cloud platform etc. around controlling, and the display screen is used for information such as compensation motor, cloud platform around showing.

The utility model has the advantages that:

the utility model provides a pair of stabilizer device of compensation around area, compensation to user and cloud platform relative motion's compensation is realized through compensation motor around, compensates the swing of horizontally fore-and-aft direction, and compensation motor rotates around can the active control again, makes the stabilizer device can use as the rocking arm.

Drawings

FIG. 1 is a diagram: a stabilizer device's stereogram around compensation in area.

FIG. 2 is a diagram of: a stabilizer device's swing back and forth schematic diagram of compensation around area.

FIG. 3 is a diagram of: vertical damping mechanism of stabilizer device of compensation is around taking and is exploded view.

FIG. 4 is a diagram of: stabilizer device schematic diagram with counter weight mechanism.

In the figure:

1. a holder; 101. a course shaft motor; 102. a transverse roller motor; 103. a pitch axis motor; 104. a loading platform; 111. a first connecting arm; 112. a second connecting arm; 113. a third connecting arm; 2. a frame; 21. a first end of a gap structure; 22. a second end of the notch structure; 23. a connecting rod; 24. a bearing; 3. a front and rear compensation motor; 31. the front and rear compensation motor fixing ends; 32. the rotating end of the front and rear compensation motors; 4. a vertical vibration reduction mechanism; 40. a mounting frame; 41. a housing; 42. a first rack; 43. a vertical compensation motor; 431. a motor shaft of the vertical compensation motor; 44. a first gear; 45. an elastic member; 46. a second gear; 47. a second rack; 471. a plate-shaped connecting member; 5. a counterweight connecting rod; 50. a top cover; 51. a balancing weight; 52. a first nut; 53. a second nut.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 4 and the following embodiments, wherein the connection relationships such as "connection", "fixed connection" and the like in the following embodiments include direct connection between components, indirect connection through rigid members such as "link", "U-link", "weight link" and the like, and the like.

The present embodiment provides a stabilizer device with front and back compensation, as shown in fig. 1 to 2, the stabilizer device includes a pan/tilt head 1, a frame 2 and a front and back compensation motor 3, wherein a front and back compensation motor fixing end 31 is connected with the frame 2, and a front and back compensation motor rotating end 32 is connected with the pan/tilt head 2; the front and back compensation motor rotating end 32 can drive the cloud deck 2 to swing back and forth relative to the frame, wherein the torque output by the front and back compensation motor 3 enables the cloud deck 1 to keep a vertical posture or controls the cloud deck 1 to rotate around a front and back compensation motor shaft;

in this embodiment, specifically, the pan-tilt 1 is a three-axis pan-tilt, and includes a heading axis motor 101, a roll axis motor 102, a pitch axis motor 103, and a load platform 104, where the motors each include a first end and a second end that rotate relatively, the second end of the heading axis motor 101 is connected to the first end of the roll axis motor 102 through a first connecting arm 111, the second end of the roll axis motor 102 is connected to the first end of the pitch axis motor 103 through a second connecting arm 112, the second end of the pitch axis motor 103 is connected to the load platform 104 through a third connecting arm 113, and the load platform 104 is used for loading a shooting device;

in this embodiment, the connection relationship between the cradle head 1, the front and rear compensation motors 3 and the frame 2 is that the frame 2 is a rectangular frame formed by splicing four frames, a notch structure is arranged in the middle of the upper end frame, the front and rear compensation motor fixing ends 31 are fixedly connected with the first end 21 of the notch structure, the second end 22 of the notch structure is provided with a bearing 24, the bearing 24 comprises a first rotating part and a second rotating part which rotate relatively, the first rotating part is fixedly connected with the notch structure, the two ends of the connecting rod 23 are respectively connected with the second rotating part of the bearing 24 and the rotating ends 32 of the front and rear compensation motors, and the front and rear compensation motors 3 and the bearing 24 are coaxially arranged; the axis of the front and back compensation motor 3 is parallel to the axis of the upper end frame of the frame 2, so the rotating end 32 of the front and back compensation motor can drive the holder 1 to swing back and forth relative to the frame 2; the first end of a course shaft motor 101 of the holder 1 is fixedly connected with the middle part of the connecting rod 23; the structure connects the rotating end 32 of the front and rear compensation motors with the frame 2 through the connecting rod 23 and the bearing 24, so that the rotating end and the fixed end of the front and rear compensation motors 3 are both connected with the frame 2, and the stability of the stabilizer device is further improved; the structure can also enable the gravity center of the holder to be positioned in the space enclosed by the frame of the rack at the initial moment (when the plane enclosed by the frame 2 is parallel to the vertical direction), reduce the load of the front and back compensation motors, and prolong the short endurance time and the service life;

the compensation principle of the front and rear compensation motors 3 is as follows: the fixed end 31 of the front and rear compensation motor is fixedly provided with a front and rear compensation motor control board, the front and rear compensation motor control board is provided with a magnetic encoder, the rotating end 32 of the front and rear compensation motor is fixedly provided with an annular magnet, the relative rotation angle of the annular magnet is measured through the magnetic encoder, and the fixed end of the course shaft motor 101 of the tripod head 1 is provided with an IMU module which is in communication connection with the front and rear compensation motor control board; the front and rear compensation motor control board sends the relative rotation angle of the two ends of the motor to the IMU module in real time, and the IMU module collects the attitude information of the holder in real time, namely the IMU module can acquire the angle data of the front and rear compensation motors and the attitude information of the holder in real time; the IMU module stores angle information of an initial moment (the rack and the holder are both in the vertical direction) and attitude information of the holder, controls the front and rear compensation motors 3 to generate torque according to a selected working mode, and compensates the deviation in the front and rear directions, so that the holder is always kept in the vertical direction no matter how the rack swings in the front and rear directions; the working modes mentioned in this embodiment include:

1. as shown in fig. 1, in the mode for walking and shooting, that is, when the frame forms an included angle with the vertical direction in the front-back direction (for example, the operation of the user's hand drives the frame to tilt back and forth), the IMU module reads the motor angle information of the front-back compensation motor 3 and the attitude information of the pan-tilt head in real time, compares the information with the initial time information, calculates the attitude information deviation at the moment, and sends a control instruction to the front-back compensation motor control board according to the deviation to control the front-back compensation motor to generate torque, so that the pan-tilt head overcomes the tilt angle from the frame 2 and always maintains the vertical attitude of the;

2. the IMU module reads the angle information of the front and back compensation motor 3 and the attitude information of the cradle head in real time and compares the angle information with the initial moment information to calculate the angle information deviation at the moment, and sends a control instruction to the front and back compensation motor control board according to the deviation to control the front and back compensation motor 3 to generate torque so that the stabilizer moves back and forth along with the rack;

3. a user can also actively control the rotation of the front and rear compensation motors, a direction control rocker is also arranged on the rack 2, the user pulls the direction control rocker forwards and backwards, a rack mainboard detects an electric signal transmitted by the rocker, analyzes the corresponding rotation direction at the moment according to the change of the electric signal, sends the rotation direction information to the IMU module, and the IMU module sends a control instruction to a front and rear compensation motor control panel to control the front and rear compensation motors 3 to move forwards and backwards;

the stabilizer device of the embodiment can compensate the unexpected relative movement between the hand and the pan-tilt caused by the back-and-forth movement of the body, and can also drive the pan-tilt 1 to turn around the motor shaft of the front-and-back compensation motor 3 by actively controlling the rotation of the front-and-back compensation motor 3, so as to meet the requirement of shooting at any point on the turning track, so that the stabilizer device has the function of an electric rocker arm, wherein the principle of actively controlling the front-and-back compensation motor 3 is the same as that of the pan-tilt control three-axis motor in the prior art, and the details are not repeated herein;

in this embodiment, specific conductive circuits and communication circuits can be inserted through the rack 2 and the hollow structures inside the pan/tilt head 1, and the power supply can be installed inside the pan/tilt head 1 or on the rack 2 according to a specific manufacturing model; the cradle head 2 and the control panel of the front and back compensation motor 3 are arranged on the rack 2, so that a user can conveniently operate and control the rack 2 when holding the rack, and the components can be operated and controlled by a remote controller connected in a wireless connection mode such as Bluetooth, WIFI (wireless fidelity) and the like; the control panel comprises a control button and a display screen, the control button is used for controlling the front compensation motor, the rear compensation motor, the cradle head and the like, and the display screen is used for displaying running data information of the front compensation motor, the rear compensation motor, the cradle head and the like.

The above embodiments exemplarily show the specific scheme of the three-axis pan-tilt, and according to other embodiments and practical applications, a two-axis or single-axis pan-tilt may be substituted, for example, a two-axis pan-tilt including only two of the heading axis, the roll axis, and the pitch axis motor, or a single-axis pan-tilt including only one of the heading axis, the roll axis, and the pitch axis motor, etc.

The above embodiment exemplarily shows a specific scheme that a top frame of the frame 2 is provided with a notch structure and a bearing, according to other embodiments and practical applications, the connection relationship between the pan/tilt head 1, the frame 2 and the front/back compensation motor 3 can be replaced by other structures, for example, the front/back compensation motor fixing end 31 is directly and fixedly connected with the top frame of the frame 2, the axis of the front/back compensation motor 3 is parallel to the plane enclosed by the frame 2, the pan/tilt head 1 can also be driven to swing back and forth relative to the frame 2, and the first end of the course shaft motor 101 of the pan/tilt head 1 is directly and fixedly connected with the front/back compensation motor rotating end 32; or the front and rear compensation motor fixing end 31 is directly connected with the notch structure first end 21 and the notch structure second end 22, and the front and rear compensation motor rotating end 32 is fixedly connected with the first end of the course shaft motor 101 of the pan/tilt head 1, which can also realize the above functions.

While the above embodiments exemplarily show the specific case that the frame 2 is rectangular, according to other embodiments and practical applications, the shape of the frame may also be a ring shape or a shape suitable for being held by both hands of a user, or a shape suitable for being held by one hand of a user, such as: the frame 2 is shaped like a Chinese character '7', and the front and rear compensation motor fixing ends 31 are fixedly connected with the upper frame end part of the frame 2 shaped like the Chinese character '7'.

In another embodiment, on the basis of the above embodiment, the pan/tilt head 1 further includes a vertical vibration damping mechanism 4 and a counterweight connecting rod 5, the vertical vibration damping mechanism 4 includes a first end and a second end which move relatively in the vertical direction, wherein the first end is connected with the rotating end of the front and rear compensation motor, the second end is connected with the fixed end of the course shaft motor, and the counterweight connecting rod 5 is fixedly connected with the first end of the vertical vibration damping mechanism 4 and extends in the direction far away from the second end of the vertical vibration damping mechanism 4, so as to fix the following elastic member 45; specifically, the vertical vibration damping mechanism 4 includes a housing 41, an elastic member 45, a gear/rack kinematic pair, and a vertical compensation motor 43, wherein the gear includes a first gear 44 and a second gear 46 with different outer diameters, the rack includes a first rack 42 matched with the first gear 44 and a second rack 47 matched with the second gear 46, the first gear 44 and the second gear 46 are coaxially and fixedly arranged on a motor shaft 431 of the vertical compensation motor, a fixed end of the vertical compensation motor 43 is fixedly connected with the housing 41 through an installation frame 40, the first rack 42 and the second rack 47 are respectively vertically and slidably connected with the housing 41, one end of the first rack 42 is positioned inside the housing 41 and engaged with the first gear 44, and the other end is positioned outside the housing 41 and connected with the fixed end of the pan/tilt head 1 axis motor 101; the second rack 47 is engaged with the second gear 46, and an elastic member 45, specifically a tension spring, is connected between one end of the second rack and the inner wall of the housing 41, as shown in fig. 3, the tension spring is connected with the upper wall of the housing 41 (the end of the counterweight connecting rod 5 fixedly connected with the housing on the left side in fig. 3), and the specific connection structure of the tension spring is as follows: a plate-shaped connecting member 471 connected with one end of the tension spring is arranged at the bottom end (right end in fig. 3) of the second rack 47, the top cover 50 of the counterweight connecting rod 5 is connected with the other end of the tension spring, the elastic force of the tension spring can apply an upward acting force to the second rack 47, and because the second rack 47 is meshed with the second gear 46, the second gear 46 can apply a clockwise torque to the motor shaft 431 of the vertical compensation motor, so that the first rack 42 (i.e. the pan/tilt head 1) obtains the upward acting force, the first end and the second end of the relative movement in the present embodiment are the housing 41 and the first rack 42, respectively, i.e. the housing 41 is connected with the front and rear compensation motor rotating end 32 (the housing 41 is connected with the front and rear compensation motor rotating end 32 through the connecting rod 23), and the first rack 42 is connected with the fixed end of the course shaft motor 101 of the.

When the vertical vibration reduction mechanism 4 of the embodiment is not subjected to vertical vibration, the cradle head 1 can form a suspension effect due to the gravity compensation or gravity balance effect of the tension spring on the cradle head 1; when the vertical vibration reduction mechanism is subjected to vertical vibration (for example, motion shooting of a user), the heave motion from the body can cause the cradle head 1 to generate unexpected relative movement in the vertical direction relative to the housing 41 by means of the hand of the user, the vertical motion transmitted to the cradle head 1 by the housing 41 is changed into rotation of a motor shaft 431 of the vertical compensation motor at a certain angle under the action of a gear/rack kinematic pair, and the cradle head 1 is kept at the original horizontal height; since the diameter of the first gear 44 is much larger than that of the second gear 46, it means that when the first rack 42 moves a certain distance in the vertical direction, the distance that the second rack 47 displaces will be much smaller than the moving distance of the first rack 42, for example, when the diameter of the first gear is 4 times the diameter of the second gear, every time the first rack 42 moves 1 mm, the second rack 47 should only move 0.25 mm, which causes the stretching amount of the tension spring to be correspondingly small, so that the change of the supporting force provided by the tension spring in the whole vertical vibration motion process is small, the gravity of the pan/tilt head 1 is balanced by the basically constant force, which makes the pan/tilt head 1 quickly return to the "suspended" state, thereby causing no substantial influence on the image quality of the shot, and making the shot picture stable and clear. Therefore, the structure of the vertical vibration damping mechanism is added in the embodiment, the fixed end of the course shaft motor 101 is connected with the rotating end 32 of the front and rear compensation motor through the vertical vibration damping mechanism 4, the horizontal front and rear direction is compensated, the vertical up and down direction movement can be compensated, and more shooting scenes can be met; in addition, in the present embodiment, the IMU module in the above embodiments may also be fixedly arranged inside the vertical compensation motor 43.

In other embodiments or practical applications, the vertical compensation motor 43 of the above embodiments may also be replaced by a vertical compensation bearing, an inner ring of the bearing is fixedly connected to a rotating shaft, and the first gear 44 and the second gear 46 are coaxially and fixedly disposed on an outer ring of the rotating shaft, so that the compensation in the vertical direction can be realized in the same way; the force transmission components of the specific vertical damping mechanism in the above embodiments may also be replaced with other structures, for example: fix the rotation axis on casing 41, through the rotatory drive wheel of rotation axis, with drive wheel fixed connection's involute wheel, elastic component one end is fixed in the frame, and the other end is through a linear member wire-wound on involute wheel, through the cooperation of involute wheel and elastic component, can acquire constant moment, and the vertical upward displacement of initiative, quick compensation when can realizing vertical vibration in the same way.

In another embodiment, on the basis of the above embodiment, as shown in fig. 4, one end of the counterweight connecting rod 5 is connected to one end of the vertical vibration damping mechanism 4 away from the heading axis motor 101, the other end of the counterweight connecting rod 5 is provided with a counterweight mechanism, the counterweight mechanism includes a counterweight block 51, the counterweight block 51 and the pan/tilt head 1 are respectively located at two opposite sides of the motor axis of the front and rear compensation motor 3, so that the axis of the front and rear compensation motor 3 is located between the gravity center of the pan/tilt head 1 and the gravity center of the counterweight mechanism; in this embodiment, the counterweight mechanism includes a counterweight block 51 sleeved on the outer ring of the counterweight connecting rod 5, and a first nut 52 and a second nut 53 located at the upper end and the lower end of the counterweight block 51, where the first nut 52 and the second nut 53 are in threaded connection with the counterweight connecting rod 5 and used for fixing the position of the counterweight block 51 on the counterweight connecting rod. The counterweight mechanism in the embodiment can drive the pan-tilt to move by utilizing the smaller torque of the front and rear compensation motors 3, so that the movement burden of the front and rear compensation motors 3 is reduced.

In this embodiment, the user can also drive the pan/tilt head 1 to swing around the motor shaft of the front and rear compensation motors by actively controlling the front and rear compensation motors 3, so that the pan/tilt head 1 can be accurately stopped at any position on the swing track for shooting, and the pan/tilt head can also be suitable for scenes shot in special tracks, so as to use the stabilizer device as a rocker arm.

In other embodiments or practical applications, the counterweight mechanism only includes the counterweight block 51, and the counterweight block may be directly connected with the counterweight connecting rod 5 by a screw thread, or connected with the counterweight connecting rod 5 by a dovetail locking mechanism, a buckle, or the like. In another embodiment, the stabilizer device does not include a vertical vibration damping mechanism, one end of the counterweight connecting rod 5 is directly connected with the fixed end of the heading axis motor 101 of the pan/tilt head 1, the other end of the counterweight connecting rod is connected with the counterweight block 51, and the axis of the front and rear compensation motor 3 is located between the counterweight block 51 and the pan/tilt head 1.

The foregoing embodiment exemplarily shows that the counterweight block 51 is fixedly connected to the pan/tilt head 1 through the counterweight connecting rod 5, in other embodiments or practical applications, the counterweight mechanism (counterweight block 51) may also be directly and fixedly connected to the pan/tilt head 1, taking the foregoing embodiment as an example, the counterweight block 51 is directly and fixedly connected to the fixed end of the heading axis motor 101 of the pan/tilt head 1, the pan/tilt head 1 is directly and fixedly connected to the rotating end 32 of the front/rear compensation motor, and the axis of the front/rear compensation motor 3 is located between the center of gravity of the pan/tilt head 1 and the center of gravity of the counterweight mechanism, and the.

The utility model provides a stabilizer device of compensation around taking, compensation motor 3 realizes compensating user and 1 relative motion of cloud platform through the front and back, compensates the fore-and-aft direction motion of horizontally, and compensation motor 3 rotates around can the active control again, makes the stabilizer device can use as the rocking arm.

Claims

1. A stabilizer device with front and back compensation is characterized by comprising a holder, a rack and a front and back compensation motor, wherein the fixed end of the front and back compensation motor is connected with the rack, and the rotating end of the front and back compensation motor is connected with the holder; and the rotating end of the front and rear compensation motors is used for driving the holder to swing back and forth relative to the rack, so that the holder keeps a vertical posture or is controlled to rotate around a front and rear compensation motor shaft.

2. The stabilizer device with front and back compensation of claim 1, wherein the frame has a notch structure, and the fixed end of the front and back compensation motor is fixedly connected with one end of the notch structure.

3. The stabilizer device with front and back compensation of claim 2, further comprising a bearing and a connecting rod, wherein the bearing comprises a first rotating portion and a second rotating portion which rotate relatively, the first rotating portion is fixedly connected with the other end of the notch structure, the second rotating portion is connected with the rotating end of the front and back compensation motor through the connecting rod, and the holder is connected with the rotating end of the front and back compensation motor through the connecting rod.

4. The stabilizer device with the front-back compensation function according to claim 1, wherein the holder comprises a course shaft motor, a roll shaft motor, a pitch shaft motor and a loading platform which are sequentially connected, a fixed end of the course shaft motor is connected with a rotating end of the front-back compensation motor, and the axis of the course shaft motor is perpendicular to the axis of the front-back compensation motor.

5. The stabilizer device with front and back compensation of claim 4, wherein the pan/tilt head further comprises a vertical vibration reduction mechanism, the vertical vibration reduction mechanism comprises a first end and a second end which move relatively in a vertical direction, wherein the first end is connected with a rotating end of the front and back compensation motor, and the second end is connected with a fixed end of the course shaft motor.

6. The stabilizer device with the fore-and-aft compensation function according to claim 1, further comprising a counterweight mechanism, wherein the counterweight mechanism is fixedly connected with the holder; the gravity center of the holder and the gravity center of the counterweight mechanism are positioned at two sides of the axis of the front and rear compensation motors.

7. The stabilizer device with front and rear compensation of claim 6, wherein the cradle head further comprises a counterweight connecting rod, the counterweight mechanism is fixedly connected with the cradle head through the counterweight connecting rod, and the cradle head is fixedly connected with the rotating end of the front and rear compensation motor through the counterweight connecting rod.

8. A stabilizer device with fore-aft compensation according to claim 7, characterized in that the counterweight mechanism is connected with the counterweight connecting rod through a thread or a dovetail locking mechanism.

9. A stabilizer device with fore-aft compensation according to claim 1, characterized in that the shape of the frame is one of annular or square.

10. The stabilizer device with front-back compensation of claim 1, wherein the frame of the rack is further provided with a holding part and a control panel.