WO2021169778A1 - Stabilizing handheld frame and handheld photography apparatus - Google Patents

Stabilizing handheld frame and handheld photography apparatus Download PDF

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Publication number
WO2021169778A1
WO2021169778A1 PCT/CN2021/075719 CN2021075719W WO2021169778A1 WO 2021169778 A1 WO2021169778 A1 WO 2021169778A1 CN 2021075719 W CN2021075719 W CN 2021075719W WO 2021169778 A1 WO2021169778 A1 WO 2021169778A1
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WO
WIPO (PCT)
Prior art keywords
vertical
stabilization
motor
load
stabilization device
Prior art date
Application number
PCT/CN2021/075719
Other languages
French (fr)
Chinese (zh)
Inventor
韦琪
徐紫阳
唐昌辉
叶梓龙
谭金龙
苏晓
Original Assignee
桂林智神信息技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010133474.9A external-priority patent/CN113323981B/en
Priority claimed from CN202010623457.3A external-priority patent/CN112145881B/en
Priority claimed from CN202010623366.XA external-priority patent/CN112161181B/en
Priority claimed from CN202010623456.9A external-priority patent/CN111609281B/en
Priority claimed from CN202010618144.9A external-priority patent/CN111779961B/en
Priority claimed from CN202010618145.3A external-priority patent/CN112145941B/en
Application filed by 桂林智神信息技术股份有限公司 filed Critical 桂林智神信息技术股份有限公司
Publication of WO2021169778A1 publication Critical patent/WO2021169778A1/en

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    • 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

Definitions

  • the invention relates to the technical field of mechanical anti-shake or position control of photographing and shooting devices, in particular to a stabilized hand-held frame and hand-held photographing equipment.
  • the common handheld stabilization equipment on the market is a handheld three-axis stabilizer, which will include three axes (pitch axis, roll axis, and yaw axis), so that the camera device mounted on it can be pitched and taken during shooting. Compensation for jitter in heading and roll directions. Due to the limited volume of the existing handheld three-axis stabilizer and the angular limit on the rotational movement of each axis, the scope of stabilization compensation for the mounted shooting equipment is also limited.
  • handheld stabilization equipment can provide reliable stabilization effects during large movements.
  • low-angle shooting methods such as overhead or overhead shooting.
  • the existing handheld three-axis stabilizer is limited by the mechanical structure. , Can not achieve the ideal stabilization effect, affect the shooting.
  • the cameraman uses hand-cranked equipment (such as a rocker arm, etc.) to carry the camera during shooting so as to form smooth motion in the space, and can tilt and tilt the camera. Turn to the operation to form a dynamic TV picture.
  • hand-cranked equipment such as a rocker arm, etc.
  • the photographer needs to use both hands to pan and tilt the arm body horizontally, and use the remote control handle to perform operations such as horizontal tilt, steering, and focus and zoom of the camera.
  • the quality of the captured image is completely dependent on the camera.
  • the image quality of manual shooting will inevitably be affected by the photographer's body shake, especially because the rocker itself does not have the function of vertical shock absorption, which makes the vertical shake caused by body walking during sports shooting. It will inevitably be delivered to the camera, which cannot meet the actual needs of application scenarios that require high image quality of the shooting picture.
  • the traditional manual operation has been difficult to meet the shooting requirements that require complex shooting trajectories and high shooting quality.
  • the purchase cost of hand-cranked equipment is very high, which is difficult for ordinary consumers to bear.
  • shooting devices including video cameras or cameras often need to perform mobile video recording.
  • Mobile cameras or video cameras generally need to have high stability in the vertical direction to obtain smooth and high-quality shooting images.
  • the camera often needs to move horizontally, and when carrying or holding the camera for mobile photography, the smoothness and uniform speed of the movement are poor, which will cause the camera lens to shake and shake significantly, which gives the photographic effect. Brought obvious adverse effects.
  • various auxiliary shooting devices have been developed to help photographers or users stabilize the shooting device during sports photography.
  • the handheld stabilizer is equipped with electronic stabilization capability. It uses an inertial measurement unit such as an inertial measurement unit to detect the camera's posture, and then calculates the amount of shake based on the camera's target posture and actual posture.
  • the motor is used for feedback compensation to eliminate the calculated amount of shake to achieve electrical Control and stabilization effect.
  • the advantage of the handheld stabilizer is that it has strong stabilization ability, can compensate for small jitter, and has strong resistance to external disturbance.
  • the stabilization ability has little to do with the accuracy of equipment debugging and the photographer's operation.
  • the current handheld stabilizer is restricted by its own volume, and the range of stabilization and compensation movement is relatively limited. When it cannot be operated without human hands, the three-axis stabilizer can only control the movement of the camera in the space limited by the three motor shafts of the stabilizer, and the range is limited, which is not enough for shooting many specific trajectories.
  • the present invention aims to provide a stabilized hand-held frame that can at least partially solve the above-mentioned shortcomings of the prior art. It further relates to a handheld photographic equipment with the stabilized handheld frame.
  • a stabilized hand-held rack for carrying load equipment which includes: a first pipe body portion and a second pipe body portion arranged opposite to each other along a transverse axis; a connecting rod, which It includes a mounting seat that defines a longitudinal axis and a pair of connecting arms extending from opposite sides of the mounting seat and capable of being connected to the first tube body and the second tube body, wherein the longitudinal axis is connected to the The transverse axes are orthogonal to each other; at least one stabilization motor includes a motor housing and a motor rotor capable of pivoting about a pivot axis relative to the motor housing, wherein the at least one stabilization motor connects the connection The connecting arm of the rod is connected to the first pipe body and/or is connected to the mounting seat of the connecting rod; at least one angle sensor arranged on the motor rotor of at least one stabilization motor, which is used to obtain the motor Rotation angle information of the rotor; and a controller configured to control the movement
  • the longitudinal and/or lateral stabilization motors and sensors are arranged on the stabilization handheld frame of the present invention, and the controller can generate control commands based on the rotation angle information obtained by the angle sensor. Control the longitudinal and/or lateral stabilization motor to drive the load equipment to move, so that the load equipment maintains a certain posture within a certain range, so that the load equipment can maintain a better working condition.
  • the stabilized handheld rack can reliably allow the load equipment to increase the reliable stability effect within a large range of motion.
  • the stabilized rack is easy to install and debug, and is convenient for the user to hold, which is beneficial to improve user experience.
  • the at least one stabilization motor includes a longitudinal stabilization motor and/or a lateral stabilization motor
  • the longitudinal stabilization motor includes a longitudinal motor housing connected to the first pipe body And a longitudinal motor rotor connected to a connecting arm that can pivot about a transverse axis relative to the longitudinal motor housing
  • the transverse stabilization motor includes a transverse motor housing connected to a mounting seat of the connecting rod And a transverse motor rotor capable of pivoting about a longitudinal axis relative to the transverse motor housing, wherein a load device can be fixedly connected to the transverse motor rotor.
  • it further includes an attitude sensor that can be attached to the load device, and the attitude sensor is used to obtain the attitude information of the load device; wherein the controller is based on the rotation of the at least one angle sensor.
  • the angle information and the posture information of the posture sensor are used to close-loop control the action of at least one stabilization motor to keep the load device in a vertical posture.
  • a handheld photographing equipment which is configured to allow assisted shooting of a load, which includes the stabilized handheld frame according to the present invention and a load device that is leveled at the center of gravity.
  • a vertical stabilization device driven by at least one stabilization motor is used to allow the vertical stabilization device to be maintained in a vertical posture by pivoting of the at least one stabilization motor.
  • the vertical stabilization device includes: a housing fixedly connected to the stabilization handheld frame; The balance wheel in the housing; the support rod that can be vertically connected to the load, which is configured to be operatively connected with the balance wheel; the elastic member connected to the balance wheel, wherein the support rod is supported by the elastic force of the elastic member The load and balance the gravity of the load; an attitude sensor arranged at the end of the supporting rod, which is used to obtain the attitude information of the vertical stabilization device in space; and the vertical stabilization that is operatively connected to the balance wheel A motor, wherein when the vertical stabilization motor drives the balance wheel to rotate, the support rod is driven to move vertically relative to the housing of the vertical stabilization device to vertically stabilise the load.
  • the vertical stabilization device is configured to be able to operate in a stabilization mode or a locking mode, wherein in the stabilization mode, the support rod can be relative to the vertical stabilization
  • the housing of the device moves to stabilize the load vertically.
  • the support rod In the locking mode, the support rod is locked with a certain length relative to the housing of the vertical stabilization device, wherein the controller is It is configured to control the action of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information from the attitude sensor when the vertical stabilization device is in the stabilization mode to keep the vertical stabilization device and the load in the vertical State, or when the vertical stabilization device is in the locked mode, the action of the longitudinal stabilization motor and/or the lateral roll stabilization motor is controlled based on the posture information from the posture sensor to allow the load to be determined in space Trajectory movement.
  • the controller is configured to control the action of at least one stabilization motor based on the posture information from the posture sensor to stabilize the vertical stabilization device and the load into a vertical posture and control
  • the vertical stabilization motor operates to keep the load at a certain vertical height during the stabilization period.
  • the balance wheel is a balance synchronization wheel integrally formed with the rotor of the vertical stabilization motor, which is respectively connected to the opposite two of the support rod via two timing belts arranged along its outer circumference. The end drives the support rod to move in rotation.
  • it further includes a coil spring box integrally formed with the balance synchronization wheel, wherein the elastic member is a coil with one end fixedly connected to the coil spring box and arranged in the coil spring box.
  • a spring wherein the other end of the coil spring is fixedly connected to a rotating shaft that can be adjusted relative to the housing, so that it can be wound or unwinded with the rotation of the coil spring box.
  • the balance wheel is a balance gear that meshes and drives with the support rod
  • the elastic member is a coil spring coaxially arranged on the pivot shaft of the balance gear, wherein the coil spring One end is fixedly connected to the coil spring box which can be adjusted relative to the casing, and the other end is fixedly connected to the pivot shaft so as to be able to wind or unwind with the rotation of the pivot shaft.
  • it further includes a plurality of straight guide rails respectively fixedly connected to the support rod from different sides of the support rod, so as to guide the support rod to move in a linear direction relative to the housing.
  • the vertical stabilization device further includes a quick release locking mechanism connected to the end of the support rod for engaging the load, wherein the quick release locking mechanism includes: A pair of sliding grooves that are slidingly fitted with the load; a fastening member, which can move relative to a pair of sliding grooves between a compression position and an unscrewing position, and can abut the load at the compression position to lock it In place.
  • the vertical stabilization device includes: a housing; a variable speed balance mechanism arranged in the housing in a manner capable of pivoting about a pivot axis; a supporting mechanism for vertically supporting the load, which It is configured to be operatively connected with the shift balance mechanism at a first distance from the pivot axis on one side of the shift balance mechanism, so as to transmit gravity from the load to apply a first rotation direction to the shift balance mechanism in the first rotation direction.
  • the shift balance mechanism applies a second torque in a second rotation direction opposite to the first rotation direction, and the force generation mechanism is fixedly connected to the housing with one end thereof; wherein the load is subjected to vertical vibration and is in a different vertical direction.
  • the shift balance mechanism is configured to allow the force generation mechanism to balance the gravity of the load with a substantially constant force.
  • the gear shift balance mechanism includes: a pivot shaft pivotally arranged in the housing; a coaxially arranged first gear with a larger outer diameter and/or modulus and a first gear with a smaller And/or the second gear; wherein the supporting mechanism includes a first rack meshed with the first gear, the force generating mechanism further includes a second rack meshed with the second gear, wherein the The first rack and the second rack are arranged on the same side.
  • the force generating mechanism further includes: an elastic member that can be stretched or retracted in a linear direction, one end of the elastic member is operably connected to the housing; an adapter, the adapter One end of the member is operatively connected to the elastic member and the opposite end is operatively connected to the second rack to allow the elastic member and the second rack to be arranged adjacent to each other substantially in parallel.
  • an adjusting mechanism for adjusting the pretension of the elastic member which includes: an adjusting member threadedly connected to the housing and operatively connected to one end of the elastic member, wherein The adjusting member is screwed in or out of the housing to adjust the pre-tightening force of the elastic member.
  • Figure 1 shows a three-dimensional view of a two-way stabilization hand-held frame according to the present invention
  • Figure 2 shows an exploded view of the two-way stabilization hand-held rack according to the present invention
  • Figures 3-15 show views of various vertical stabilization devices according to the present invention.
  • Figure 16 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device according to the present invention
  • Figure 17 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention
  • Figure 18 shows a rear view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
  • FIG. 19 shows a side view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
  • Figures 20-21 show a front view and a front view of the locking mechanism according to the present invention.
  • Figure 22 shows a rear view of the multifunctional handheld photographic equipment in Figure 19 with a counterweight
  • Figure 23-24 shows a side view and a top view of a multifunctional handheld camera with a load carrying out space movement
  • Figure 25 shows a side view of the multifunctional handheld camera in Figure 22;
  • Figure 26 shows a front view of a handheld photographic equipment equipped with a three-axis stabilizer according to the present invention, which schematically shows the length compensation when the frame and the vertical direction produce different angles;
  • Figure 27 shows an exploded view of another vertical stabilization device according to the present invention, with some parts removed to better show the internal structure of the device;
  • Figure 28 shows a front view of the vertical stabilization device according to Figure 27;
  • Figure 29 shows a front view of a longitudinally stabilized handheld frame according to the present invention.
  • Figure 30 shows an exploded view of a longitudinally stabilized handheld frame according to the present invention
  • Figure 31 shows a side view of a handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the longitudinal stabilization frame has a different angle with the vertical direction;
  • Figure 32 shows a perspective view of a laterally stabilizing handheld frame according to the present invention
  • Figure 33 shows an exploded view of a laterally stabilized handheld frame according to the present invention.
  • Fig. 34 shows a rear view of the handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the lateral stabilization frame has a different angle with the horizontal direction.
  • Fig. 35 shows a top view of a handheld photographic equipment with a three-axis stabilizer according to the present invention.
  • Longitudinal stabilization motor 131 Longitudinal motor stator 132. Longitudinal motor rotor
  • Transverse motor rotor 20 The Transverse motor rotor 20.
  • Ratchet wheel B Bearing 51. Dovetail groove 52. Locking member 53. Attitude sensor 54. Clamping member 90. Three-axis stabilizer 91. Pan axis motor 92. Roll axis motor 93. Pitch axis Motor 110. Balance weight 111. Locking part 120. Locking mechanism 121A, 121B. Locking clip 25A. Locking groove 122. Tightening wrench 123. Elastic part 124. Fixing frame 125A, 125B. Screw connection S. Space range
  • Support mechanism 250 Force generating mechanism 211. Housing 212. End cover
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or a centered component may also exist.
  • a component When a component is considered to be “connected” to another component, it can be directly connected to the other component or there may be a centered component at the same time.
  • a component When a component is considered to be “supported” or “supported” or “installed” or “installed” on another component, it can be directly supported or supported or placed on another component or a centered component may exist at the same time.
  • the stabilized handheld rack can stabilize the load equipment in the longitudinal and lateral directions (ie, two-way stabilization), and can also stabilize the load equipment in the longitudinal or transverse directions ( That is, one-way stabilization). Furthermore, these stabilized handheld racks can be combined with various vertical stabilizer devices to form handheld photographic equipment that allows auxiliary shooting of loads.
  • the handheld photographic equipment includes the stabilized handheld frame 10 (two directions, that is, longitudinal and horizontal) shown in FIGS. 1 to 2 and the two-direction stabilized handheld frame 10 Various vertical stabilizing devices shown in Figures 3 to 15 or 27-28 are mounted as load equipment.
  • FIGS. 1 to 2 Please refer to FIGS. 1 to 2 together, which shows a two-way stabilized handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application, wherein the two-way stable handheld frame 10 is used to stabilize the mounted load equipment in both longitudinal and lateral directions.
  • the load device may specifically be any vertical stabilization device 20 shown in FIGS. 3 to 15. It is understandable that the load device can also be other devices that can be installed in the two-way stabilization handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rocker arms) that do not have stabilization functions.
  • the two-way stabilization hand-held frame 10 includes a first tube body portion 11 and a second tube body portion 12 that are disposed oppositely.
  • first tube body portion 11 and the second tube body portion The bodies 12 are preferably detachably connectable together by means of the components described below.
  • lateral refers to the connection direction of the first pipe body portion 11 and the second pipe body portion 12, which is the left-right direction in FIG. 1.
  • Longitudinal is orthogonal to the horizontal, in Figures 1 and 2, it is the inside and outside directions perpendicular to the paper.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side).
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a two-way stabilization motor 13 and a connecting rod 14 are arranged between the two, where the two-way stabilization
  • the motor includes a longitudinal motor housing 131 connected to the first pipe body portion 11 and a longitudinal motor rotor 132 capable of pivoting about the transverse axis T relative to the longitudinal motor housing 131.
  • one end of the longitudinal motor housing 131 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the longitudinal motor housing is fixedly connected.
  • the first connecting rod 171 of the body 131 is inserted into the first connecting end 151 of the first tube body 11. Since the first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the The first connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the longitudinal motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is described below.
  • the mounting base 141 is used to install the lateral stabilization motor 19 in the two-way stabilization handheld frame 10.
  • the lateral stabilization motor 19 includes a lateral motor housing 191 fixedly connected to the mounting base 141 and a lateral motor rotor 192 capable of rotating relative to the lateral motor housing 191.
  • a pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be preferably approximately U-shaped, wherein the first connecting arm 142 is connected to the longitudinal motor rotor 132 of the longitudinal stabilization motor 13 so as to allow it to be driven by it.
  • the link 14 pivots about the transverse axis T.
  • one end of the transverse motor housing 191 is preferably fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners.
  • the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilization device 20 described below can be fixedly connected to the transverse motor rotor 192 by means of a plurality of fasteners 15A, thereby Driven by the rotor 192 of the transverse motor, the load device fixedly connected to the connecting base 15 is allowed to pivot about the longitudinal axis L to realize the lateral stabilization of the vertical stabilization device 20 as described in detail below.
  • the two-way stabilization handheld frame 10 is allowed to stabilise the load equipment carried in the longitudinal and lateral directions. Its working mode will be further described below. Detailed.
  • the second connecting arm 143 of the connecting rod 14 has a through hole 16 aligned with the transverse axis T at its end.
  • the through hole 16 can accommodate a bearing 161 and insert the bearing 161.
  • the mandrel 162 can be fixedly connected to a second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12.
  • the two-way stabilization hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18.
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the two-way stabilization handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
  • a limit mechanism can be provided on either the transverse motor housing 191 or the transverse motor rotor 192 of the transverse stabilization motor 19, wherein the limit mechanism includes a rotating
  • the rotating part is provided on the inner side of the transverse motor rotor 192
  • the stopper is provided on the inner side of the transverse motor housing 191, for example.
  • the stop portion may be designed to extend from the surface of the iron core, and its shape may be a cylinder, a rectangular parallelepiped, or other shapes.
  • the rotating part can be designed to be sleeved on the rotating shaft of the transverse motor rotor 192 and to rotate with the rotating shaft, where the rotating part can be designed to be fixedly connected to the bottom wall of the transverse motor rotor 192, which can be sleeved on the rotating shaft and A collar connected to the inner side of the bottom wall, wherein the collar includes a first turning part and a second turning part respectively extending from both sides of the collar.
  • the stopper is designed to be located between the first rotating part and the second rotating part.
  • the rotating part When rotating within the working angle range, the rotating part will not rotate and abut against the stop part so as to allow the rotor 192 of the transverse motor to rotate freely.
  • the transverse motor rotor 192 rotates clockwise or counterclockwise beyond the preset working angle range, the first rotating part or the second rotating part correspondingly rotates to abut against the stopper, thereby moving the transverse motor rotor 192 relative to the transverse motor rotor 192.
  • the rotation of the motor housing 191 is limited within a preset working angle range.
  • the traverse motor rotor 192 is allowed to rotate between plus 30 degrees and minus 30 degrees relative to the traverse motor housing 191.
  • the above-mentioned limit mechanism is not provided in the longitudinal stabilization motor 13, which allows the longitudinal stabilization motor 13 to rotate within a 360-degree angle range, so that the two-way stabilization handheld frame 10 can be installed upright or upside down. This expands the applicable scenarios of the two-way stabilization handheld rack 10.
  • the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold.
  • the load device can be installed at the connecting seat 15 fixedly connected to the rotor 192 of the transverse motor.
  • the center of gravity of the load equipment it is desirable to install the center of gravity of the load equipment to pass through the longitudinal axis L defined by the mounting seat 141 at the same time, the overall center of gravity of the load equipment and the connecting rod 14 passes through the transverse axis T, so that the two-way stabilization handheld frame 10 realizes the center of gravity leveling, so that the center of gravity will not deviate from the longitudinal stabilization motor 13 or The pivot axis of the motor 19 is laterally stabilized, causing an undesirable drag torque.
  • the sensor may be a magnetic encoder respectively arranged on the longitudinal motor rotor 132 or the transverse motor rotor 192, so as to obtain the real-time rotation angle of the longitudinal motor rotor 132 or the transverse motor rotor 192.
  • the attitude information of the longitudinal motor rotor 132 or the transverse motor rotor 192 may include the angle information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T) and the motor rotor 192 in the roll direction (that is, relative to the The angle information of the rotation angle of the longitudinal axis L).
  • the processor integrated in the longitudinal stabilization motor 13 and the lateral stabilization motor 19 or the control rocker mounted on the ring portion of the two-way stabilization hand-held frame 10 is used for at least based on the rotation angle information from the above sensors
  • the load equipment carries out two-way stabilization.
  • FIGS. 3 to 15 the vertical stabilization device 20 used as an exemplary load device of the handheld photographic equipment of the present invention will be described in detail.
  • the vertical stabilization device 20 is shown in FIGS. 3-8.
  • the first embodiment of the vertical stabilization device 20 is shown in Figs. 9-11 in another two possible variant embodiments, in Figs. 12-13, the vertical stabilization device 20 is shown in another A feasible embodiment, and the quick release locking mechanism of the vertical stabilization device 20 is shown in Figs. 14-15.
  • the hand-held photographic equipment of the present invention is not limited to the vertical stabilization device shown in Figs.
  • the device can be used in conjunction with the handheld photographing equipment of the present invention to realize the shock absorption or stabilization of the vertical vibration when the user is walking and shooting.
  • vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration.
  • the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
  • the first embodiment of the vertical stabilization device 20 for damping vertical vibration of the present invention is schematically shown, wherein the vertical stabilization device 20 is used to support a load ( As shown in FIG. 17, it may be a three-axis stabilizer as an example).
  • the vertical stabilization device 20 includes two housing halves 21A and 21B arranged oppositely, wherein the two housing halves 21A and 21B are generally rectangular parallelepiped and configured to be detachably connected together, so as to The interior defines a substantially cylindrical inner cavity.
  • the housing including the two housing halves 21A and 21B can be fixedly mounted to the connecting seat 15 of the handheld frame 10 and move together therewith.
  • a vertical stabilization motor 22 supported on the two housing halves 21A and 21B by means of a plurality of bearings B in a pivoting manner around the pivot axis A1 is provided in the internal cavity.
  • the vertical stabilization motor 22 includes a motor end cover and a vertical stabilization motor stator 22A fixedly arranged by means of the motor end cover, where the motor end cover includes a substantially cylindrical inner wall of the end cover and is connected to The end cover bottom wall of the inner wall of the end cover, where the inner wall of the end cover and the bottom wall of the end cover form an accommodating space for the vertical stabilization of the motor stator 22A.
  • the center of the bottom wall of the end cover is provided with a mounting hole for inserting and placing the bearing B described below.
  • the vertical stabilization motor 22 also includes a vertical stabilization motor rotor 22B arranged around the vertical stabilization motor stator 22A, where the vertical stabilization motor rotor 22B includes a stator relative to the vertical stabilization motor.
  • 22A is arranged at intervals to form an air gap, preferably cylindrical, magnetic steel rotor pieces and a rotor casing in which the rotor pieces are installed, wherein the rotor pieces are arranged in an accommodating space enclosed by the rotor casing. Because the rotor sheet of the vertical stabilization motor rotor 22B generates sufficient magnetic induction in the air gap, and interacts with the energized vertical stabilization motor stator 22A to generate an induced electric potential to drive itself to rotate.
  • the rotor housing includes a cylindrical rotor side wall and a rotor bottom wall connected to the rotor side wall.
  • the rotor side wall and the rotor bottom wall form an accommodation space for installing the rotor.
  • the vertical stabilization motor 22 adopts a vertical stabilization motor stator 22A on the inner side and a vertical stabilization motor rotor 22B on the outer side, that is, a design form of a motor with an outer rotor.
  • the pivot shaft 24 of the vertical stabilization motor 22 that pivots around the pivot axis A1 by means of a plurality of bearings B and the rotor housing of the vertical stabilization motor rotor 22B are integrally formed .
  • the balance gear 23 passes through the pivot shaft 24 and is arranged next to the rotor housing, and the two are fixed together by means of fasteners 22C to allow the vertical stabilization motor 22 to be energized as needed.
  • the pivot shaft 24 and the balance gear 23 are driven to rotate together.
  • the support rod is shown preferably as an output rack 25 meshing with the balance gear 23, where the load is, for example, the angle formed by at least two rotating shafts shown in FIG. 17 at 60° to 70°
  • the non-orthogonal three-axis stabilizer that can be mounted or mounted with an imaging device (here preferably a single-lens reflex camera) between the non-right angles can of course be understood that it can also be a two-axis stabilization device.
  • the top end of the output rack 25 is provided with a threaded member that can be connected to, for example, a 1/4 threaded hole at the bottom of the load.
  • the output rack 25 is arranged to mesh with the outer circumference of the gear 23 at about 1/2 stroke position, thereby achieving a certain distance from the pivot axis A1 on one side of the pivot shaft 24 It is operatively connected with the pivot shaft 24 to transmit gravity from the load (the three-axis stabilizer 90 in FIG. 17, the direction of gravity is downward) to apply the first torque to the pivot shaft 24 in the first rotation direction.
  • the opposite side of the pivot shaft 24 (shown as the upper side in the figure) is axially spaced apart from the output rack 25 and is provided with gravity for balancing the load gravity.
  • the gravity balance mechanism 30 includes a coil spring box 31 pivotally attached to the housing halves 21A and 21B by means of a plurality of bearings B, and a coil spring box 31 housed in the coil spring box 31 and connected to the pivot shaft. 24 is operatively connected to apply a force to the pivot shaft 24 to apply a torque opposite to the first rotation direction to the pivot shaft 24.
  • a coil spring cover 33 for closing the coil spring box 31 is also provided.
  • the coil spring box 31 is roughly designed in the shape of a hollow disk, wherein the coil spring 32 is arranged in the coil spring box 31 in such a manner that the coil spring 32 is coaxially arranged on the pivot shaft 24:
  • the outer end 32A of the coil spring is clamped in the groove of the coil spring box 31 in a bent manner, so that the outer end 32A of the coil spring is fixedly connected to the coil spring box 31; at the same time, the inner end 32B of the coil spring It is inserted into the mounting groove 24A opened on the outer circumferential surface of the pivot shaft 24 so as to be fixedly connected to the pivot shaft 24.
  • the shaft end cap 29 is used to close the open end of the pivot shaft 24 from one side of the coil spring box 31 to avoid the coil spring.
  • the end 32B comes out of the installation groove 24A.
  • the pretension force of the coil spring 32 provided in the coil spring box 31 can be preset according to the weight of the load connected to the output rack 23 and the diameter of the gear 23 and the pivot shaft 24, as long as the The pretension force of the coil spring 32 is sufficient to apply a torque that is opposite to the first rotation direction to the pivot shaft 24 and can balance the first torque. Thereby, the pretension force accumulated by the coil spring 32 can completely balance the gravity of the load.
  • the stabilizing device 20 also includes at least one linear guide mechanism arranged in the internal cavity enclosed by the housing half 21A and 21B, wherein the linear guide mechanism includes a guide block 27 fixedly connected to the housing half 21B and a corresponding The straight guide rail 26 is ground fixedly connected to the output rack 25 to allow the output rack 25 to always make linear motions relative to the housing halves 21A and 21B under the guidance of the linear guide mechanism when vertical vibration occurs. This is very beneficial for the long-term stable operation of the vertical stabilization device.
  • the structure of the linear guide mechanism shown in FIGS. 3-4 and 12-13 is exemplary rather than limiting. In fact, methods such as sliding grooves and sliding shoes matched with them are also feasible.
  • the vertical stabilization device 20 includes an adjustment mechanism 40 for adjusting the pretension force of the coil spring 32, thereby allowing the vertical stabilization device to be used during use.
  • the user can manually or automatically adjust the pretension force of the coil spring to adapt to loads of different weights, which is beneficial to improve the versatility of the vertical stabilization device.
  • the adjustment mechanism 40 includes a worm wheel 43 fixedly connected to the pivotable coil spring box 31 and a worm 42 operatively connected with the worm wheel 43.
  • the worm 42 is configured to be parallel to the output rack 25 by means of a fixing seat 28 fixed to the housing half 21B and a bearing B provided in the fixing seat 28. Pivot settings.
  • the inner end of the worm 42 is connected with an adjustment motor 44 and the outer end passes through the housing half 21B and is fixedly connected with a manual adjustment nut 41 for user operation.
  • the mounting hole of the worm 42 is closed by the gland 45.
  • the user can drive the worm 42 to rotate by turning the manual adjusting nut 41, thereby driving the worm wheel 43 fixedly connected to the coil spring box 31 to rotate.
  • the coil spring outer end 32A of the coil spring 32 is fixedly connected to the peripheral wall of the coil spring box 31 and the coil spring inner end 32B is fixedly connected to the pivot shaft 24, this makes the coil spring outer end 32A fixed relative to The inner end 32B of the coil spring is tightened or loosened to meet the needs of different loads.
  • the adjustment of the pre-tightening force of the coil spring 32 can also be realized automatically by the rotation of the adjustment motor 44, and the operation mode is not repeated here.
  • the cooperation of the worm wheel 43 and the worm 44 is self-locking, the pretension force of the coil spring 32 can be reliably maintained after the adjustment is completed.
  • the cooperation of the worm wheel 43 and the worm 44 also allows the stepless adjustment of the pre-tightening force of the coil spring 32 to better ensure the versatility of the vertical stabilization device 20.
  • the adjustment mechanism 40 may further include: a plurality of limiting holes arranged on the side of the coil spring box 31 facing the housing half 21B and arranged at even intervals along the circumferential direction. 47; and a lock provided in the housing half 21B for the user to operate.
  • the locking member includes a limit chute 46C provided in the housing half 21B and a limit lock pin 46B that can slide in or out of the limit chute 46C, where the limit lock pin 46B When sliding out, it can be inserted into one of the multiple limiting holes 47 located in the coil spring box 31 to allow the coil spring box 31 to be locked at a certain angular position relative to the housing half 21B.
  • the limit lock pin 46B when the limit lock pin 46B slides into the limit chute 46C, the limit lock pin 46B withdraws from the limit hole 47 to release the locking relationship between the coil spring box 31 and the housing half 21B, This allows the user to adjust the pretension force of the coil spring 32 in the coil spring box 31 as needed.
  • a limit dial button 46A protruding from the housing half 21B and fixedly connected to the limit lock pin 46B is provided, thereby allowing the user to toggle The limit lock pin 46B slides in or out of the limit chute 46C.
  • the adjustment mechanism 40 is not limited to including a limiting hole 47 provided on the coil spring box 31, and can also be implemented as a side of the coil spring box 31 facing the housing half 21B.
  • a plurality of limiting ratchet wheels 48 are evenly spaced in the circumferential direction, and the limiting lock pin 46B is used as a pawl that cooperates with the limiting ratchet wheel 48 at this time. Since the adjustment principle is the same, it will not be repeated here.
  • FIGS. 12-13 show an exploded view of the vertical stabilization device 20 of another embodiment, which clearly shows the various components of the vertical stabilization device 20, and FIG. 13 shows the vertical stabilization device 20 in FIG. The front view of the device 20 in a partially assembled state.
  • the vertical stabilization motor 22 is also used to drive the balance wheel 23 fixedly connected to the vertical stabilization motor rotor 22B to rotate according to the instruction from the control device, thereby driving the support rod 25 (Without the teeth for meshing transmission with the balance wheel 23), it reciprocates in the vertical direction.
  • the weight of the load supported by the support rod 25 is also balanced by the coil spring 32 installed in the coil spring box 31.
  • the pretension force of the coil spring 32 is also adjustable.
  • the balance wheel 23 in this embodiment is designed as a balance synchronization wheel 23 integrally formed with the vertical stabilization motor rotor 22B.
  • the support rod 25, which is preferably a straight rod is driven to reciprocate in the vertical direction by means of the two timing belts 25A and 25B meshed to the balance synchronization wheel 23.
  • the two timing belts 25A and 25B are fixedly connected to the two timing belts 25A and 25B in close proximity to each other at the outer periphery of the balance timing wheel 23 by means of fasteners such as pressing pieces 25E, wherein the timing belt 25A Here, it is arranged in a counterclockwise direction along the outer circumference of the balance synchronizing wheel 23 and kept tightly engaged with the balance synchronizing wheel 23, while the timing belt 25B is arranged along the outer circumference of the balance synchronizing wheel 23 in a clockwise direction and is kept tightly with the balance synchronizing wheel 23 Splice.
  • the free end of the timing belt 25B is fixedly connected to the lower end of the support rod 25 (that is, the connection end with the load) by means of a fastener such as a pressing piece 25C, and the free end of the timing belt 25A is fixed by means of a pressing piece 25C.
  • the fasteners are fixedly connected to the upper end of the support rod 25 (that is, the connecting end away from the load), wherein the upper end of the support rod 25 is preferably accommodated in the outer sleeve 25F to avoid dust and moisture in the external environment from affecting the timing belt
  • the stable operation of 25A and 25B has an adverse effect.
  • an adjustment screw 25D is provided near the pressing member 25C that buckles the free end of the timing belt 25A, and correspondingly on the bottom surface of the outer sleeve 25F accommodating the pressing member 25C.
  • the working principle of the vertical stabilization device 20 in this embodiment is as follows: when the support rod 25 is expected to drive the load to move upward in the vertical direction to compensate for the vertical vibration, the control device sends a control command to the vertical stabilization motor 22 to make it Pivoting in the counterclockwise direction, at this time, the vertical stabilization motor rotor 22B drives the balance synchronization wheel 23 and the timing belt 25B to also rotate counterclockwise, which is equivalent to the balance synchronization wheel 23 "winding" the timing belt 25B to drive and synchronize
  • the support rods fixedly connected with the belt 25 move vertically upwards accordingly.
  • the balance synchronization wheel 23 also synchronously "unwinds" the timing belt 25A fixedly connected to the other end of the support rod.
  • the synchronous cooperation of the two smoothly transforms the rotation movement of the vertical stabilization motor 22 into the support rod in the vertical direction. Linear movement. Since the engagement relationship between the timing belt 25B and the balance synchronization wheel 23 is determined, the vertical vibration of the load can be accurately compensated by controlling the counterclockwise rotation angle of the vertical stabilization motor rotor 22B.
  • the control device sends a control command to the vertical stabilization motor 22 to make it pivot in a clockwise direction, in substantially the same way.
  • the clockwise rotation movement of the vertical stabilization motor 22 is smoothly converted into the vertical downward linear movement of the support rod.
  • the balance synchronization wheel 23 is used here to convert the rotational motion of the vertical stabilization motor 22 into the linear motion of the support rod by means of the timing belts 25A and 25B, those skilled in the art know that other equivalent methods such as sprockets and chains are used. It is also feasible.
  • the other side of the support rod is additionally provided with a second side connected to it.
  • Two straight guides 26A namely, a plurality of straight guides 26 and 26A fixedly connected to the supporting rod 25 are respectively provided from different sides of the supporting rod, so as to guide the supporting rod 25 to move in a linear direction relative to the housing.
  • the coil spring box 31 in this embodiment is configured to be formed as an integral piece with the balance synchronization wheel 23, wherein the coil spring outer end 32A is fixedly connected to the inner side of the coil spring box 31.
  • the coil spring inner end 32B of the coil spring 32 is fixedly connected to the mounting groove 49B of the rotating shaft 49A inserted in the coil spring box 31.
  • one end of the rotating shaft 49A is fixedly connected with a user-adjustable ratchet 49, and the other end is supported in the coil spring box 31 by means of a bearing.
  • the user can first open the pawl 46D for stopping the ratchet wheel 49 and manually rotate the ratchet wheel 49 and the rotating shaft 49A fixedly connected to it.
  • the inner end 32B of the coil spring is wound or unwound relative to the outer end 32A of the coil spring fixedly connected to the inner side of the coil spring box 31 under the drive of the rotating shaft 49A, which makes the coil spring 32 to balance the pretension of the load gravity
  • the strength is increased or decreased to accommodate loads of different weights.
  • the user dials back the pawl 46D to engage the ratchet wheel 49 and lock it in place, so that the coil spring 32 maintains the desired pre-tightening force and is always satisfactory.
  • the gravity of the ground balance load After adjusting the pre-tightening force of the coil spring 32, the user dials back the pawl 46D to engage the ratchet wheel 49 and lock it in place, so that the coil spring 32 maintains the desired pre-tightening force and is always satisfactory.
  • the gravity of the ground balance load is always satisfactory.
  • an attitude sensor which may be an inertial measurement unit (IMU)
  • IMU inertial measurement unit
  • the position sensor at the top of the support rod 25 can transmit the posture information of the vertical stabilization device 20 to the booster by means of a wired connection or a wireless connection (including but not limited to Bluetooth and NFC communication methods).
  • the control device of the stable frame 10 allows the control device to control the movement of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture .
  • the specific control method will be described in detail below.
  • the attitude sensor provided at the top of the support rod 25 is used to measure the vertical position of the load to obtain the actual vertical position of the load.
  • the preset vertical position of the load is set or stored in the position controller of the vertical stabilization device 20, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset The vertical position and the actual vertical position are used to control the pivoting of the vertical stabilization motor 22, so that the load is moved in the opposite direction of the vibration direction through the action of the vertical stabilization motor 22, thereby positioning the load in the vertical direction. Position, so that the load can have a substantially constant absolute position in the vertical direction. This active stabilization method can achieve better vertical stabilization effects.
  • FIG. 17 shows a front view of a handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIG. 3, wherein the vertical stabilization device 20 is installed in a center-of-gravity leveling manner and fixedly connected to the lateral motor
  • the connecting seat 15 of the rotor 192 that is, the center of gravity of the vertical stabilizing device 20 is installed to pass through the longitudinal axis L defined by the mounting seat 141, while the overall center of gravity of the vertical stabilizing device 20 and the connecting rod 14 passes through the transverse axis, In this way, the center of gravity of the vertical stabilization device 20 in the two-directional stabilization handheld frame 10 is leveled.
  • the load in the handheld photographic equipment of the present invention is a three-axis stabilizer equipped with a single-lens reflex camera
  • the three-axis stabilizer 90 includes a pan axis motor 91 and a roll axis.
  • the three-axis stabilizer of the motor 92 and the pitch axis motor 93 as an example, the angle formed by the two rotation axes of the pan axis motor 91 and the roll axis motor 92 is a non-right angle between 60° and 70°, This prevents the roll axis motor 92 from blocking the back of the imaging device mounted on the three-axis stabilizer 90.
  • the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20.
  • FIGS. 14-15 an exemplary quick-release locking mechanism is shown in FIGS. 14-15, which facilitates the user to realize the three-axis stabilizer relative to
  • the adjustment of the fixed position of the vertical stabilization device 20 can facilitate the user to replace or carry different types of three-axis stabilizers, thereby improving the versatility and convenience of the handheld photographic equipment.
  • a quick-release locking mechanism is fixedly arranged at the end of the support rod 25 of the vertical stabilization device 20, wherein the quick-release locking mechanism includes a three-axis stabilizer arranged opposite to each other.
  • the sliding groove 51 of the heading connecting arm is slidably fitted.
  • the sliding groove 51 is preferably a dovetail groove.
  • the extension direction of the sliding groove 51 is consistent with the width extension direction of the quick release locking mechanism.
  • the quick release locking mechanism also has a buckle member 54 (see FIG. 15) provided on one side of the chute 51, wherein the buckle member 54 can play the role of the locking member 52 shown in the figure for the user to operate It can move between the pressing position and the unscrewing position.
  • the user When installing the three-axis stabilizer or adjusting the fixed position of the three-axis stabilizer 90 relative to the vertical stabilization device 20, the user first loosens the locking member 52 so that the withholding member 54 moves to the position under the reset force of the elastic member.
  • the loosening position allows the heading connecting arm of the three-axis stabilizer 90 to be preferably inserted into the sliding slot 51 or allowing it to slide freely in the sliding slot 51 for adjustment as required.
  • the locking member 52 is tightened to move the clamping member 54 to its clamping position, where the clamping member 54 abuts against the heading connecting arm of the three-axis stabilizer. Lock the three-axis stabilizer in place.
  • the attitude sensor 53 of the vertical stabilization device 20 which is preferably an inertial detection unit, can also be installed on the quick-release locking mechanism by means of a shock-absorbing ball.
  • the mechanical high-frequency vibration that affects the detection accuracy of the attitude sensor 53 is beneficial for providing the vertical stabilization performance of the vertical stabilization device 20.
  • the vertical stabilizing device 20 As shown in FIG. 17, the transverse axis T passes through the vertical stabilizing device 20 and the connecting rod 14. The overall center of gravity. Subsequently, the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20 by means of, for example, a threaded connection with a 1/4 threaded hole in a hoisting manner.
  • the stabilizing device 20 sets the three-axis stabilizer 90 in a "suspended" manner in the internal space of the two-way stabilizing handheld frame 10 (see FIG. 17).
  • it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
  • the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L.
  • the two-way stabilization frame 10 will swing away from its initial vertical posture (for example, in the horizontal (Upper and/or vertical deviation), if the two-way stabilization rack 10 does not have the two-way stabilization function, it is obvious that the vertical stabilization device will deviate from the vertical posture and the lens of the shooting device will be Deflection at the same time causes the lens of the shooting device to shake and the shooting effect cannot be guaranteed.
  • the current vertical stabilization device 20 can be obtained by using the first and/or second angle sensor or the IMU of the vertical stabilization device 20 of the two-way stabilization frame 10 as the attitude sensor.
  • the angle of the vertical stabilization device 20 relative to the vertical at this time including the deflection angles in the lateral and vertical directions
  • the posture information is then sent to the controller via wired or wireless means.
  • the controller will control the movement of the two-way stabilization motor in a closed loop based on, for example, the rotation angle information of the longitudinal motor rotor 132 and the transverse motor rotor 192 and the attitude information of the vertical stabilization device 20 to maintain the vertical stabilization device 20. In an upright position.
  • the attitude sensor which is preferably an IMU, can also be additionally provided as an option for the two-way stabilization rack.
  • preset information may be preset in the controller.
  • the preset information is posture information that the two-way stabilization rack 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate a control instruction according to the attitude information and preset information of the vertical stabilization device 20.
  • the processor can generate corresponding control instructions, so that the controller controls the longitudinal stabilization motor 13 to rotate +10° and the lateral stabilization motor 19 to rotate -10°, so that With the help of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, the vertical stabilization device 20 is driven to rotate back to the 0° posture.
  • an angle sensor is respectively provided on the longitudinal motor rotor 132 or the transverse motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, this allows the controller to rotate based on the angle sensor.
  • the angle information and the attitude information of the attitude sensor provided on the vertical stabilization device 20 are closed-loop controlled to move the longitudinal stabilization motor 13 and the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical posture, so that the shooting can be predicted. Set the desired effect. It is understandable that the preset information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched. Specifically, that is, when the user holds the handheld photographic equipment for variable-speed motion.
  • the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia.
  • the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU.
  • the controller can generate control commands according to the real-time attitude information and preset information of the load equipment, so that the stabilization motor drives the vertical stabilization device 20 to rotate back to the 0° posture , As shown in Figure 18-19.
  • angle sensors are provided on the longitudinal motor rotor 132 and the transverse motor rotor 192 to obtain the rotation angle information of the stabilization motor after the action, this allows the controller to attach to the vertical increaser based on the rotation angle information of the angle sensor.
  • the posture information of the posture sensor of the stabilization device 20 closes the motion of the stabilization motor to keep the load device in a vertical posture, so as to obtain a preset desired effect when shooting, as shown in FIGS. 18-19.
  • Figures 20-25 show a multi-functional handheld photographic equipment, which can allow the load to move in a definite trajectory in the space in the manner of a rocker arm.
  • Figures 20-21 show a locking mechanism 120 that will be used hereinafter according to the present invention.
  • the locking mechanism is used to switch the above-mentioned vertical stabilization device 20 between a stabilization mode and a locking mode.
  • the support rod 25 of the vertical stabilization device 20 can move relative to the housing as described above to increase the vertical stabilization of the load.
  • the locked mode the support rod 25 is locked relative to the housing of the vertical stabilizer 20 at a certain length.
  • the vertical stabilizer 20 in the locked mode can be used as a rocker arm.
  • the load can be driven to reach any position within a certain space range, thereby allowing the use of hand-held photographic equipment to drive the load to automatically shoot according to a preset trajectory.
  • the locking mechanism includes a fixing frame 124 fixedly connected to the housing halves 21A and 21B of the vertical stabilization device 20, wherein the fixing frame 124 is straddled on the supporting rod 25.
  • the main body of the fixing frame 124 protrudes from a pair of fixing arms transverse to the two sides of the supporting rod 25, wherein the pair of fixing arms are respectively provided with through holes through which the bolts 125A and 125B described below pass through.
  • the thread directions of the screw members 125A and 125B are opposite, and an elastic member 123, which is preferably a spring, is provided between the two for biasing and opening the two toward both sides.
  • a pair of locking clamps 121A and 121B are each abutted against the pair of fixed arms of the fixing frame 124 by means of the bolts 125A and 125B connected to them so as to straddle the supporting rod 25.
  • the lower parts of the clamps 121A and 121B are provided with engaging parts for engaging with the locking grooves 25A provided on both sides of the supporting rod 25, wherein the locking clamps 121A and 121B are engaged in the locking grooves 25A of the supporting rod 25 At this time, the locking mechanism locks the support rod 25.
  • the pair of screw members 125A and 125B will be forced apart, so that the pair of locking clips 121A and 121B will not be with the support rod 25.
  • the support rod 25 of the vertical stabilization device 20 can be extended or shortened without hindrance to function normally.
  • FIG. 22 a front view of the multifunctional handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIGS. 3 to 13 above, wherein the vertical stabilization device 20 is installed in a center of gravity leveled manner Fixedly connected to the connecting seat 15 of the rotor 192 of the lateral stabilization motor: the center of gravity of the vertical stabilization device 20 is installed to pass through the rolling axis L defined by the mounting seat 141, and the vertical stabilization device 20 and the connecting rod The overall center of gravity of 14 passes through the pitch axis, so that the center of gravity of the vertical stabilizer 20 in the stabilized handheld frame 10 is leveled, thereby being assembled into the multifunctional handheld photographic equipment according to the present invention.
  • the load in the handheld photographic equipment of the present invention is described in a preferred embodiment of a three-axis stabilizer equipped with a single-lens reflex camera, wherein the three-axis stabilizer 90 is a three-axis stabilizer including a yaw axis motor 91 Shaft stabilizer, as an example here, the angle formed by the yaw axis motor 91 and the remaining two rotating shafts is a non-right angle between 60° and 70°, which makes it impossible to mount the three-axis stabilizer The back of the camera is obstructed.
  • the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20.
  • the number of balance weights 100 is equipped with multiple and different weights, so as to adjust according to the weight of the load connected by the support rod 25 of the vertical stabilization device 20, wherein after the adjustment is in place (here, for example, three The shaft stabilizer, the SLR camera, the vertical stabilization device, and the overall center of gravity of the balance weight pass through the pitch axis T), and the balance weight 110 can be locked by the pair of retaining members 111.
  • a balance weight driving member is also included for sliding the balance weight 110 along the length direction of the vertical stabilization device 20 to automatically balance the weight of different loads.
  • the multifunctional handheld photographic equipment according to the present invention can firstly meet the stabilization requirements of the user when performing horizontal or vertical follow-up shooting during sports photography, specifically:
  • the yaw axis motor 90 of the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20 in a hoisting manner, thereby stabilizing the three-axis by means of the vertical stabilization device 20
  • the device 90 is arranged in the internal space of the stabilized handheld frame 10 in a "suspended" manner (see FIG. 22).
  • the handheld photographic equipment when the user holds the handheld photographic equipment with both hands and moves at a constant speed during outdoor shooting, the handheld photographic equipment can be used to realize that the vertical stabilization device 20 is always in a vertical state to ensure three-dimensional alignment.
  • the shaft stabilizer has a good vertical stabilization effect. At this time, even if the user generates vertical vibration or jitter during walking, it can be filtered out by the vertical stabilization effect of the vertical stabilization device 20. This makes the picture quality of the picture taken by the handheld photographing equipment of the present invention very high.
  • the vertical stabilization device mounted on the handheld rack When shooting outdoors, if the user holds the handheld photographic equipment in both hands for large-scale overhead or vertical shooting, or when the user holds the handheld photographic equipment for variable-speed motion, the vertical stabilization device mounted on the handheld rack will be affected. Undesired shaking relative to the frame due to its own inertia.
  • the posture information of the vertical stabilizing device 20 is acquired in real time by using the posture sensor provided at the end of the supporting rod 25.
  • the control device can generate control commands according to the real-time attitude information and preset attitude information of the load equipment, so that the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 drive the vertical direction.
  • the stabilization device 20 is maintained in a vertical state.
  • angle sensors are provided on the longitudinal stabilization motor rotor 132 and the lateral stabilization motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 after the action, this allows the control device to be based on The posture information from the posture sensor and the rotation angle information from the angle sensor close-loop control the motion of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical state, so that the shooting can be predicted Set the desired effect.
  • Figures 23-25 show another function of the multifunctional handheld photographic equipment according to the present invention.
  • the handheld photographic equipment can also drive The load realizes a predetermined shooting trajectory.
  • the user only needs to manually tighten the tightening wrench 122 as an adjustment member to make the vertical stabilization device 20 in the locked mode, so that the vertical stabilization device 20 can be used as a space range that can be within a radius of a certain length.
  • the rocker arm that rotates according to the determined trajectory.
  • the lateral stabilization motor 19 can be turned parallel to the ground at this time.
  • the lateral stabilization motor 19 drives the vertical stabilization device 20 to be free in an angle range of approximately 120 degrees. Rotate.
  • the user can operate the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 by means of a control rocker provided on the handheld frame 10 and connected to the control device in signal. Since the length of the vertical stabilization device 20 is determined and can be driven by the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 like a rocker arm, it can pan, move, follow, and raise and lower the camera in the space. Waiting for movement.
  • the SLR camera mounted on the handheld photographic equipment can be controlled to reach any position within the spatial range, and in particular, the SLR camera can be pressed remotely or in a preset manner.
  • the preset motion trajectory is not affected by the user's experience and jitter, so as to meet the user's actual demand for higher shooting quality.
  • the multifunctional handheld photographic equipment according to the present invention realizes one machine with multiple functions, which not only significantly reduces the cost of the user to purchase photographic equipment, but also facilitates the user to reduce the weight and volume of the luggage that needs to be carried for outdoor photography. , Thereby greatly improving the user’s favorability and satisfaction.
  • FIG. 26 shows another multifunctional handheld photographic equipment, which can keep the load at a certain vertical height during the stabilization period, so as to achieve an effect comparable to a sliding rail.
  • the stabilizing device 20 will frequently be stabilized back to the vertical posture by means of the longitudinal stabilization motor 13 and the lateral stabilization motor 19 between the left-inclined posture indicated by 20A and the right-inclined posture indicated by 20B in FIG. 26.
  • the control device of the handheld photographic equipment further controls
  • the vertical stabilization motor 22 in the vertical stabilization device 20 enters the following actions to keep the load always at a certain vertical height.
  • the vertical stabilization device 20 when the vertical stabilization device 20 is in the left-inclined posture indicated by 20A due to the variable speed movement (generally, the left-inclined posture does not exceed 10 degrees), if the length of the vertical stabilization device 20 remains unchanged In this case, the vertical control device in the left-leaning attitude will raise the load to a certain height in the vertical direction (its working principle is similar to a pendulum), and when the vertical warming device 20 is stabilized and returned to the vertical attitude, The actual vertical height of the load will change with the size of the included angle. This slight change in vertical height can affect the image quality of the shooting to a certain extent, which is not for high-demand video production. Expected. The same situation also exists that the vertical stabilization device 20 is in the right-inclined posture indicated by 20B due to the variable speed movement. The vertical height change during this stabilization process will be more obvious during the reciprocating rapid speed change movement.
  • control device can be based on the angle of the vertical stabilization device 20 relative to the vertical obtained from the attitude sensor and the length of the vertical stabilization device 20 itself at this time (this can be done by using the vertical stabilization motor 22 Rotation angle to know), taking the left-inclined attitude 20A as an example, you can use preset formulas and algorithms to obtain the required length of the vertical stabilization device 20 if the load is maintained at a certain vertical height at this time, so as to calculate At this time, the vertical stabilization device 20 should extend a compensation length d1 compared with its default length.
  • the control device converts the required compensation length d1 into the number of rotations of the support rod 25 to be driven by the vertical stabilization motor 22 according to the compensation length d1 and the drive ratio between the support rod 25 and the balance wheel 23, so as to increase the vertical stability.
  • the motor 22 drives the support rod 25 outwards to a compensation length d1 as needed.
  • the load is maintained at a certain vertical height at this time.
  • the same control method is also applicable to the right-inclined attitude 20B (at this time, the compensation length is d2) and any included angle position between the left-inclined attitude 20A and the right-inclined attitude 20B.
  • FIG. 27 Another specific embodiment of the vertical stabilization device of the present invention is shown in FIG. 27.
  • a vertical stabilization device 210 for damping vertical vibration from a housing is schematically shown, wherein the vertical stabilization device 210 is used to support a load.
  • the load can be an imaging device used to capture images/videos, such as digital cameras and video cameras, or portable communication devices such as mobile phones and tablet computers with camera functions.
  • the load can also be Equipped with the stabilizer of the imaging device.
  • the vertical stabilization device 220 includes a variable speed balancing mechanism supported on the housing 211 in a manner of pivoting about a pivot axis A1. In the embodiment shown in FIG.
  • the variable speed balancing mechanism 230 includes: for example The pivot shaft 231 is pivotally arranged in the housing 211 via a bearing 235 mounted on the bearing seat 234, wherein the axis of the pivot shaft 231 itself is designated as the pivot axis A1. Further, a first gear 232 and a second gear 233 are coaxially arranged on the pivot shaft 231 spaced apart around the pivot axis A1, wherein the first gear 232 shown here is optionally in diameter and modulus. Both are larger than the second gear 233.
  • the diameter of the first gear is at least 3 times the diameter of the second gear, and specifically may be 4 times larger. Specifically, as a non-limiting example, the diameter of the first gear 232 may be selected to be about 60 mm, and the diameter of the second gear 233 may be selected to be about 15 mm.
  • a support mechanism 240 operatively connected to the shift balance mechanism 230 is provided on one side of the shift balance mechanism 230, wherein the support mechanism 240 is used here to vertically support the load described above, where the load is, for example, as shown in FIG. 28
  • the stabilization device 220 (here as an example is a three-axis stabilization device), of course, it can be understood that it can also be a two-axis stabilization device.
  • the supporting mechanism 240 includes a first rack 241 meshed with the first gear 232, wherein a top end of the first rack 241 is provided with a threaded hole that can be connected to the bottom of the load, for example, a 1/4 threaded hole. Threaded parts.
  • the first rack 241 is arranged to mesh with the outer circumference of the first gear 232 at its 1/2 stroke position, thereby achieving a distance from the pivot axis A1 on one side of the shift balance mechanism 230 A distance (radius of the first gear 232) is operatively connected with the shift balance mechanism 230 to transmit the gravity from the load 220 to the shift balance mechanism 230 in the first rotation direction (counterclockwise in FIG. 28) First torque.
  • the supporting mechanism 240 is designed as a rigid first rack 241 meshing with the first gear 232 of the shift balance mechanism, this is not limiting. In fact, those skilled in the art can think of other ways to support the load vertically and to connect the gravity of the load at a first distance from the pivot axis, such as a flexible member such as a pulley drive or a belt drive. .
  • a force generating mechanism 250 is provided side by side and spaced apart from the supporting mechanism 240 on the same side of the shift balance mechanism (on the left side of the drawing in FIG. 28), wherein the force generating mechanism It includes a second rack 251 meshed with the second gear 233, wherein an adapter 253 is preferably fixedly connected to the upper end of the second rack 251.
  • the adapter 253 is roughly in the shape of a thin plate, wherein one end (the left end in FIG. 28) of the thin plate-shaped adapter 253 is operatively connected to the elastic member 252 described in detail below and the opposite end ( The right end in FIG. 28) is operatively connected to the second rack 251.
  • the elastic member 252 here is configured as a compression spring that can be compressed and retracted along the extending direction of the casing, wherein one end of the compression spring can be operatively connected to the casing directly or by means of an adjusting cover 272 described in detail below. 211.
  • the elastic force accumulated by the compression spring itself exerts an upward force on the second rack 251 by means of the transfer effect of the adapter 253.
  • the force generating mechanism 250 is allowed to be arranged on the same side of the shift balance mechanism 230 at a second distance from the pivot axis A1 (the second gear 233 Radius) is operatively connected to the shift balance mechanism 230 to apply an upward force to the shift balance mechanism 230 so as to apply an upward force to the shift balance mechanism 230 in a second rotation direction (here, a clockwise direction) opposite to the first rotation direction
  • the second torque Preferably, the second rack 251 is arranged to mesh with the outer circumference of the second gear 233 at its 1/2 stroke position.
  • the elastic force of the spring can completely compensate the load gravity.
  • a tension spring that stretches in a straight direction can also be realized, for example, the action direction of the elastic member can be changed from upward to downward.
  • vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration.
  • the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
  • the diameter of the first gear 232 is much larger than the diameter of the second gear 233, this means that when the first rack 241 moves a certain distance in the vertical direction, it causes the second tooth
  • the displacement distance of the bar 251 will be greatly reduced under the action of the transmission ratio of the shift balance mechanism.
  • the diameter of the first gear 232 is 4 times the diameter of the second gear 233, the first rack 241 moves by 1 Mm, the second rack 251 will only move 0.25 mm accordingly.
  • the stroke range of the second rack 251 is small, the compression amount of the compression spring caused by its movement is correspondingly small, so the compression spring 252 is in the entire vertical direction.
  • the support force provided during the vibration movement changes very little, allowing the force generating mechanism 250 to balance the gravity of the load with a substantially constant force, which makes the load quickly return to the "suspended" state, so that the photographed picture will not be affected. Quality has a substantial impact.
  • the load is subjected to a slight vertical shock, due to the effect of the above-mentioned vertical stabilization device, it allows the photographer to take a satisfactory picture quality even when taking a self-portrait on foot in the first person without the need for post-production. deal with. This allows to more reliably eliminate the undesired vertical jitter of the load in a wider range of undulating motion.
  • the load range of the vertical stabilization device is approximately in the range of 1 kg to 3 kg. Therefore, it is desirable that the spring force accumulated by the elastic member 252 is adjustable to adapt to Loads of different weights. For this reason, it is preferable that the vertical stabilization device is further provided with an adjustment mechanism 270 for adjusting the pre-tightening force of the elastic member 252. As shown in FIG. 28, the adjusting mechanism 270 includes an adjusting member 271 which is provided at the bottom end of the housing 211 and is threadedly connected with the end cover 212 of the housing 211.
  • the adjusting member 271 is a screw, which allows the user to manually or It is tightened or unscrewed by means of a tool so as to be displaced inward or outward relative to the end cover 212 of the housing 211.
  • one end of the elastic member 252 abuts against the adjusting cover 272 provided in the end cover 212, wherein the adjusting cover 272 abuts against the end of the adjusting member 271.
  • the elastic member 252 can be compressed inwardly to provide a higher pre-tightening force.
  • the adjusting member 271 can also be screwed out relative to the housing 211 to allow the elastic member 252 to extend outward so as to have a lower pre-tightening force, which is suitable for a lighter load.
  • the adjustment mechanism in FIG. 28 is non-limiting.
  • a wrench can be used to adjust the pre-tightening force of the elastic member 252.
  • the vertical stabilization device further includes at least one linear guide mechanism 260 arranged in the housing 211, wherein the linear guide mechanism includes sliding portions 262, 262A fixedly arranged on the housing 211 and correspondingly fixedly connected to the first tooth.
  • the straight rail portions 261, 261A of the bar 241 and the second rack 251 allow the first rack 241 and the second rack 251 to be relative to the housing under the guidance of the linear guide mechanism 260 when vertical vibration occurs.
  • the body 211 always moves in a linear direction.
  • the structure of the linear guide mechanism 260 shown in FIG. 28 is exemplary and not restrictive. In fact, methods such as a sliding groove and a sliding pin matched with it are also feasible.
  • the vertical positioning device is shown in FIG. 28, which includes a position sensor (not shown) for measuring the vertical position of the load, and a controller (not shown) for receiving a signal of the position of the load from the position sensor ( (Not shown) and a motor 82 connected to the variable speed balance mechanism of the vertical stabilization device.
  • a sensor support 281C is fixedly connected to the top end of the first rack 241.
  • the support 281C is substantially flat and fixedly connected to the top end of the first rack 241 by a fastener at one end thereof.
  • a plate-shaped sensor mounting seat 281A for mounting a position sensor is provided in parallel above the sensor support 281C.
  • a sensor of an inertial measurement unit (IMU) is preferably fixedly mounted on the sensor mounting seat 281A.
  • the high-frequency vibration can be regarded as the "noise" of the sensor
  • the sensor support 281C and the sensor mounting seat 281A are equipped with a plurality of damping balls 281B for damping mechanical high-frequency vibrations from the outside (for example, mechanical high-frequency vibrations generated when a motor is operating), as shown in FIG. 27,
  • damping balls 281B are interposed between the support 281C and the mounting seat 281A so as to be separately provided at the four corners of the plate-shaped sensor support 81C.
  • FIG. 27 also shows a motor 282 operatively connected to the variable speed balance mechanism 230, wherein the motor 282 is preferably equipped with a signal for processing the vertical position of the load from the position sensor.
  • the output end of the motor 282 is directly connected to the pivot shaft 231 of the speed balance mechanism 230, thereby allowing the motor 282 to directly rotate and drive the pivot shaft 231 to rotate as needed in relation to the vertical vibration of the load.
  • the installation position of the motor 282 is not limited here, as long as the pivot shaft 231 can be rotated as required.
  • the motor 282 may be installed at the bearing seat 234, or the motor 282 may be indirectly connected to the pivot shaft 231 by means of a reduction gear.
  • the sensor provided on the sensor mounting seat 81A first performs the measurement of the vertical position of the load to obtain the actual vertical position of the load.
  • the preset vertical position of the load may be set or stored in the position controller, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset vertical position and the actual vertical position.
  • the position sensor obtains the actual vertical position of the load and transmits the signal of the actual vertical position to the position controller .
  • the position sensor of the embodiment of the present invention is used to obtain the actual vertical position of the load in real time (or periodically) and transmit the actual vertical position to the position controller, which has a preset vertical position. Information and based on the received signal of the actual vertical position to determine whether there is a deviation (different) between the actual vertical position and the preset vertical position. When the actual vertical position is higher than the preset vertical position, it means that the load has a rapid upward movement.
  • the position controller rotates counterclockwise through the drive motor 282 to drive the speed balance mechanism 230
  • the first rack 241 moves the load downward (that is, moves in the opposite direction of the vibration direction), thereby canceling the vibration of the load in the vertical direction and positioning the load at a certain position in the vertical direction.
  • the position controller rotates clockwise through the drive motor 282 to drive the variable speed balance mechanism
  • the first rack 241 in 230 moves the load upward (that is, moves in the opposite direction of the vibration direction), which can also offset the vibration of the load in the vertical direction and position the load at a certain vertical position.
  • Figure 1-28 shows a stabilized handheld rack for carrying load equipment that is stabilized in the longitudinal and transverse directions
  • the same stabilized handheld rack can be in the longitudinal or transverse direction.
  • a handheld photographic equipment with a longitudinally stabilized handheld frame according to a preferred embodiment of the present invention is shown in FIG. 31, wherein the handheld photographic equipment can allow the user to perform a large exercise period Can provide reliable stabilization effect.
  • the longitudinal handheld photographic equipment includes the longitudinally stabilized handheld frame 10 shown in FIGS. 29 to 30 and the load equipment carried by the longitudinally stabilized handheld frame 10,
  • Various vertical stabilizing devices 20 are shown in FIGS. 3 to 15 or 27 to 28.
  • components with the same name are denoted by the same reference numerals in the above text.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided on the upper and lower sides of the upper and lower sides with connecting ends for mating connection (only shown here on the upper side)
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a longitudinal stabilization motor 13 and a connecting rod 14 are arranged between the two, where the longitudinal stabilization motor includes The motor housing 131 connected to the first pipe body 11 and the motor rotor 132 that can pivot about the transverse axis T relative to the motor housing 131.
  • the first connecting rod 171 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the motor housing 131 is fixedly connected.
  • the first connecting rod 171 is inserted into the first connecting end 151 of the first tube body 11.
  • first connecting end 151 is a tight sleeve that can be clamped or loosened, this allows the A connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat is described below 141 is used to install load equipment to be carried by the longitudinally stabilized handheld frame 10.
  • a pair of connecting arms 142 and 143 are preferably integrally extended on both sides of the mounting seat 141 so that the connecting rod 14 is preferably substantially U-shaped, wherein the first connecting arm 142 is connected to the motor rotor 132 of the longitudinal stabilization motor 13 so as to Under its drive, the connecting rod 14 is allowed to pivot about the transverse axis T.
  • the second connecting arm 143 has a through hole 16 aligned with the transverse axis T at its end.
  • the through hole 16 can accommodate a bearing 161 and a mandrel 162 inserted into the bearing 161, wherein the mandrel 162 It can be fixedly connected to the second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12. Thereby, the upper sides of the first pipe body portion 11 and the second pipe body portion 12 are connected to each other.
  • the longitudinally stabilized hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 .
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, so as to allow the longitudinally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the longitudinally stabilized handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
  • the longitudinal stabilization motor 13 is shown in Figs. 29 and 30 to be arranged on the upper side of the hand-held frame 10 shown in the figure (this arrangement is convenient for the user to operate the hand-held machine in a positive manner).
  • the load equipment is set in the inner area of the hand-held frame 10
  • the longitudinal stabilization motor 13 can also be arranged on the lower side of the hand-held frame 10. This arrangement is convenient for inverted When the handheld rack is operated, the load device is set outside the inner area of the handheld rack 10 so as to allow the user to complete the scene shooting with a larger shooting angle of view and allow the user to easily shoot the scene directly above.
  • the handheld frame 10 is configured to be closed, this is not necessary, and the first tube body portion 11 and the second tube body portion 12 may not be completely closed. This allows the load device to move more freely in the space without undesired interference or collision with the first tube body portion 11 and the second tube body portion 12.
  • the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold.
  • the two hands hold both sides of the longitudinally stabilized handheld frame 10, and the load device can be installed at the mounting seat 141 of the connecting rod 14 at this time.
  • the longitudinal stabilization motor 13 in order to facilitate the longitudinal stabilization of the load device by the longitudinal stabilization motor 13 described below, it is desirable to install the load device so that the transverse axis T passes through the overall center of gravity of the load device and the connecting rod, so that the longitudinal stabilization motor During operation, the overall center of gravity deviates from the pivot axis of the longitudinal stabilization motor 13 to cause undesirable resistance torque to the longitudinal stabilization motor 13.
  • an angle sensor is provided on the motor rotor 132 or the connecting rod 14 to obtain the rotation angle information of the motor rotor 132 or the connecting rod 14.
  • the sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain real-time rotation angle information of the motor rotor 132 relative to the motor stator 131.
  • the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T).
  • a processor integrated in the motor 13 or a control rocker installed on the annular portion of the longitudinal stabilization handheld frame 10 is used to control the longitudinal stabilization motor 13 to move based on at least the rotation angle information from the sensor to allow
  • the connecting rod 14 pivots about the transverse axis T, thereby realizing longitudinal stabilization of the load equipment connected to the mounting base 141.
  • the vertical stabilization device 20 is always in a vertical state to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the three-axis stabilizer The lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L. If the user holds the handheld photographic equipment with both hands and performs a low-view overhead shot, the longitudinal stabilization frame 10 will swing to the position 10B shown by the dashed line in FIG. 31 due to the user's hand motion.
  • the angle sensor of the motor rotor or the attitude sensor of the vertical stabilization device 20 is used to obtain the current included angle of the vertical stabilization device 20 relative to the vertical.
  • the information is then sent to the controller via wired or wireless means.
  • the controller controls the movement of the longitudinal stabilization motor based on, for example, the rotation angle information of the motor rotor and/or the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical state.
  • the attitude sensor preferably an IMU, can also be additionally provided as an option for the longitudinal stabilization frame.
  • preset posture information may be preset in the controller.
  • the preset posture information is posture information indicating that the longitudinal stabilization frame 10 is in a vertical state and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate control instructions according to the attitude information of the vertical stabilization device 20 and the preset attitude information.
  • the controller can generate corresponding control instructions so that the controller can control the longitudinal stabilization
  • the motor 13 rotates by +10°, so that the longitudinal stabilization motor drives the vertical stabilization device 20 to rotate to a posture of 0°.
  • an angle sensor is provided on the motor rotor to obtain the posture information of the longitudinal stabilization motor after action, this can also allow the controller to close-loop control of the longitudinal stabilization based on the posture information of the posture sensor and the rotation angle information of the angle sensor.
  • the motor 13 moves to maintain the vertical stabilization device 20 in a vertical state, so that the desired effect can be obtained by shooting.
  • the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the longitudinal stabilization frame 10 will swing to the position 10A shown by the dashed line in FIG. 31 due to the user's hand movement. It is also possible to maintain the vertical stabilization device 20 in a vertical state by means of the closed-loop control of the above controller, so as to obtain a preset desired effect when shooting. Since its control method is basically the same as the above, it will not be repeated here.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched.
  • the user holds the hand-held photographic equipment for variable-speed movement in the longitudinal direction,
  • the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia.
  • the posture information of the vertical stabilization device 20 is obtained in real time by using a posture sensor such as an IMU.
  • a posture sensor such as an IMU.
  • the load device will swing to the position 10B shown by the dashed line in FIG. 31, and during rapid longitudinal deceleration, the load device will swing to the position 10A shown by the dashed line in FIG. 31, for example.
  • the controller can generate a control command according to the real-time posture information and preset posture information of the vertical stabilization device 20, so that the vertical stabilization motor drives the vertical stabilization device 20 to rotate to a 0° posture, thereby shooting Get the desired effect by default.
  • the longitudinal handheld photographic equipment includes the laterally stabilized handheld frame 10 shown in FIGS. 32 to 33 and the load device mounted by the laterally stabilized handheld frame 10 as a load device.
  • Various vertical stabilization devices 20 are shown in FIGS. 3 to 15 or 27 to 28.
  • components with the same name are denoted by the same reference numerals in the above text.
  • FIGS. 32 to 33 show a laterally stabilizing handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application.
  • the load device may specifically be the vertical stabilization device 20 shown in FIG. 3. It is understandable that the load device can also be other devices that can be installed in the laterally stabilized handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rockers) that do not have a stabilization function.
  • first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side)
  • the first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
  • the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a transverse stabilizing motor 13 and a preferably U-shaped connecting rod 14 are arranged between them.
  • the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is used for mounting the transverse axis.
  • Stabilization motor 13 A pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be substantially U-shaped.
  • first connecting arm 142 and the second connecting arm are respectively fixedly connected to the first connecting end 151 and the second connecting end 151 and the second connecting end 151 of the first pipe body 11 by means of a first connecting rod 171 and a second connecting rod 172, which are preferably hollow rods.
  • first connecting rod 171 and the second connecting rod 172 are respectively inserted into the first connecting end 151 of the first pipe body portion 11 and the second connecting end 152 of the second pipe body portion 12.
  • first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the first connecting rod 171 and the first connecting rod 171 and the first connecting rod 171 and the The two connecting rods 172 ensure that the U-shaped connecting rod 14 connected to the first connecting rod 171 and the second connecting rod 172 is always kept coaxial with the transverse axis T. Furthermore, this design also realizes the interconnection of the upper sides of the first pipe body portion 11 and the second pipe body portion 12 at the same time.
  • the lateral stabilization motor 13 includes a motor housing 131 connected to the mounting base 141 and a motor rotor 132 capable of pivoting about the longitudinal axis L relative to the motor housing 131.
  • a motor housing 131 connected to the mounting base 141 and a motor rotor 132 capable of pivoting about the longitudinal axis L relative to the motor housing 131.
  • one end of the motor housing 131 is fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners.
  • the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilizing device 20 described below can be fixedly connected to the motor rotor 132 by means of a plurality of fasteners 15A, so that the motor Driven by the rotor 132, the load device fixedly connected to the connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load device as described in detail below.
  • the laterally stabilizing hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 .
  • Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, thereby allowing the laterally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight.
  • the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them.
  • the upper side of the annular part of the laterally stabilizing handheld frame 10 can also facilitate the installation of accessories such as control rockers, monitors, and image transmission equipment.
  • an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the motor rotor 132.
  • the angle sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain the real-time rotation angle of the motor rotor 132 relative to the motor stator 131.
  • the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T).
  • a controller integrated in the motor 13 or installed in the control rocker on the annular part of the laterally stabilized handheld frame 10 controls the motion of the laterally stabilized motor 13 in a closed loop at least based on the rotation angle information from the angle sensor.
  • the connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load equipment connected to the connecting seat 15.
  • the vertical stabilization device 20 as a load device is installed on the connecting seat 15 of the lateral stabilization handheld frame 10.
  • the longitudinal axis L passes through the overall center of gravity of the vertical stabilization device 20 and the connecting rod 14.
  • the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support mechanism 40 of the vertical stabilization device 20 by means of a threaded connection with a 1/4 threaded hole in a hoisting manner, thereby by means of the vertical increase
  • the stabilizing device 20 arranges the three-axis stabilizer 90 in the internal space of the laterally stabilized handheld frame 10 in a "suspended" manner (see FIG. 34).
  • it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
  • the vertical stabilization device 20 when the user holds the handheld photographic equipment with both hands for side-shooting, it is desirable to realize that the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer.
  • the lens of the photographing device carried by the three-axis stabilizer 90 can always be kept parallel to the transverse axis T. If the user holds the handheld photographic equipment with both hands to perform low-view overhead shooting during side shooting, the lateral stabilization frame 10 will swing to the point represented by 10B shown by the dashed line in FIG. 34 due to the user's hand motion.
  • the vertical stabilization device In the left-leaning position, if the lateral stabilization frame 10 does not have the lateral stabilization function at this time, it is obvious that the vertical stabilization device will deviate from the vertical posture along with one of the stabilization devices, and the camera lens of the shooting device will be integrated. Tilting to the left causes the lens of the shooting device to be unable to maintain a horizontal horizontal state parallel to the horizontal axis T, and shakes to the left, so that the shooting effect cannot be guaranteed.
  • the angle sensor provided on the motor rotor or the IMU of the vertical stabilization device 20 is used as the posture sensor to obtain the posture information of the current vertical stabilization device 20.
  • the vertical stabilization device 20 is relative to The angle tilted vertically to the left.
  • the posture information is then sent to the controller via wired or wireless means.
  • the controller will close-loop control the movement of the lateral stabilization motor based on, for example, the rotation angle information of the motor rotor and the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture.
  • the attitude sensor preferably an IMU, can also be additionally provided as an option for the lateral stabilization rack.
  • preset posture information may be preset in the controller.
  • the preset posture information is posture information indicating that the lateral stabilization frame 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture.
  • the controller can generate a control command according to the posture information of the vertical stabilization device 20 and the preset posture information.
  • the processor 14 can generate a corresponding control command, so that the controller controls the lateral stabilization motor 13 to rotate +10°, so that the lateral stabilization motor drives the vertical stabilization
  • the device 20 rotates back to the 0° attitude.
  • the controller since an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the lateral stabilization motor 13 after the action, this allows the controller to close the loop control station based on the rotation angle information of the angle sensor and the attitude information of the attitude sensor.
  • the lateral stabilization motor 13 moves to maintain the vertical stabilization device 20 in a vertical posture, so as to obtain a preset desired effect when shooting. It is understandable that the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
  • the lateral stabilization frame 10 will swing to the right as indicated by the dotted line 10A in FIG. 34 due to the user's hand motion.
  • the position of the posture, at this time, the closed-loop control of the above controller can also be used to maintain the vertical stabilization device 20 in the vertical posture, so that the preset desired effect can be obtained by shooting. Since its control method is basically the same as the above, it will not be repeated here.
  • the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched.
  • the user is holding the hand-held photographic equipment for side-shooting and performing a variable speed movement in the lateral direction,
  • the vertical stabilization device 20 mounted on the rack will appear relative to the rack due to its own inertia. Unexpected shaking.
  • the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU.
  • the load device will swing to the 10B position shown by the dashed line in FIG. 34, and during rapid lateral deceleration, the load device will swing to the 10A position shown by the dashed line in FIG. 34, for example.
  • the controller can generate a control command according to the real-time posture information and preset posture information of the load equipment, so that the lateral stabilization motor drives the vertical stabilization device 30 to rotate to a 0° posture.
  • the controller since an angle sensor is provided on the motor rotor or connecting rod to obtain the posture information of the lateral stabilization motor after action, this allows the controller to close-loop control of the station based on the posture information of the angle sensor and the posture information of the posture sensor.
  • the lateral stabilization motor moves to maintain the load device in a vertical posture, so as to obtain a preset desired effect when shooting.

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Abstract

A stabilizing handheld frame (10), used for carrying a loading device (20) and comprising: a first tube portion (11) and a second tube portion (12) that are arranged opposite each other; a longitudinal stabilization motor (13) and its first angle sensor; a connecting rod (14), comprising a mounting seat (141) defining a longitudinal axis and a pair of connecting arms extending from two sides of the mounting seat (141), wherein the longitudinal axis and a transverse axis are orthogonal to each other; a transverse stabilization motor (19) and its second angle sensor; and a controller controlling the action of the longitudinal stabilization motor (13) and/or the transverse stabilization motor (19) to achieve longitudinal and/or transverse stabilization of the loading device (20) connected to the connecting seat (15). Further, also provided is a handheld photography apparatus having the stabilizing handheld frame.

Description

增稳式手持机架及手持摄影器材Stability-enhanced handheld rack and handheld photographic equipment 技术领域Technical field
本发明涉及摄影拍摄装置的机械防抖动或者位置控制技术领域，具体涉及一种增稳式手持机架及手持摄影器材。The invention relates to the technical field of mechanical anti-shake or position control of photographing and shooting devices, in particular to a stabilized hand-held frame and hand-held photographing equipment.
背景技术Background technique
随着微视频逐渐形成潮流，越来越多的用户或摄影爱好者会使用手持增稳器材对拍摄装置进行增稳，以获取更好的拍摄效果和成片质量。目前市面上常见的手持增稳器材为手持式三轴稳定器，会包括三个轴(俯仰轴、横滚轴、航向轴)，从而在行进过程的拍摄中对其搭载的拍摄装置进行俯仰、航向、横滚方向上抖动的补偿。由于现有的手持式三轴稳定器自身体积有限并且在各个轴的旋转运动上存在着角度限位，这造成其对搭载的拍摄设备进行增稳补偿的范围也有限，因此目前主要用于诸如用户或摄影爱好者在静止站立或小幅运动的情况(例如旅行自拍或者电视采访等应用场景)下来吸收来自用户手的无意抖动以确保拍摄画质，这使得现有的手持式三轴稳定器的应用场景并不足够宽泛。As micro-video gradually becomes a trend, more and more users or photography enthusiasts will use handheld stabilization equipment to stabilize the shooting device to obtain better shooting effects and film quality. At present, the common handheld stabilization equipment on the market is a handheld three-axis stabilizer, which will include three axes (pitch axis, roll axis, and yaw axis), so that the camera device mounted on it can be pitched and taken during shooting. Compensation for jitter in heading and roll directions. Due to the limited volume of the existing handheld three-axis stabilizer and the angular limit on the rotational movement of each axis, the scope of stabilization compensation for the mounted shooting equipment is also limited. Therefore, it is mainly used for such as The user or photography enthusiast absorbs the unintentional shaking of the user’s hand when standing still or moving in small motions (such as travel selfies or TV interviews) to ensure the quality of the shooting. This makes the existing handheld three-axis stabilizers more effective The application scenarios are not broad enough.
实际上，越来越多的用户或摄影爱好者期望手持增稳器材能在大幅度运动期间也能够提供可靠的增稳效果。例如，在日常生活中，为了拍摄小朋友或者小动物或者高大宏伟的建筑往往需要采用俯拍或者仰拍这样的低角度拍摄的手法，此时现有的手持式三轴稳定器因受机械结构限制，并不能够达到理想增稳的效果，影响拍摄。同时，在例如体育运动或者新闻题材时，往往需要采取和拍摄对象朝同一个方向移动的追随拍摄的手法，此时若用户在纵向方向出现急加速或急减速运动时，现有的手持式三轴稳定器所搭载的拍摄装置会由于自身惯性的作用出现不期望的晃动，这导致拍摄画面的模糊，无法满足用户的需求。In fact, more and more users or photography enthusiasts expect that handheld stabilization equipment can provide reliable stabilization effects during large movements. For example, in daily life, in order to shoot children or small animals or tall and magnificent buildings, it is often necessary to use low-angle shooting methods such as overhead or overhead shooting. At this time, the existing handheld three-axis stabilizer is limited by the mechanical structure. , Can not achieve the ideal stabilization effect, affect the shooting. At the same time, in sports or news topics, it is often necessary to follow the shooting method that moves in the same direction as the subject. At this time, if the user accelerates or decelerates in the vertical direction, the existing handheld three The camera mounted on the axis stabilizer will shake undesirably due to its own inertia, which leads to blurry shots and cannot meet the needs of users.
进一步，在诸如影视剧拍摄进行运动摄影时，当前主要是通过摄像师借助手摇设备(诸如摇臂等)在拍摄的时候来承载摄像机从而在空间当中形成顺畅的运动，并且可对摄像机俯仰、转向进行操作，从而形成动态电视画面。现有的手摇摇臂，摄影师需要通过双手对摇臂臂身进行水平俯仰的摇移运动，并且通过遥控手柄来进行水平俯仰、转向、摄像机聚焦变焦等操作，所拍摄画面品质完全依赖摄像师的拍摄水准，一旦需要重复按照相 同轨迹对摇臂和镜头进行操作，人工拍摄很难达要求。并且，人工拍摄的画面品质将不可避免地受到摄影师的身体抖动的影响，尤其是由于摇臂本身并不具有竖向减震的功能，使得在运动拍摄过程中由于身体步行造成的竖向抖动将不可避免地传递到摄像机，从而无法满足对拍摄画面的画质要求较高的应用场景的实际需求。换言之，传统的人工操作，已经难以应付需要复杂拍摄轨迹和高拍摄画质的拍摄需求。并且手摇设备的购置成本很高，普通消费者难于承担。Further, when performing sports photography such as film and television drama shooting, currently, the cameraman uses hand-cranked equipment (such as a rocker arm, etc.) to carry the camera during shooting so as to form smooth motion in the space, and can tilt and tilt the camera. Turn to the operation to form a dynamic TV picture. With the existing hand-cranked arm, the photographer needs to use both hands to pan and tilt the arm body horizontally, and use the remote control handle to perform operations such as horizontal tilt, steering, and focus and zoom of the camera. The quality of the captured image is completely dependent on the camera. The photographer’s shooting level, once it is necessary to repeat the operation of the rocker arm and the lens according to the same trajectory, it is difficult for manual shooting to meet the requirements. Moreover, the image quality of manual shooting will inevitably be affected by the photographer's body shake, especially because the rocker itself does not have the function of vertical shock absorption, which makes the vertical shake caused by body walking during sports shooting. It will inevitably be delivered to the camera, which cannot meet the actual needs of application scenarios that require high image quality of the shooting picture. In other words, the traditional manual operation has been difficult to meet the shooting requirements that require complex shooting trajectories and high shooting quality. Moreover, the purchase cost of hand-cranked equipment is very high, which is difficult for ordinary consumers to bear.
同时，目前在拍摄影视作品、新闻节目、广告片、录制生活或作业现场资料等场合，包括摄像机或者照相机在内的拍摄装置往往需要进行移动摄像。移动摄影机或摄像机通常需要在竖向方向上具有高的稳定性，以获得流畅的高质量拍摄画质。然而，例如在拍摄电影过程中，摄影机常常需要进行水平移动，而扛着或拿着摄影机进行移动摄影时移动平稳性和匀速性差，这会造成摄影机的镜头发生明显地抖动和晃动，给摄影效果带来了明显的不利影响。为了抵消运动摄影中的抖动干扰以保证高清画质，人们已经开发出各种辅助拍摄装置以在运动摄影期间帮助摄影师或者用户来对拍摄装置增稳。At the same time, at present, in occasions such as shooting film and television works, news programs, commercials, recording life or work site materials, etc., shooting devices including video cameras or cameras often need to perform mobile video recording. Mobile cameras or video cameras generally need to have high stability in the vertical direction to obtain smooth and high-quality shooting images. However, for example, in the process of shooting a movie, the camera often needs to move horizontally, and when carrying or holding the camera for mobile photography, the smoothness and uniform speed of the movement are poor, which will cause the camera lens to shake and shake significantly, which gives the photographic effect. Brought obvious adverse effects. In order to offset the jitter interference in sports photography to ensure high-definition picture quality, various auxiliary shooting devices have been developed to help photographers or users stabilize the shooting device during sports photography.
手持稳定器具备电子增稳能力，利用诸如惯性测量单元检测出相机的姿态，再根据相机的目标姿态与实际姿态计算出抖动量，利用电机进行反馈补偿，将计算出来的抖动量消除，达到电控增稳效果。手持稳定器的优势在于增稳能力强，对微小抖动都能补偿掉，抗外界扰动能力强，增稳能力跟设备调试的精准度和摄影师的操作关系不大。然而，当前的手持稳定器受到其自身体积的约束，稳定和补偿运动的范围较为有限。在无法在脱离人手操作的情况下，三轴稳定器只能控制相机在稳定器的三个电机轴限定的空间范围中运动，范围是有限的，对于许多特定轨迹的拍摄是不足够的。The handheld stabilizer is equipped with electronic stabilization capability. It uses an inertial measurement unit such as an inertial measurement unit to detect the camera's posture, and then calculates the amount of shake based on the camera's target posture and actual posture. The motor is used for feedback compensation to eliminate the calculated amount of shake to achieve electrical Control and stabilization effect. The advantage of the handheld stabilizer is that it has strong stabilization ability, can compensate for small jitter, and has strong resistance to external disturbance. The stabilization ability has little to do with the accuracy of equipment debugging and the photographer's operation. However, the current handheld stabilizer is restricted by its own volume, and the range of stabilization and compensation movement is relatively limited. When it cannot be operated without human hands, the three-axis stabilizer can only control the movement of the camera in the space limited by the three motor shafts of the stabilizer, and the range is limited, which is not enough for shooting many specific trajectories.
因此，行业内仍存在提供一种令人满意的、商业上可行的、通用性好的手持摄影器材的需求。Therefore, there is still a need in the industry to provide a satisfactory, commercially feasible, and versatile handheld photographic equipment.
发明内容Summary of the invention
本发明旨在提供一种能至少部分地解决上述现有技术的种种不足的增稳式手持机架。进一步还涉及带有该增稳式手持机架的手持摄影器材。The present invention aims to provide a stabilized hand-held frame that can at least partially solve the above-mentioned shortcomings of the prior art. It further relates to a handheld photographic equipment with the stabilized handheld frame.
根据本发明的一方面，提供了一种增稳式手持机架，其用于搭载负载 设备，其中包括：沿横向轴线相对设置的第一管体部和第二管体部；连杆，其包括限定出纵向轴线的安装座和自该安装座的相对两侧延伸出的、能分别与第一管体部和第二管体部相连的一对连接臂，其中所述纵向轴线与所述横向轴线彼此正交；至少一个增稳电机，其包括电机壳体和能相对于所述电机壳体绕枢转轴线枢转的电机转子，其中所述至少一个增稳电机将所述连杆的连接臂和第一管体部相连和/或连接至所述连杆的安装座；设置在至少一个增稳电机的所述电机转子上的至少一个角度传感器，其用于获取所述电机转子的旋转角度信息；以及控制器，其构造成至少基于来自所述至少一个角度传感器的旋转角度信息控制所述至少一个增稳电机运动以允许所述连杆绕横向轴线和/或纵向轴线枢转，从而实现对连接至该安装座的负载设备进行横向和/或纵向增稳。According to one aspect of the present invention, there is provided a stabilized hand-held rack for carrying load equipment, which includes: a first pipe body portion and a second pipe body portion arranged opposite to each other along a transverse axis; a connecting rod, which It includes a mounting seat that defines a longitudinal axis and a pair of connecting arms extending from opposite sides of the mounting seat and capable of being connected to the first tube body and the second tube body, wherein the longitudinal axis is connected to the The transverse axes are orthogonal to each other; at least one stabilization motor includes a motor housing and a motor rotor capable of pivoting about a pivot axis relative to the motor housing, wherein the at least one stabilization motor connects the connection The connecting arm of the rod is connected to the first pipe body and/or is connected to the mounting seat of the connecting rod; at least one angle sensor arranged on the motor rotor of at least one stabilization motor, which is used to obtain the motor Rotation angle information of the rotor; and a controller configured to control the movement of the at least one stabilization motor based on at least the rotation angle information from the at least one angle sensor to allow the connecting rod to pivot about a transverse axis and/or a longitudinal axis In this way, horizontal and/or longitudinal stabilization of the load equipment connected to the mounting base can be realized.
由此，与现有技术相比，根据本发明的向增稳式手持机架上设置有纵向和/或横向增稳电机和传感器，控制器可以根据角度传感器获取的旋转角度信息生成控制指令以控制纵向和/或横向增稳电机带动负载设备运动，使得负载设备在一定范围内保持一定的姿态，这样负载设备能够保持较好的工作状态。其中，该增稳式手持机架能够可靠地允许负载设备在大幅度运动范围内也能提高可靠的增稳效果，同时该增稳式机架安装和调试容易，且方便用户手持，有利于提高用户体验。Therefore, compared with the prior art, the longitudinal and/or lateral stabilization motors and sensors are arranged on the stabilization handheld frame of the present invention, and the controller can generate control commands based on the rotation angle information obtained by the angle sensor. Control the longitudinal and/or lateral stabilization motor to drive the load equipment to move, so that the load equipment maintains a certain posture within a certain range, so that the load equipment can maintain a better working condition. Among them, the stabilized handheld rack can reliably allow the load equipment to increase the reliable stability effect within a large range of motion. At the same time, the stabilized rack is easy to install and debug, and is convenient for the user to hold, which is beneficial to improve user experience.
在一个优选实施方式中，所述至少一个增稳电机包括纵向增稳电机和/或横向增稳电机，其中所述纵向增稳电机包括连接至所述第一管体部的纵向电机壳体和能相对于所述纵向电机壳体绕横向轴线枢转的、与连接臂相连的纵向电机转子，其中所述横向增稳电机包括连接至所述连杆的安装座的横向电机壳体和能相对于所述横向电机壳体绕纵向轴线枢转的横向电机转子，其中负载设备能固定连接至所述横向电机转子。In a preferred embodiment, the at least one stabilization motor includes a longitudinal stabilization motor and/or a lateral stabilization motor, wherein the longitudinal stabilization motor includes a longitudinal motor housing connected to the first pipe body And a longitudinal motor rotor connected to a connecting arm that can pivot about a transverse axis relative to the longitudinal motor housing, wherein the transverse stabilization motor includes a transverse motor housing connected to a mounting seat of the connecting rod And a transverse motor rotor capable of pivoting about a longitudinal axis relative to the transverse motor housing, wherein a load device can be fixedly connected to the transverse motor rotor.
在一个优选实施方式中，还包括能附接至所述负载设备的姿态传感器，所述姿态传感器用于获取所述负载设备的姿态信息；其中所述控制器基于所述至少一个角度传感器的旋转角度信息以及姿态传感器的姿态信息来闭环控制至少一个增稳电机动作以将所述负载设备保持在竖直姿态。由此，可以进一步提高横向增稳的控制精度，有助于提升用户的满意度。In a preferred embodiment, it further includes an attitude sensor that can be attached to the load device, and the attitude sensor is used to obtain the attitude information of the load device; wherein the controller is based on the rotation of the at least one angle sensor. The angle information and the posture information of the posture sensor are used to close-loop control the action of at least one stabilization motor to keep the load device in a vertical posture. As a result, the control accuracy of lateral stabilization can be further improved, which helps to improve user satisfaction.
根据本发明的一个方面，还提供了一种手持摄影器材，其被构造成允许对载荷辅助拍摄，其中，包括根据本发明的增稳式手持机架和作为负载设备的、以重心调平的方式受至少一个增稳电机驱动的竖向增稳装置，以 允许所述竖向增稳装置能借助于所述至少一个增稳电机枢转被保持在竖直姿态。According to one aspect of the present invention, there is also provided a handheld photographing equipment, which is configured to allow assisted shooting of a load, which includes the stabilized handheld frame according to the present invention and a load device that is leveled at the center of gravity. A vertical stabilization device driven by at least one stabilization motor is used to allow the vertical stabilization device to be maintained in a vertical posture by pivoting of the at least one stabilization motor.
在一个优选实施方式中，所述竖向增稳装置包括：固定连接至该增稳式手持机架的壳体；以能绕一枢转轴线枢转的方式安置在所述竖向增稳装置的壳体内的平衡轮；能竖向连接载荷的支承杆，其被构造成与平衡轮作用连接；连接至所述平衡轮的弹性件，其中所述支承杆通过所述弹性件的弹力支撑所述载荷并平衡载荷的重力；设置在所述支承杆端部的姿态传感器，其用于获取所述竖向增稳装置在空间上的姿态信息；操作连接至所述平衡轮的竖向增稳电机，其中竖向增稳电机带动平衡轮转动时驱动所述支承杆相对于所述竖向增稳装置的壳体在竖向上运动以对载荷进行竖向增稳。In a preferred embodiment, the vertical stabilization device includes: a housing fixedly connected to the stabilization handheld frame; The balance wheel in the housing; the support rod that can be vertically connected to the load, which is configured to be operatively connected with the balance wheel; the elastic member connected to the balance wheel, wherein the support rod is supported by the elastic force of the elastic member The load and balance the gravity of the load; an attitude sensor arranged at the end of the supporting rod, which is used to obtain the attitude information of the vertical stabilization device in space; and the vertical stabilization that is operatively connected to the balance wheel A motor, wherein when the vertical stabilization motor drives the balance wheel to rotate, the support rod is driven to move vertically relative to the housing of the vertical stabilization device to vertically stabilise the load.
在一个优选实施方式中，其中所述竖向增稳装置被构造为能以增稳模式或锁定模式操作，其中在所述增稳模式下，所述支承杆能相对于所述竖向增稳装置的壳体运动以对所述载荷竖向增稳，在所述锁定模式下，所述支承杆相对于所述竖向增稳装置的壳体以确定的长度被锁止，其中控制器被构造成在竖向增稳装置处于增稳模式时基于来自所述姿态传感器的姿态信息控制纵向增稳电机和/或横向增稳电机动作以将所述竖向增稳装置和载荷保持在竖直状态，或在所述竖向增稳装置处于锁定模式时基于来自所述姿态传感器的姿态信息控制所述纵向增稳电机和/或横向滚增稳电机动作以允许所述载荷在空间内以确定的轨迹运动。In a preferred embodiment, wherein the vertical stabilization device is configured to be able to operate in a stabilization mode or a locking mode, wherein in the stabilization mode, the support rod can be relative to the vertical stabilization The housing of the device moves to stabilize the load vertically. In the locking mode, the support rod is locked with a certain length relative to the housing of the vertical stabilization device, wherein the controller is It is configured to control the action of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information from the attitude sensor when the vertical stabilization device is in the stabilization mode to keep the vertical stabilization device and the load in the vertical State, or when the vertical stabilization device is in the locked mode, the action of the longitudinal stabilization motor and/or the lateral roll stabilization motor is controlled based on the posture information from the posture sensor to allow the load to be determined in space Trajectory movement.
在一个优选实施方式中，其中所述控制器被构造成基于来自所述姿态传感器的姿态信息控制至少一个增稳电机动作以将所述竖向增稳装置和载荷增稳成竖直姿态且控制所述竖向增稳电机动作以在增稳期间使所述载荷始终保持在确定的竖向高度。In a preferred embodiment, wherein the controller is configured to control the action of at least one stabilization motor based on the posture information from the posture sensor to stabilize the vertical stabilization device and the load into a vertical posture and control The vertical stabilization motor operates to keep the load at a certain vertical height during the stabilization period.
在一个优选实施方式中，所述平衡轮为与所述竖向增稳电机的转子一体形成的平衡同步轮，其经由沿其外周布置的两条同步带分别连接至所述支承杆的相对两端以旋转驱动所述支承杆运动。In a preferred embodiment, the balance wheel is a balance synchronization wheel integrally formed with the rotor of the vertical stabilization motor, which is respectively connected to the opposite two of the support rod via two timing belts arranged along its outer circumference. The end drives the support rod to move in rotation.
在一个优选实施方式中，还包括与所述平衡同步轮一体形成的卷簧盒，其中所述弹性件为一端固定连接至所述卷簧盒的、盘设在所述卷簧盒内的卷簧，其中所述卷簧的另一端固定连接至能相对于壳体调节的转轴，从而能随所述卷簧盒的转动被收卷或者放卷。In a preferred embodiment, it further includes a coil spring box integrally formed with the balance synchronization wheel, wherein the elastic member is a coil with one end fixedly connected to the coil spring box and arranged in the coil spring box. A spring, wherein the other end of the coil spring is fixedly connected to a rotating shaft that can be adjusted relative to the housing, so that it can be wound or unwinded with the rotation of the coil spring box.
在一个优选实施方式中，所述平衡轮为与所述支承杆啮合传动的平衡 齿轮，所述弹性件为同轴地盘设在所述平衡齿轮的枢转轴上的卷簧，其中所述卷簧的一端固定连接至能相对于所述壳体调节的卷簧盒且另一端固定连接至所述枢转轴从而能随所述枢转轴的转动收卷或者放卷。In a preferred embodiment, the balance wheel is a balance gear that meshes and drives with the support rod, and the elastic member is a coil spring coaxially arranged on the pivot shaft of the balance gear, wherein the coil spring One end is fixedly connected to the coil spring box which can be adjusted relative to the casing, and the other end is fixedly connected to the pivot shaft so as to be able to wind or unwind with the rotation of the pivot shaft.
在一个优选实施方式中，还包括自所述支承杆的不同侧分别固定连接至所述支承杆的多个直导轨，从而引导所述支承杆相对于所述壳体在直线方向上运动。In a preferred embodiment, it further includes a plurality of straight guide rails respectively fixedly connected to the support rod from different sides of the support rod, so as to guide the support rod to move in a linear direction relative to the housing.
在一个优选实施方式中，所述竖向增稳装置还包括连接至支承杆端部的用于接合载荷的快拆锁紧机构，其中所述快拆锁紧机构包括：彼此相对设置的、能与载荷滑动配合的一对滑槽；扣压件，其能相对于一对滑槽在压紧位置和旋松位置之间移动且能在所述压紧位置抵靠所述载荷以将其锁紧就位。In a preferred embodiment, the vertical stabilization device further includes a quick release locking mechanism connected to the end of the support rod for engaging the load, wherein the quick release locking mechanism includes: A pair of sliding grooves that are slidingly fitted with the load; a fastening member, which can move relative to a pair of sliding grooves between a compression position and an unscrewing position, and can abut the load at the compression position to lock it In place.
在一个优选实施方式中，所述竖向增稳装置包括：壳体；以能绕一枢转轴线枢转的方式安置在壳体内的变速平衡机构；竖向支撑所述载荷的支承机构，其被构造成在该变速平衡机构的一侧在距该枢转轴线第一距离处与该变速平衡机构作用连接，以传递来自所述载荷的重力对所述变速平衡机构沿第一旋转方向施加第一转矩；力产生机构，其被构造成在该变速平衡机构的同一侧在距该枢转轴线第二距离处与该变速平衡机构作用连接，以向所述变速平衡机构施力从而对所述变速平衡机构沿相反于第一旋转方向的第二旋转方向施加第二转矩，该力产生机构以其一端固定连接至该壳体；其中在所述载荷经受竖向震动而处于不同竖向高度时，所述变速平衡机构被构造成允许力产生机构以基本不变的力平衡所述载荷的重力。In a preferred embodiment, the vertical stabilization device includes: a housing; a variable speed balance mechanism arranged in the housing in a manner capable of pivoting about a pivot axis; a supporting mechanism for vertically supporting the load, which It is configured to be operatively connected with the shift balance mechanism at a first distance from the pivot axis on one side of the shift balance mechanism, so as to transmit gravity from the load to apply a first rotation direction to the shift balance mechanism in the first rotation direction. A torque; a force generating mechanism, which is configured to be operatively connected with the shift balance mechanism on the same side of the shift balance mechanism at a second distance from the pivot axis, so as to apply force to the shift balance mechanism to The shift balance mechanism applies a second torque in a second rotation direction opposite to the first rotation direction, and the force generation mechanism is fixedly connected to the housing with one end thereof; wherein the load is subjected to vertical vibration and is in a different vertical direction. At a height, the shift balance mechanism is configured to allow the force generation mechanism to balance the gravity of the load with a substantially constant force.
在一个优选实施方式中，其中所述变速平衡机构包括：可枢转地安置在壳体内的枢转轴；同轴布置的具有较大的外径和/或模数的第一齿轮和具有较小的和/或的第二齿轮；其中所述支承机构包括与该第一齿轮相啮合的第一齿条，所述力产生机构还包括与该第二齿轮相啮合的第二齿条，其中所述第一齿条和第二齿条被布置在同一侧。In a preferred embodiment, the gear shift balance mechanism includes: a pivot shaft pivotally arranged in the housing; a coaxially arranged first gear with a larger outer diameter and/or modulus and a first gear with a smaller And/or the second gear; wherein the supporting mechanism includes a first rack meshed with the first gear, the force generating mechanism further includes a second rack meshed with the second gear, wherein the The first rack and the second rack are arranged on the same side.
在一个优选实施方式中，所述力产生机构还包括：能够沿直线方向拉伸或者回缩的弹性件，所述弹性件的一端可操作地连接至壳体；转接件，所述转接件的一端操作连接至所述弹性件且相对的另一端操作连接至所述第二齿条，以允许所述弹性件和所述第二齿条大致平行地相邻布置。In a preferred embodiment, the force generating mechanism further includes: an elastic member that can be stretched or retracted in a linear direction, one end of the elastic member is operably connected to the housing; an adapter, the adapter One end of the member is operatively connected to the elastic member and the opposite end is operatively connected to the second rack to allow the elastic member and the second rack to be arranged adjacent to each other substantially in parallel.
在一个优选实施方式中，还包括用于调节所述弹性件的预紧力的调节机构，其包括：与该壳体螺纹连接的、并与该弹性件的一端操作连接的调 节件，其中经由相对于该壳体旋入或者旋出该调节件来调节所述弹性件的预紧力。In a preferred embodiment, it further includes an adjusting mechanism for adjusting the pretension of the elastic member, which includes: an adjusting member threadedly connected to the housing and operatively connected to one end of the elastic member, wherein The adjusting member is screwed in or out of the housing to adjust the pre-tightening force of the elastic member.
本发明的其它特征和优点的一部分将会是本领域技术人员在阅读本公开后显见的，另一部分将在下文的具体实施方式中结合附图描述。Part of the other features and advantages of the present invention will be apparent to those skilled in the art after reading the present disclosure, and the other part will be described in the following specific embodiments in conjunction with the accompanying drawings.
附图说明Description of the drawings
以下，结合附图来详细说明本发明的实施例，其中：Hereinafter, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, in which:
图1示出了根据本发明的两向增稳式手持机架的立体视图；Figure 1 shows a three-dimensional view of a two-way stabilization hand-held frame according to the present invention;
图2示出了根据本发明的两向增稳式手持机架的***图；Figure 2 shows an exploded view of the two-way stabilization hand-held rack according to the present invention;
图3-15示出了根据本发明的各种竖向增稳装置的视图；Figures 3-15 show views of various vertical stabilization devices according to the present invention;
图16示出了根据本发明的安装有竖向增稳装置的手持摄影器材的立体图；Figure 16 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device according to the present invention;
图17示出了根据本发明的安装有竖向增稳装置和三轴稳定器的手持摄影器材的立体图；Figure 17 shows a perspective view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention;
图18示出了根据本发明的安装有竖向增稳装置和三轴稳定器的手持摄影器材的后视图，其中示出了机架与竖直方向产生了不同的夹角；Figure 18 shows a rear view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
图19示出了根据本发明的安装有竖向增稳装置和三轴稳定器的手持摄影器材的侧视图，其中示出了机架与竖直方向产生了不同的夹角；FIG. 19 shows a side view of a handheld photographic equipment equipped with a vertical stabilization device and a three-axis stabilizer according to the present invention, which shows that the frame has a different angle with the vertical direction;
图20-21示出了根据本发明的锁定机构的主视图和正视图；Figures 20-21 show a front view and a front view of the locking mechanism according to the present invention;
图22示出了带有平衡重的图19中的多功能手持摄影器材的后视图；Figure 22 shows a rear view of the multifunctional handheld photographic equipment in Figure 19 with a counterweight;
图23-24示出了带有载荷的多功能手持摄影器材进行空间运动的侧视图和俯视图；Figure 23-24 shows a side view and a top view of a multifunctional handheld camera with a load carrying out space movement;
图25示出了图22中的多功能手持摄影器材的侧视图；Figure 25 shows a side view of the multifunctional handheld camera in Figure 22;
图26示出了根据本发明的安装有三轴稳定器的手持摄影器材的主视图，其中示意性示出了机架与竖直方向产生了不同的夹角时的长度补偿；Figure 26 shows a front view of a handheld photographic equipment equipped with a three-axis stabilizer according to the present invention, which schematically shows the length compensation when the frame and the vertical direction produce different angles;
图27示出了根据本发明的另一种竖向增稳装置的***图，其中部分部件被移除以更好地示出该装置的内部结构；Figure 27 shows an exploded view of another vertical stabilization device according to the present invention, with some parts removed to better show the internal structure of the device;
图28示出了根据图27中的竖向增稳装置的主视图；Figure 28 shows a front view of the vertical stabilization device according to Figure 27;
图29示出了根据本发明的一种纵向增稳式手持机架的主视图；Figure 29 shows a front view of a longitudinally stabilized handheld frame according to the present invention;
图30示出了根据本发明的一种纵向增稳式手持机架的***图；Figure 30 shows an exploded view of a longitudinally stabilized handheld frame according to the present invention;
图31示出了根据本发明的带有三轴稳定器的手持摄影器材的侧视图，其中示出了纵向增稳式机架与竖直方向产生了不同的夹角；Figure 31 shows a side view of a handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the longitudinal stabilization frame has a different angle with the vertical direction;
图32示出了根据本发明的一种横向增稳式手持机架的立体视图；Figure 32 shows a perspective view of a laterally stabilizing handheld frame according to the present invention;
图33示出了根据本发明的一种横向增稳式手持机架的***图；Figure 33 shows an exploded view of a laterally stabilized handheld frame according to the present invention;
图34示出了根据本发明的带有三轴稳定器的手持摄影器材的后视图，其中示出了横向增稳式机架与水平方向产生了不同的夹角。Fig. 34 shows a rear view of the handheld photographic equipment with a three-axis stabilizer according to the present invention, which shows that the lateral stabilization frame has a different angle with the horizontal direction.
图35示出了根据本发明的带有三轴稳定器的手持摄影器材的俯视图。Fig. 35 shows a top view of a handheld photographic equipment with a three-axis stabilizer according to the present invention.
附图标记说明Description of Reference Signs
10.增稳式手持机架 11.第一管体部 12.第二管体部10. Stabilized handheld rack 11. The first tube body 12. The second tube body
13.纵向增稳电机 131.纵向电机定子 132.纵向电机转子13. Longitudinal stabilization motor 131. Longitudinal motor stator 132. Longitudinal motor rotor
14.连杆 141.安装座 142.第一连接臂 143.第二连接臂14. Connecting rod 141. Mounting seat 142. First connecting arm 143. Second connecting arm
15.连接座 15A.紧固件 151.第一连接端 152.第二连接端15. Connecting seat 15A. Fastener 151. First connecting end 152. Second connecting end
16.通孔 161.轴承 162.芯轴 163.轴承盖 171.第一连接杆16. Through hole 161. Bearing 162. Mandrel 163. Bearing cover 171. First connecting rod
172.第二连接杆 173.紧固件 T.横向轴线 L.纵向轴线172. Second connecting rod 173. Fastener T. Transverse axis L. Longitudinal axis
V.竖向轴线 18.中空杆 19.横向增稳电机 191.横向电机定子 V. Vertical axis 18. Hollow rod 19. Lateral stabilization motor 191. Lateral motor stator
192.横向电机转子 20.竖向增稳装置 21A、21B.壳体半部192. Transverse motor rotor 20. Vertical stabilization device 21A, 21B. Housing half
22.竖向增稳电机 22A.竖向增稳电机定子22. Vertical stabilization motor 22A. Vertical stabilization motor stator
22B.竖向增稳电机转子 22C.紧固件22B. Vertical stabilization motor rotor 22C. Fastener
23.平衡轮 24.枢转轴 24A.安装槽 25.支承杆 25A、25B.同步带 25C.压合件 25D.调节螺钉 25E.压合件 25F.外套筒 26.直导轨 26A.直导轨 27.引导块 28.固定座 29.轴端封盖 30.重力平衡机构 31.卷簧盒 32.卷簧 32A.卷簧外端 32B.卷簧内端 33.卷簧盖 40.调节机构 41.手动调节螺母 42.蜗杆 43.蜗轮 44.调节电机 45.压盖 46A.限位拨钮 46B.限位锁销 46C.限位滑槽 46D.棘爪 47.限位孔 48.限位棘轮 49A.转轴 49B.安装槽 49.棘轮 B.轴承 51.燕尾槽 52.锁紧件 53.姿态传感器 54.扣压件 90.三轴稳定器 91.航向轴电机 92.横滚轴电机 93.俯仰轴电机 110.平衡重 111.卡位件 120.锁定机构 121A、121B.锁紧夹 25A.锁紧槽 122.扭紧扳手123.弹性件 124.固定架 125A、125B.螺接件 S.空间范围23. Balance wheel 24. Pivoting shaft 24A. Mounting slot 25. Support rod 25A, 25B. Synchronous belt 25C. Press fitting 25D. Adjusting screw 25E. Press fitting 25F. Outer sleeve 26. Straight guide 26A. Straight guide 27 Guide block 28. Fixed seat 29. Shaft end cover 30. Gravity balance mechanism 31. Coil spring box 32. Coil spring 32A. Coil spring outer end 32B. Coil spring inner end 33. Coil spring cover 40. Adjusting mechanism 41. Manual adjustment nut 42. Worm 43. Worm gear 44. Adjusting motor 45. Gland 46A. Limit dial 46B. Limit lock pin 46C. Limit chute 46D. Pawl 47. Limit hole 48. Limit ratchet 49A Rotating shaft 49B. Mounting groove 49. Ratchet wheel B. Bearing 51. Dovetail groove 52. Locking member 53. Attitude sensor 54. Clamping member 90. Three-axis stabilizer 91. Pan axis motor 92. Roll axis motor 93. Pitch axis Motor 110. Balance weight 111. Locking part 120. Locking mechanism 121A, 121B. Locking clip 25A. Locking groove 122. Tightening wrench 123. Elastic part 124. Fixing frame 125A, 125B. Screw connection S. Space range
d1、d2.补偿长度 20A.处于左倾姿态的竖向增稳装置d1, d2. Compensation length 20A. Vertical stabilization device in a left-inclined attitude
20B.处于右倾姿态的竖向增稳装置20B. Vertical stabilization device in a right-inclined attitude
210.竖向增稳装置 220.增稳装置 230.变速平衡机构210. Vertical stabilization device 220. Stability enhancement device 230. Variable speed balance mechanism
240.支承机构 250.力产生机构 211.壳体 212.端盖240. Support mechanism 250. Force generating mechanism 211. Housing 212. End cover
231枢转轴 A1.枢转轴线 232.第一齿轮 233.第二齿轮231 pivot axis A1. pivot axis 232. first gear 233. second gear
234.轴承座 235.轴承 241.第一齿条 251.第二齿条234. Bearing seat 235. Bearing 241. First rack 251. Second rack
252.弹性件 253.转接件 260.直线引导机构 261、61A.直导轨部252. Elastic part 253. Adapter 260. Linear guide mechanism 261, 61A. Straight rail part
262、262A.滑行部 270.调节机构 271.调节件 272.调节盖262, 262A. Sliding part 270. Adjusting mechanism 271. Adjusting piece 272. Adjusting cover
281A.传感器安装座 281B.减震球 281C.传感器支承件 282.电机281A. Sensor mounting seat 281B. Damping ball 281C. Sensor support 282. Motor
具体实施方式Detailed ways
现参考附图，详细说明本发明所公开的手持摄影器材的示意性方案。尽管提供附图是为了呈现本发明的一些实施方式，但附图不必按具体实施方案的尺寸绘制，并且某些特征可被放大、移除或局剖以更好地示出和解释本发明的公开内容。附图中的部分构件可在不影响技术效果的前提下根据实际需求进行位置调整。在说明书中出现的短语“在附图中”或类似用语不必参考所有附图或示例。Now referring to the drawings, the schematic scheme of the handheld photographic equipment disclosed in the present invention will be described in detail. Although the drawings are provided to present some embodiments of the present invention, the drawings are not necessarily drawn to the size of specific embodiments, and certain features may be enlarged, removed or partially sectioned to better illustrate and explain the present invention. Public content. Some components in the drawings can be adjusted according to actual needs without affecting the technical effect. The phrase "in the drawings" or similar terms appearing in the specification does not necessarily refer to all drawings or examples.
需要说明的是，当组件被称为“固定”至另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“支撑”或“支承”或“设置”或“安装”于另一个组件，它可以是直接支承或支撑或安置在另一个组件上或者可能同时存在居中组件。在下文中被用于描述附图的某些方向性术语，例如“横”、“竖”、“前”、“后”、“内”、“外”、“左”、“右”、“上方”、“下方”和其它方向性术语，将被理解为具有其正常含义并且指正常看附图时所涉及的那些方向。除另有指明，本说明书所述方向性术语基本按照本领域技术人员所理解的常规方向。本发明中所使用的术语“第一”、“第二”及其类似术语，在本发明中并不表示任何顺序、数量或重要性，而是用于将一个部件与其它部件进行区分。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time. When a component is considered to be "supported" or "supported" or "installed" or "installed" on another component, it can be directly supported or supported or placed on another component or a centered component may exist at the same time. Hereinafter, some directional terms used to describe the drawings, such as "horizontal", "vertical", "front", "rear", "inner", "outer", "left", "right", "above" ", "below" and other directional terms will be understood to have their normal meanings and refer to those directions involved in normal viewing of the drawings. Unless otherwise specified, the directional terms described in this specification basically follow the conventional directions understood by those skilled in the art. The terms "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance in the present invention, but are used to distinguish one component from other components.
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
在下文中详细描述本发明涉及的增稳式手持机架和手持摄影器材。在此，该增稳式手持机架可以在下文中的纵向和横向这两个方向上对负载设备进行增稳(即，双向增稳)，也可以在纵向或横向上对负载设备进行增稳 (即，单向增稳)。进一步，这些增稳式手持机架均可以与各种竖向增稳装置相配合来形成允许对载荷辅助拍摄的手持摄影器材。Hereinafter, the stabilized handheld frame and the handheld photographic equipment involved in the present invention will be described in detail. Here, the stabilized handheld rack can stabilize the load equipment in the longitudinal and lateral directions (ie, two-way stabilization), and can also stabilize the load equipment in the longitudinal or transverse directions ( That is, one-way stabilization). Furthermore, these stabilized handheld racks can be combined with various vertical stabilizer devices to form handheld photographic equipment that allows auxiliary shooting of loads.
首先参阅图16，其中示出了根据本发明的优选实施方式的一种手持摄影器材，其中该手持摄影器材能够允许在用户进行大幅度运动期间仍能提供可靠的增稳效果。在此，作为一种示例，该手持摄影器材包括在图1至2中示出的增稳式手持机架10(两向，即纵向和横向)和由该两向增稳式手持机架10所搭载的作为负载设备的、在图3至15或者27-28中示出的各种竖向增稳装置。First, referring to FIG. 16, there is shown a handheld photographic equipment according to a preferred embodiment of the present invention, wherein the handheld photographic equipment can allow the user to perform a large exercise while still providing a reliable stabilization effect. Here, as an example, the handheld photographic equipment includes the stabilized handheld frame 10 (two directions, that is, longitudinal and horizontal) shown in FIGS. 1 to 2 and the two-direction stabilized handheld frame 10 Various vertical stabilizing devices shown in Figures 3 to 15 or 27-28 are mounted as load equipment.
在下文中首先结合附图1-2对该两向增稳式手持机架10的结构进行非限定性的描述。In the following, the structure of the two-way stabilizing handheld frame 10 will be described in a non-limiting manner with reference to FIGS. 1-2.
请一并参阅图1至图2，其中示出了作为本申请的示例性优选实施方式的、用于搭载负载设备的两向增稳式手持机架10，其中该两向稳式手持机架10用于对所搭载的负载设备在纵向和横向两个方向进行增稳。在该实施方式中，负载设备具体可以是在图3至15中示出的任一种竖向增稳装置20。可以理解的是，负载设备也可以是其他可以安装于该两向增稳式手持机架10的设备，如其他二轴稳定器或不具有增稳功能的摄像支架(例如电动摇臂)等。Please refer to FIGS. 1 to 2 together, which shows a two-way stabilized handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application, wherein the two-way stable handheld frame 10 is used to stabilize the mounted load equipment in both longitudinal and lateral directions. In this embodiment, the load device may specifically be any vertical stabilization device 20 shown in FIGS. 3 to 15. It is understandable that the load device can also be other devices that can be installed in the two-way stabilization handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rocker arms) that do not have stabilization functions.
如图1和2所示，该两向增稳式手持机架10包括相对设置的第一管体部11和第二管体部12，在本文中，第一管体部11和第二管体部12优选可借助于下文描述的部件可拆卸地连接在一起。在本文中，“横向”是指第一管体部11和第二管体部12的连接方向，在图1中为左右方向。“纵向”则是正交于横向，在图1和2中为垂直于纸面的内外方向。As shown in Figures 1 and 2, the two-way stabilization hand-held frame 10 includes a first tube body portion 11 and a second tube body portion 12 that are disposed oppositely. In this article, the first tube body portion 11 and the second tube body portion The bodies 12 are preferably detachably connectable together by means of the components described below. In this context, "lateral" refers to the connection direction of the first pipe body portion 11 and the second pipe body portion 12, which is the left-right direction in FIG. 1. "Longitudinal" is orthogonal to the horizontal, in Figures 1 and 2, it is the inside and outside directions perpendicular to the paper.
具体来说，如图1和2所示，其中第一管体部11和第二管体部12在其上下两侧分别设有用于相互配合连接的连接端(在此仅标示出位于上侧的第一连接端151和第二连接端152)，在此示出的第一连接端151和第二连接端152例如优选为可以借助于夹紧扳手被夹紧或松开的松紧套筒。Specifically, as shown in Figures 1 and 2, the first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side). The first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
如图2所示，第一连接端151和第二连接端152沿横向轴线T被对齐，并在两者之间设置有两向增稳电机13和连杆14，在此该两向增稳电机包括连接至第一管体部11的纵向电机壳体131和能相对于纵向电机壳体131绕该横向轴线T枢转的纵向电机转子132。在这里，优选地该纵向电机壳体131的一端借助于例如为螺钉的紧固件173固定连接至在此优选为中空杆的第一连接杆171，接下来将固定连接有纵向电机壳体131的第一连接杆171插 设入第一管体部11的第一连接端151内，由于该第一连接端151是可被夹紧或松开的松紧套筒，这允许可相对于该第一连接端151移入或者移出该第一连接杆171，同时保证与该第一连接杆171相连接的纵向电机壳体131始终保持与横向轴线T是同轴的。As shown in Figure 2, the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a two-way stabilization motor 13 and a connecting rod 14 are arranged between the two, where the two-way stabilization The motor includes a longitudinal motor housing 131 connected to the first pipe body portion 11 and a longitudinal motor rotor 132 capable of pivoting about the transverse axis T relative to the longitudinal motor housing 131. Here, preferably one end of the longitudinal motor housing 131 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the longitudinal motor housing is fixedly connected. The first connecting rod 171 of the body 131 is inserted into the first connecting end 151 of the first tube body 11. Since the first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the The first connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the longitudinal motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
如图1和2所示，该连杆14包括位于中部的能限定有纵向轴线L(在此该纵向轴线L与横向轴线T彼此是正交的)的安装座141，其中如下文所述该安装座141是用于安装将由该两向增稳式手持机架10中的横向增稳电机19。在此该横向增稳电机19包括固定连接至安装座141的横向电机壳体191和能相对于该横向电机壳体191发生转动的横向电机转子192。在该安装座141的两侧分别延伸出一对连接臂142和143以使得优选大致呈U形，其中第一连接臂142连接至纵向增稳电机13的纵向电机转子132从而在其带动下允许连杆14绕横向轴线T枢转。在这里，该横向电机壳体191的一端优选借助于焊接或者紧固件等方式固定连接至连杆14的安装座141。同时，在此用于安放下文所述的例如为竖向增稳装置20的连接座15(在此例如为连接板)可借助于多个紧固件15A固定连接至横向电机转子192，从而在横向电机转子192的带动下，允许固定连接至连接座15的负载设备绕纵向轴线L发生枢转从而如下文所详细描述的那样实现对竖向增稳装置20的横向增稳。借助于纵向增稳电机13和横向增稳电机19，允许该两向增稳式手持机架10对所搭载的负载设备在纵向和横向两个方向进行增稳，其工作方式将在下文中进一步予以详述。As shown in Figures 1 and 2, the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is described below. The mounting base 141 is used to install the lateral stabilization motor 19 in the two-way stabilization handheld frame 10. Here, the lateral stabilization motor 19 includes a lateral motor housing 191 fixedly connected to the mounting base 141 and a lateral motor rotor 192 capable of rotating relative to the lateral motor housing 191. A pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be preferably approximately U-shaped, wherein the first connecting arm 142 is connected to the longitudinal motor rotor 132 of the longitudinal stabilization motor 13 so as to allow it to be driven by it. The link 14 pivots about the transverse axis T. Here, one end of the transverse motor housing 191 is preferably fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners. At the same time, the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilization device 20 described below can be fixedly connected to the transverse motor rotor 192 by means of a plurality of fasteners 15A, thereby Driven by the rotor 192 of the transverse motor, the load device fixedly connected to the connecting base 15 is allowed to pivot about the longitudinal axis L to realize the lateral stabilization of the vertical stabilization device 20 as described in detail below. With the help of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, the two-way stabilization handheld frame 10 is allowed to stabilise the load equipment carried in the longitudinal and lateral directions. Its working mode will be further described below. Detailed.
如图2所示，该连杆14的第二连接臂143在其端部带有与横向轴线T对齐的通孔16，该通孔16中能容置有轴承161和插设入该轴承161的芯轴162，其中该芯轴162可以固定连接至可拆卸地插设入第二管体部12的第二连接端152的第二连接杆172。借此，实现了将第一管体部11和第二管体部12的上侧的相互连接。优选地，该两向增稳式手持机架10可以借助于用于连接第一管体部11和第二管体部12的中空管18从而形成为环形管体结构，在此中空管18、第一管体部11和第二管体部12均能优选采用30毫米直径的碳纤维管，碳纤维管的壁厚优选为1.5毫米，从而允许该两向增稳式手持机架10具有足够的强度，且具有较轻的重量。当然，该第一管体部11和第二管体部12也可以设计为其它横截面形状，只要能允许用户方便握持。两向增稳式手持机架10的环形部分的上侧还能够方便安装控制摇杆、监视器、图传设备等配件。As shown in FIG. 2, the second connecting arm 143 of the connecting rod 14 has a through hole 16 aligned with the transverse axis T at its end. The through hole 16 can accommodate a bearing 161 and insert the bearing 161. The mandrel 162 can be fixedly connected to a second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12. Thereby, the upper sides of the first pipe body portion 11 and the second pipe body portion 12 are connected to each other. Preferably, the two-way stabilization hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18. Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm. The strength, and has a lighter weight. Of course, the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them. The upper side of the annular part of the two-way stabilization handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
需要指出的是，作为一种优选的方式，可以在该横向增稳电机19的横向电机壳体191或横向电机转子192中的任一者上设置有限位机构，其中该限位机构包括转动部以及限制转动部转动的止挡部，例如将转动部设置于横向电机转子192的内侧，而将止挡部设置于横向电机壳体191的内侧。在此，止挡部可以设计成自铁芯表面延伸出，其形状可以是圆柱体、长方体或其它形状的部件。同时，转动部可设计为套设于横向电机转子192的转轴上并且随转轴一起转动，在这里转动部能设计为固接在横向电机转子192的底壁上，其可以为套设于转轴并且连接至底壁的内侧的套环，其中该套环包括分别从套环的两侧延伸的第一转动部和第二转动部。It should be pointed out that, as a preferred way, a limit mechanism can be provided on either the transverse motor housing 191 or the transverse motor rotor 192 of the transverse stabilization motor 19, wherein the limit mechanism includes a rotating For example, the rotating part is provided on the inner side of the transverse motor rotor 192, and the stopper is provided on the inner side of the transverse motor housing 191, for example. Here, the stop portion may be designed to extend from the surface of the iron core, and its shape may be a cylinder, a rectangular parallelepiped, or other shapes. At the same time, the rotating part can be designed to be sleeved on the rotating shaft of the transverse motor rotor 192 and to rotate with the rotating shaft, where the rotating part can be designed to be fixedly connected to the bottom wall of the transverse motor rotor 192, which can be sleeved on the rotating shaft and A collar connected to the inner side of the bottom wall, wherein the collar includes a first turning part and a second turning part respectively extending from both sides of the collar.
当横向电机壳体191与横向电机转子192配合时，止挡部被设计为位于第一转动部和第二转动部之间，这使得当横向电机转子192相对横向电机壳体191在预设工作角度范围内转动时，该转动部不会转动抵靠至该止挡部从而允许横向电机转子192能自由地转动。当横向电机转子192将超出预设工作角度范围顺时针或逆时针转动时，该第一转动部或第二转动部相应地转动成抵靠于止挡部，从而将横向电机转子192相对于横向电机壳体191的转动限制在预设工作角度范围内。When the traverse motor housing 191 is matched with the traverse motor rotor 192, the stopper is designed to be located between the first rotating part and the second rotating part. When rotating within the working angle range, the rotating part will not rotate and abut against the stop part so as to allow the rotor 192 of the transverse motor to rotate freely. When the transverse motor rotor 192 rotates clockwise or counterclockwise beyond the preset working angle range, the first rotating part or the second rotating part correspondingly rotates to abut against the stopper, thereby moving the transverse motor rotor 192 relative to the transverse motor rotor 192. The rotation of the motor housing 191 is limited within a preset working angle range.
在本实施例中，允许横向电机转子192相对于横向电机壳体191在正30度和负30度之间转动。在该预设工作角度范围内，能够避免出现横向上倾斜的负载设备与两向增稳式手持机架10的第一管体部11或第二管体部12发生不期望的干涉或碰撞，这提高了用户和负载设备的安全性。优选地，并不在纵向增稳电机13中设置上述限位机构，这允许纵向增稳电机13能在360度的角度范围内转动，从而使两向增稳式手持机架10能够以正装或者倒装的方式使用，这扩宽了两向增稳式手持机架10的适用场景。In this embodiment, the traverse motor rotor 192 is allowed to rotate between plus 30 degrees and minus 30 degrees relative to the traverse motor housing 191. Within the preset working angle range, it is possible to avoid undesired interference or collision between the laterally inclined load equipment and the first tube body portion 11 or the second tube body portion 12 of the two-way stabilization handheld frame 10, This improves the safety of users and load equipment. Preferably, the above-mentioned limit mechanism is not provided in the longitudinal stabilization motor 13, which allows the longitudinal stabilization motor 13 to rotate within a 360-degree angle range, so that the two-way stabilization handheld frame 10 can be installed upright or upside down. This expands the applicable scenarios of the two-way stabilization handheld rack 10.
如图2所示，该第一管体部11和第二管体部12的中段设有防滑套以使其能够作为手持区域供用户握持。当用户进行手持拍摄时，双手握持住两向增稳式手持机架10的两侧，此时可以将负载设备安装在固定连接至横向电机转子192的连接座15处。优选地，为了便于下文所述由纵向增稳电机13和横向增稳电机19实现对负载设备的两向增稳，期望使负载设备的重心安装成经过该安装座141所限定出的纵向轴线L，同时负载设备和连杆14的整体重心经过横向轴线T，这样使得两向增稳式手持机架10实现了重心调平，从而在电机动作时不会由于重心偏离该纵向增稳电机13或横向增稳电机19的枢转轴线而造成不期望的阻力矩。As shown in FIG. 2, the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold. When the user performs hand-held photography, he holds both sides of the two-way stabilization handheld frame 10 with both hands. At this time, the load device can be installed at the connecting seat 15 fixedly connected to the rotor 192 of the transverse motor. Preferably, in order to facilitate the two-way stabilization of the load equipment by the longitudinal stabilization motor 13 and the lateral stabilization motor 19 as described below, it is desirable to install the center of gravity of the load equipment to pass through the longitudinal axis L defined by the mounting seat 141 At the same time, the overall center of gravity of the load equipment and the connecting rod 14 passes through the transverse axis T, so that the two-way stabilization handheld frame 10 realizes the center of gravity leveling, so that the center of gravity will not deviate from the longitudinal stabilization motor 13 or The pivot axis of the motor 19 is laterally stabilized, causing an undesirable drag torque.
为了实现对连接至安装座的负载设备进行精确地两向增稳，优选在该纵向电机转子132和横向电机转子192上分别设置有角度传感器以获取该纵向电机转子132或横向电机转子192的旋转角度信息。具体地，该传感器可以是分别设置在该纵向电机转子132或横向电机转子192上的磁编码器，从而获得该纵向电机转子132或横向电机转子192的实时旋转角度。在此，该纵向电机转子132或横向电机转子192的姿态信息可以包括电机转子132在俯仰方向(即相对于横向轴线T的旋转角度)的角度信息和电机转子192在横滚方向(即相对于纵向轴线L的旋转角度)的角度信息。例如集成在纵向增稳电机13和横向增稳电机19中的或者安装在两向增稳式手持机架10的环形部分上的控制摇杆中的处理器用于至少基于来自以上传感器的旋转角度信息来控制该纵向增稳电机13和横向增稳电机19运动以允许连杆14绕横向轴线T按需枢转且连接座15绕纵向轴线L按需枢转，从而实现对连接至连接座15的负载设备进行两向增稳。In order to achieve precise two-way stabilization of the load equipment connected to the mounting base, it is preferable to provide angle sensors on the longitudinal motor rotor 132 and the transverse motor rotor 192 respectively to obtain the rotation of the longitudinal motor rotor 132 or the transverse motor rotor 192. Angle information. Specifically, the sensor may be a magnetic encoder respectively arranged on the longitudinal motor rotor 132 or the transverse motor rotor 192, so as to obtain the real-time rotation angle of the longitudinal motor rotor 132 or the transverse motor rotor 192. Here, the attitude information of the longitudinal motor rotor 132 or the transverse motor rotor 192 may include the angle information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T) and the motor rotor 192 in the roll direction (that is, relative to the The angle information of the rotation angle of the longitudinal axis L). For example, the processor integrated in the longitudinal stabilization motor 13 and the lateral stabilization motor 19 or the control rocker mounted on the ring portion of the two-way stabilization hand-held frame 10 is used for at least based on the rotation angle information from the above sensors To control the movement of the longitudinal stabilization motor 13 and the lateral stabilization motor 19 to allow the connecting rod 14 to pivot about the transverse axis T as needed and the connecting seat 15 to pivot about the longitudinal axis L as needed, thereby realizing the connection to the connecting seat 15 The load equipment carries out two-way stabilization.
接下来，参阅附图3至15对用作为本发明的手持摄影器材的示例性负载设备的竖向增稳装置20予以详细描述其中在图3-8中示出了该竖向增稳装置20的第一实施例，在图9-11中示出了该竖向增稳装置20的另外两种可行的变形实施例，在图12-13中示出了该竖向增稳装置20的又一可行的实施例，且在图14-15中示出了该竖向增稳装置20的快拆锁紧机构。需要指出的是，本发明的手持摄影器材并不限于附图3-15中所示出的竖向增稳装置，现有的诸如气浮式、弹簧式的主动式或者被动式的竖向增稳装置均可以与本发明中的手持摄影器材搭配使用以实现对用户步行拍摄时的竖向震动予以减震或者增稳。应该注意，本文中竖向震动泛指具有竖向分量的震动，即只要震动在竖直方向具有分量，即可称作竖向震动，换言之，竖向震动的宏观运动方向并不一定是竖直方向的，也可以与竖直方向具有一定的夹角。Next, referring to FIGS. 3 to 15, the vertical stabilization device 20 used as an exemplary load device of the handheld photographic equipment of the present invention will be described in detail. The vertical stabilization device 20 is shown in FIGS. 3-8. The first embodiment of the vertical stabilization device 20 is shown in Figs. 9-11 in another two possible variant embodiments, in Figs. 12-13, the vertical stabilization device 20 is shown in another A feasible embodiment, and the quick release locking mechanism of the vertical stabilization device 20 is shown in Figs. 14-15. It should be pointed out that the hand-held photographic equipment of the present invention is not limited to the vertical stabilization device shown in Figs. The device can be used in conjunction with the handheld photographing equipment of the present invention to realize the shock absorption or stabilization of the vertical vibration when the user is walking and shooting. It should be noted that in this article, vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration. In other words, the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
在图3-8中，示意性地示出了本发明的用于减震竖向震动的竖向增稳装置20的第一种实施例，其中该竖向增稳装置20用于支撑载荷(如图17所示，示例性地可以为三轴稳定器)。其中，该竖向增稳装置20包括相对布置的两个壳体半部21A和21B，其中这两个壳体半部21A和21B大体呈长方体且构造成可拆卸地连接在一起，从而在其内部限定出大致呈圆柱形的内部空腔。在此，包含两个壳体半部21A和21B在内的壳体能够固定安装至手持机架10的连接座15并随之一起运动。In FIGS. 3-8, the first embodiment of the vertical stabilization device 20 for damping vertical vibration of the present invention is schematically shown, wherein the vertical stabilization device 20 is used to support a load ( As shown in FIG. 17, it may be a three-axis stabilizer as an example). Wherein, the vertical stabilization device 20 includes two housing halves 21A and 21B arranged oppositely, wherein the two housing halves 21A and 21B are generally rectangular parallelepiped and configured to be detachably connected together, so as to The interior defines a substantially cylindrical inner cavity. Here, the housing including the two housing halves 21A and 21B can be fixedly mounted to the connecting seat 15 of the handheld frame 10 and move together therewith.
如图3所示，在内部空腔内设置有以绕枢转轴线A1枢转的方式借助于多个轴承B支承在上述两个壳体半部21A和21B上的竖向增稳电机22。在本文中，该竖向增稳电机22包括电机端盖和借助于电机端盖固定设置的竖向增稳电机定子22A，在此该电机端盖包括大致呈筒状的端盖内壁以及连接至端盖内壁的端盖底壁，在此该端盖内壁与端盖底壁形成用于竖向增稳电机定子22A的容置空间。端盖底壁的中央开设用于插设安放下文中描述的轴承B的安装孔。As shown in FIG. 3, a vertical stabilization motor 22 supported on the two housing halves 21A and 21B by means of a plurality of bearings B in a pivoting manner around the pivot axis A1 is provided in the internal cavity. In this article, the vertical stabilization motor 22 includes a motor end cover and a vertical stabilization motor stator 22A fixedly arranged by means of the motor end cover, where the motor end cover includes a substantially cylindrical inner wall of the end cover and is connected to The end cover bottom wall of the inner wall of the end cover, where the inner wall of the end cover and the bottom wall of the end cover form an accommodating space for the vertical stabilization of the motor stator 22A. The center of the bottom wall of the end cover is provided with a mounting hole for inserting and placing the bearing B described below.
进一步，该竖向增稳电机22还包括围绕该竖向增稳电机定子22A设置的竖向增稳电机转子22B，在此该竖向增稳电机转子22B包括相对于该竖向增稳电机定子22A间隔设置从而形成有气隙的、优选为筒状的磁钢的转子片以及安装该转子片的转子机壳，其中转子片设置在由转子机壳所围出的容置空间内。由于该竖向增稳电机转子22B的转子片在气隙内产生足够的磁感应强度，并且与通电后的竖向增稳电机定子22A相互作用产生感应电势以驱动自身转动。转子机壳包括筒状的转子侧壁以及连接至转子侧壁的转子底壁，转子侧壁和转子底壁形成用于安装转子的容置空间。在本实施例中，该竖向增稳电机22采用位于内侧的竖向增稳电机定子22A和位于外侧的竖向增稳电机转子22B，即采用外转子的电机的设计形式。Further, the vertical stabilization motor 22 also includes a vertical stabilization motor rotor 22B arranged around the vertical stabilization motor stator 22A, where the vertical stabilization motor rotor 22B includes a stator relative to the vertical stabilization motor. 22A is arranged at intervals to form an air gap, preferably cylindrical, magnetic steel rotor pieces and a rotor casing in which the rotor pieces are installed, wherein the rotor pieces are arranged in an accommodating space enclosed by the rotor casing. Because the rotor sheet of the vertical stabilization motor rotor 22B generates sufficient magnetic induction in the air gap, and interacts with the energized vertical stabilization motor stator 22A to generate an induced electric potential to drive itself to rotate. The rotor housing includes a cylindrical rotor side wall and a rotor bottom wall connected to the rotor side wall. The rotor side wall and the rotor bottom wall form an accommodation space for installing the rotor. In this embodiment, the vertical stabilization motor 22 adopts a vertical stabilization motor stator 22A on the inner side and a vertical stabilization motor rotor 22B on the outer side, that is, a design form of a motor with an outer rotor.
在本实施例中，优选地将该竖向增稳电机22的借助于多个轴承B绕枢转轴线A1枢转的枢转轴24和该该竖向增稳电机转子22B的转子机壳一体成型。同时平衡齿轮23穿设在该枢转轴24上且贴靠该转子机壳设置，并且借助于紧固件22C将两者固接在一起从而允许在竖向增稳电机22通电后能够按需地带动该枢转轴24和平衡齿轮23一起转动。In this embodiment, preferably, the pivot shaft 24 of the vertical stabilization motor 22 that pivots around the pivot axis A1 by means of a plurality of bearings B and the rotor housing of the vertical stabilization motor rotor 22B are integrally formed . At the same time, the balance gear 23 passes through the pivot shaft 24 and is arranged next to the rotor housing, and the two are fixed together by means of fasteners 22C to allow the vertical stabilization motor 22 to be energized as needed. The pivot shaft 24 and the balance gear 23 are driven to rotate together.
如图3所示，在该竖向增稳电机22的枢转轴24的一侧(图17示出为下侧)设置有与其作用连接的、用于固定连接载荷的支承杆。在此该支承杆被示出优选为与该平衡齿轮23相啮合的输出齿条25，在此该载荷例如为图17中示出的至少两个旋转轴形成的角成在60°到70°之间的非直角的、能搭载或搭载有成像装置(在此优选为单反相机)的非正交三轴稳定器，当然可以理解得到的是也可以为两轴的增稳装置。在此，该输出齿条25的顶端上设有可与载荷的底部的例如1/4螺纹孔相连接的螺纹件。优选地，将该输出齿条25布置成在其约1/2行程位置处与该齿轮23的外周相啮合，由此实现在该枢转轴24的一侧在距该枢转轴线A1一定距离处与该枢转轴24作用连接，以传递来自载荷(在图17中的三轴稳定器90，重力方向向下)的重力对枢转轴 24沿第一旋转方向施加第一转矩。As shown in Fig. 3, on one side of the pivot shaft 24 of the vertical stabilization motor 22 (shown as the lower side in Fig. 17) is provided with a supporting rod operatively connected to it for fixing the connection load. Here, the support rod is shown preferably as an output rack 25 meshing with the balance gear 23, where the load is, for example, the angle formed by at least two rotating shafts shown in FIG. 17 at 60° to 70° The non-orthogonal three-axis stabilizer that can be mounted or mounted with an imaging device (here preferably a single-lens reflex camera) between the non-right angles can of course be understood that it can also be a two-axis stabilization device. Here, the top end of the output rack 25 is provided with a threaded member that can be connected to, for example, a 1/4 threaded hole at the bottom of the load. Preferably, the output rack 25 is arranged to mesh with the outer circumference of the gear 23 at about 1/2 stroke position, thereby achieving a certain distance from the pivot axis A1 on one side of the pivot shaft 24 It is operatively connected with the pivot shaft 24 to transmit gravity from the load (the three-axis stabilizer 90 in FIG. 17, the direction of gravity is downward) to apply the first torque to the pivot shaft 24 in the first rotation direction.
与此同时，如图3-8所示，在该枢转轴24的相对另一侧(在图示出为上侧)与该输出齿条25轴向间隔开地设置有用于平衡载荷重力的重力平衡机构30。在此，该重力平衡机构30包括借助于多个轴承B可枢转地附接至壳体半部21A和21B的卷簧盒31以及容置在该卷簧盒31内的、与该枢转轴24作用连接以向枢转轴24施加作用力从而对枢转轴24施加反向于第一旋转方向的转矩。进一步，为了防止外部的污物对卷簧32的寿命带来不利影响，还设有用于封闭该卷簧盒31的卷簧盖33。At the same time, as shown in FIGS. 3-8, the opposite side of the pivot shaft 24 (shown as the upper side in the figure) is axially spaced apart from the output rack 25 and is provided with gravity for balancing the load gravity. Balance mechanism 30. Here, the gravity balance mechanism 30 includes a coil spring box 31 pivotally attached to the housing halves 21A and 21B by means of a plurality of bearings B, and a coil spring box 31 housed in the coil spring box 31 and connected to the pivot shaft. 24 is operatively connected to apply a force to the pivot shaft 24 to apply a torque opposite to the first rotation direction to the pivot shaft 24. Furthermore, in order to prevent external dirt from adversely affecting the life of the coil spring 32, a coil spring cover 33 for closing the coil spring box 31 is also provided.
具体来说，如图3所示，该卷簧盒31大致设计为中空圆盘状，其中卷簧32以同轴地盘设在枢转轴24上的方式这样地设置在该卷簧盒31内：其中其卷簧外端32A以折弯的方式被卡设在该卷簧盒31的卡槽内，从而使得卷簧外端32A固定连接至该卷簧盒31；同时，其卷簧内端32B插设入开设在枢转轴24的外周面上的安装槽24A内从而是其固定连接至该枢转轴24。进一步，在卷簧内端32B已插设入该枢转轴24的安装槽24A内后，利用轴端封盖29自卷簧盒31的一侧封闭该枢转轴24的开口端以避免卷簧内端32B自安装槽24A内脱出。在此处，设置在卷簧盒31内的卷簧32的预紧力根据输出齿条23所连接的载荷的重量以及齿轮23和枢转轴24的直径是可预设的，只要能够满足借助于卷簧32的预紧力足以对枢转轴24施加反向于第一旋转方向的、能够平衡该第一转矩的转矩即可。借此通过该卷簧32所积蓄的预紧力能完全平衡载荷的重力。Specifically, as shown in FIG. 3, the coil spring box 31 is roughly designed in the shape of a hollow disk, wherein the coil spring 32 is arranged in the coil spring box 31 in such a manner that the coil spring 32 is coaxially arranged on the pivot shaft 24: The outer end 32A of the coil spring is clamped in the groove of the coil spring box 31 in a bent manner, so that the outer end 32A of the coil spring is fixedly connected to the coil spring box 31; at the same time, the inner end 32B of the coil spring It is inserted into the mounting groove 24A opened on the outer circumferential surface of the pivot shaft 24 so as to be fixedly connected to the pivot shaft 24. Further, after the inner end 32B of the coil spring has been inserted into the mounting groove 24A of the pivot shaft 24, the shaft end cap 29 is used to close the open end of the pivot shaft 24 from one side of the coil spring box 31 to avoid the coil spring. The end 32B comes out of the installation groove 24A. Here, the pretension force of the coil spring 32 provided in the coil spring box 31 can be preset according to the weight of the load connected to the output rack 23 and the diameter of the gear 23 and the pivot shaft 24, as long as the The pretension force of the coil spring 32 is sufficient to apply a torque that is opposite to the first rotation direction to the pivot shaft 24 and can balance the first torque. Thereby, the pretension force accumulated by the coil spring 32 can completely balance the gravity of the load.
进一步，为了确保枢转轴24总是沿直线方向施加作用力以避免施力不均对竖向减震效果的不利影响，优选地，如图3-4和12-13所示，该竖向增稳装置20还包括设置在由壳体半部21A和21B所围出的内部空腔内的至少一个直线引导机构，其中该直线引导机构包括固定连接至壳体半部21B的引导块27和相应地固定连接至输出齿条25的直导轨26，从而允许在发生竖向震动时允许在该直线引导机构的引导作用下使输出齿条25相对于壳体半部21A和21B始终做线性运动。这对于该竖向增稳装置的长时间的稳定工作是非常有益的。当然，在图3-4和12-13中示出的直线引导机构的结构是示例性而非限定性的，实际上，诸如滑槽和与之配合的滑靴等方式也是可行的。Further, in order to ensure that the pivot shaft 24 always exerts a force in a straight direction to avoid the adverse effect of uneven force on the vertical shock absorption effect, preferably, as shown in FIGS. 3-4 and 12-13, the vertical increase The stabilizing device 20 also includes at least one linear guide mechanism arranged in the internal cavity enclosed by the housing half 21A and 21B, wherein the linear guide mechanism includes a guide block 27 fixedly connected to the housing half 21B and a corresponding The straight guide rail 26 is ground fixedly connected to the output rack 25 to allow the output rack 25 to always make linear motions relative to the housing halves 21A and 21B under the guidance of the linear guide mechanism when vertical vibration occurs. This is very beneficial for the long-term stable operation of the vertical stabilization device. Of course, the structure of the linear guide mechanism shown in FIGS. 3-4 and 12-13 is exemplary rather than limiting. In fact, methods such as sliding grooves and sliding shoes matched with them are also feasible.
在此基础上，作为一种有利的改进方面，还期望该竖向增稳装置20包括用于调节卷簧32的预紧力的调节机构40，从而允许在竖向增稳装置的使 用过程中由用户手动或者自动地调节卷簧的预紧力以适应不同重量的载荷，这有利于提高该竖向增稳装置的通用性。On this basis, as an advantageous improvement, it is also expected that the vertical stabilization device 20 includes an adjustment mechanism 40 for adjusting the pretension force of the coil spring 32, thereby allowing the vertical stabilization device to be used during use. The user can manually or automatically adjust the pretension force of the coil spring to adapt to loads of different weights, which is beneficial to improve the versatility of the vertical stabilization device.
具体来说，如图3和8中所示出的那样，该调节机构40包括固定连接至该可枢转的卷簧盒31的蜗轮43以及与该蜗轮43作用连接的蜗杆42。如图所示，在本实施例中，该蜗杆42借助于固接至该壳体半部21B的固定座28和设置在该固定座28内的轴承B被构造成平行于输出齿条25可枢转的设置。如图所示，该蜗杆42靠内的一端连接有调节电机44且靠外的一端自该壳体半部21B穿出并固定连接有供用户操作的手动调节螺母41。为了防止外部的灰尘进入壳体半部21A和21B的内部空腔，利用压盖45对蜗杆42的安装孔予以封闭。借此，在竖向增稳装置20的使用过程中，一方面，用户可以通过旋动手动调节螺母41带动蜗杆42转动，从而带动固定连接至卷簧盒31的蜗轮43转动。结果，由于卷簧32的卷簧外端32A是固定连接至卷簧盒31的周壁且卷簧内端32B是固定连接至枢转轴24，这使得该卷簧外端32A会相对于固定不动的卷簧内端32B被加紧或者放松以满足不同载荷的需要。另一方面，卷簧32的预紧力大小的调节也可以通过该调节电机44的转动来自动实现，其操作方式在此不再赘述。在此，由于蜗轮43和蜗杆44的配合一方面具有自锁性，从而允许卷簧32的预紧力在完成调节后能够得到可靠的保持。另一方面，蜗轮43和蜗杆44的配合还允许实现对卷簧32的预紧力度进行无级调节，从而能够更好的保证竖向增稳装置20的通用性。Specifically, as shown in FIGS. 3 and 8, the adjustment mechanism 40 includes a worm wheel 43 fixedly connected to the pivotable coil spring box 31 and a worm 42 operatively connected with the worm wheel 43. As shown in the figure, in this embodiment, the worm 42 is configured to be parallel to the output rack 25 by means of a fixing seat 28 fixed to the housing half 21B and a bearing B provided in the fixing seat 28. Pivot settings. As shown in the figure, the inner end of the worm 42 is connected with an adjustment motor 44 and the outer end passes through the housing half 21B and is fixedly connected with a manual adjustment nut 41 for user operation. In order to prevent external dust from entering the internal cavity of the housing halves 21A and 21B, the mounting hole of the worm 42 is closed by the gland 45. Thereby, during the use of the vertical stabilization device 20, on the one hand, the user can drive the worm 42 to rotate by turning the manual adjusting nut 41, thereby driving the worm wheel 43 fixedly connected to the coil spring box 31 to rotate. As a result, since the coil spring outer end 32A of the coil spring 32 is fixedly connected to the peripheral wall of the coil spring box 31 and the coil spring inner end 32B is fixedly connected to the pivot shaft 24, this makes the coil spring outer end 32A fixed relative to The inner end 32B of the coil spring is tightened or loosened to meet the needs of different loads. On the other hand, the adjustment of the pre-tightening force of the coil spring 32 can also be realized automatically by the rotation of the adjustment motor 44, and the operation mode is not repeated here. Here, since the cooperation of the worm wheel 43 and the worm 44 is self-locking, the pretension force of the coil spring 32 can be reliably maintained after the adjustment is completed. On the other hand, the cooperation of the worm wheel 43 and the worm 44 also allows the stepless adjustment of the pre-tightening force of the coil spring 32 to better ensure the versatility of the vertical stabilization device 20.
在图9至11中还示出了调节机构40的其它形式，在这些实施例中，竖向增稳装置20的其它部件是相同的，区别仅在于调节机构40的实现方式有所区别。9 to 11 also show other forms of the adjustment mechanism 40. In these embodiments, the other components of the vertical stabilization device 20 are the same, and the only difference lies in the implementation of the adjustment mechanism 40.
具体来说，如图9和10所示，该调节机构40还可以包括:设置在卷簧盒31的面对壳体半部21B一侧的、沿周向均匀间隔布置的多个限位孔47；以及设置在壳体半部21B中的、供用户操作的锁定件。在此该锁定件包括设置在壳体半部21B内的限位滑槽46C以及能在该限位滑槽46C中滑入或滑出的限位锁销46B，其中当该限位锁销46B滑出时能***位于卷簧盒31的多个限位孔47中的一个以允许将卷簧盒31相对于壳体半部21B锁定在某个角度位置。相应地，当限位锁销46B该限位滑槽46C中滑入时，该限位锁销46B自限位孔47内退出从而解除卷簧盒31与壳体半部21B间的锁定关系，从而允许用户按需地调节卷簧盒31内的卷簧32的预紧力。Specifically, as shown in FIGS. 9 and 10, the adjustment mechanism 40 may further include: a plurality of limiting holes arranged on the side of the coil spring box 31 facing the housing half 21B and arranged at even intervals along the circumferential direction. 47; and a lock provided in the housing half 21B for the user to operate. Here, the locking member includes a limit chute 46C provided in the housing half 21B and a limit lock pin 46B that can slide in or out of the limit chute 46C, where the limit lock pin 46B When sliding out, it can be inserted into one of the multiple limiting holes 47 located in the coil spring box 31 to allow the coil spring box 31 to be locked at a certain angular position relative to the housing half 21B. Correspondingly, when the limit lock pin 46B slides into the limit chute 46C, the limit lock pin 46B withdraws from the limit hole 47 to release the locking relationship between the coil spring box 31 and the housing half 21B, This allows the user to adjust the pretension force of the coil spring 32 in the coil spring box 31 as needed.
为了便于用户手动操作该限位锁销46B，设置有自壳体半部21B凸设出 的、固定连接至该限位锁销46B的限位拨钮46A，从而允许借助于用户的拨动使该限位锁销46B在限位滑槽46C内滑入或滑出。如图11所示，该调节机构40并不限于包括设置在卷簧盒31上的限位孔47，还可以实现为设置在卷簧盒31上的面对壳体半部21B一侧的、沿周向均匀间隔布置的多个限位棘轮48，此时限位锁销46B用作为与该限位棘轮48配合作用的棘爪。由于调节原理是相同的，在此不再赘述。In order to facilitate the user to manually operate the limit lock pin 46B, a limit dial button 46A protruding from the housing half 21B and fixedly connected to the limit lock pin 46B is provided, thereby allowing the user to toggle The limit lock pin 46B slides in or out of the limit chute 46C. As shown in FIG. 11, the adjustment mechanism 40 is not limited to including a limiting hole 47 provided on the coil spring box 31, and can also be implemented as a side of the coil spring box 31 facing the housing half 21B. A plurality of limiting ratchet wheels 48 are evenly spaced in the circumferential direction, and the limiting lock pin 46B is used as a pawl that cooperates with the limiting ratchet wheel 48 at this time. Since the adjustment principle is the same, it will not be repeated here.
接下来，在图12-13中对根据本发明的竖向增稳装置20的又一实施例予以详细描述，在图中具有相同功能的零部件由相同的附图标记标识出，其中图12示出了该又一实施例的竖向增稳装置20的分解图，其中清楚地示出了该竖向增稳装置20的各个部件，图13则示出了图12中的竖向增稳装置20的处于部分装配好的状态下的主视图。Next, another embodiment of the vertical stabilization device 20 according to the present invention will be described in detail in FIGS. 12-13. In the figures, components with the same function are identified by the same reference numerals, in which FIG. 12 Shows an exploded view of the vertical stabilization device 20 of another embodiment, which clearly shows the various components of the vertical stabilization device 20, and FIG. 13 shows the vertical stabilization device 20 in FIG. The front view of the device 20 in a partially assembled state.
如图12和13所示，在此实施例中，同样借助竖向增稳电机22按照来自控制装置的指令驱动与竖向增稳电机转子22B固定连接的平衡轮23转动，进而带动支承杆25(不带有用于与平衡轮23啮合传动的齿)在竖向上往复运动。同时，同样借助于安装在卷簧盒31内的卷簧32来平衡由支承杆25所支承的载荷的重力。在此，该卷簧32的预紧力同样是可调节的。As shown in Figures 12 and 13, in this embodiment, the vertical stabilization motor 22 is also used to drive the balance wheel 23 fixedly connected to the vertical stabilization motor rotor 22B to rotate according to the instruction from the control device, thereby driving the support rod 25 (Without the teeth for meshing transmission with the balance wheel 23), it reciprocates in the vertical direction. At the same time, the weight of the load supported by the support rod 25 is also balanced by the coil spring 32 installed in the coil spring box 31. Here, the pretension force of the coil spring 32 is also adjustable.
与之前的实施例中利用平衡齿轮-齿条传动的实施例有所不同的是，在本实施例中平衡轮23被设计为与竖向增稳电机转子22B一体形成的平衡同步轮23。由此，借助于啮合至平衡同步轮23的两条同步带25A和25B来驱动在此优选为直杆的支承杆25在竖向上往复运动。具体来说，两条同步带25A和25B借助于例如为压合件25E的紧固件在平衡同步轮23的外周缘处以彼此紧邻的方式固定连接两条同步带25A和25B，其中同步带25A在此以逆时针方向沿平衡同步轮23的外周布置并与该平衡同步轮23保持紧密接合，同时同步带25B以顺时针方向沿平衡同步轮23的外周布置并与该平衡同步轮23保持紧密接合。其中同步带25B的自由端借助于例如为压合件25C的紧固件固定连接至支承杆25的下端(即与载荷的连接端)且同步带25A的自由端借助于例如为压合件25C的紧固件固定连接至支承杆25的上端(即远离载荷的连接端)，其中优选将该支承杆25的上端容置在外套筒25F中以避免外部环境中的灰尘和湿气对同步带25A和25B的稳定运行产生不利影响。The difference from the previous embodiment using the balance gear-rack transmission is that the balance wheel 23 in this embodiment is designed as a balance synchronization wheel 23 integrally formed with the vertical stabilization motor rotor 22B. As a result, the support rod 25, which is preferably a straight rod, is driven to reciprocate in the vertical direction by means of the two timing belts 25A and 25B meshed to the balance synchronization wheel 23. Specifically, the two timing belts 25A and 25B are fixedly connected to the two timing belts 25A and 25B in close proximity to each other at the outer periphery of the balance timing wheel 23 by means of fasteners such as pressing pieces 25E, wherein the timing belt 25A Here, it is arranged in a counterclockwise direction along the outer circumference of the balance synchronizing wheel 23 and kept tightly engaged with the balance synchronizing wheel 23, while the timing belt 25B is arranged along the outer circumference of the balance synchronizing wheel 23 in a clockwise direction and is kept tightly with the balance synchronizing wheel 23 Splice. The free end of the timing belt 25B is fixedly connected to the lower end of the support rod 25 (that is, the connection end with the load) by means of a fastener such as a pressing piece 25C, and the free end of the timing belt 25A is fixed by means of a pressing piece 25C. The fasteners are fixedly connected to the upper end of the support rod 25 (that is, the connecting end away from the load), wherein the upper end of the support rod 25 is preferably accommodated in the outer sleeve 25F to avoid dust and moisture in the external environment from affecting the timing belt The stable operation of 25A and 25B has an adverse effect.
优选地，为了容许调节同步带25A的松紧程度，在扣压同步带25A的自由端的压合件25C的附近设置有调节螺钉25D,相应地在容置该压合件25C的外套筒25F的底面上设有允许用户借助于工具自外侧操作调节螺钉 25D的操作孔，这使得该竖向增稳装置20在组装好的状态下，用户可以借助于诸如为起子的工具从外侧操作该压合件25C来调节同步带25A的松紧程度，以确保同步带25A始终保持与平衡同步轮23的可靠接合。Preferably, in order to allow adjustment of the tightness of the timing belt 25A, an adjustment screw 25D is provided near the pressing member 25C that buckles the free end of the timing belt 25A, and correspondingly on the bottom surface of the outer sleeve 25F accommodating the pressing member 25C. There is an operation hole that allows the user to operate the adjusting screw 25D from the outside with the aid of a tool, which allows the user to operate the pressing piece from the outside with the aid of a tool such as a screwdriver in the assembled state of the vertical stabilizing device 20 25C is used to adjust the tightness of the timing belt 25A to ensure that the timing belt 25A always maintains a reliable engagement with the balance timing wheel 23.
本实施例中的竖向增稳装置20的工作原理如下：当期望支承杆25带动载荷沿竖向向上运动以补偿竖向振动时，控制装置向竖向增稳电机22发出控制指令以使其沿逆时针方向枢转，此时竖向增稳电机转子22B带动平衡同步轮23及同步带25B也一起进行逆时针转动，即相当于平衡同步轮23“卷绕”同步带25B进而带动与同步带25固定连接的支承杆相应地沿竖向向上运动。同时，平衡同步轮23还同步地“退绕”与支承杆的另一端固定连接的同步带25A，两者的同步协作将竖向增稳电机22的旋转运动平顺地转化为支承杆在竖向上的线性运动。由于同步带25B与平衡同步轮23的接合关系是确定的，因此通过控制竖向增稳电机转子22B的逆时针转动的角度能够精确地补偿载荷的竖向振动。The working principle of the vertical stabilization device 20 in this embodiment is as follows: when the support rod 25 is expected to drive the load to move upward in the vertical direction to compensate for the vertical vibration, the control device sends a control command to the vertical stabilization motor 22 to make it Pivoting in the counterclockwise direction, at this time, the vertical stabilization motor rotor 22B drives the balance synchronization wheel 23 and the timing belt 25B to also rotate counterclockwise, which is equivalent to the balance synchronization wheel 23 "winding" the timing belt 25B to drive and synchronize The support rods fixedly connected with the belt 25 move vertically upwards accordingly. At the same time, the balance synchronization wheel 23 also synchronously "unwinds" the timing belt 25A fixedly connected to the other end of the support rod. The synchronous cooperation of the two smoothly transforms the rotation movement of the vertical stabilization motor 22 into the support rod in the vertical direction. Linear movement. Since the engagement relationship between the timing belt 25B and the balance synchronization wheel 23 is determined, the vertical vibration of the load can be accurately compensated by controlling the counterclockwise rotation angle of the vertical stabilization motor rotor 22B.
同样地，当期望支承杆带动载荷沿竖向向下运动以补偿竖向振动时，控制装置向竖向增稳电机22发出控制指令以使其沿顺时针方向枢转，以大体相同的方式同样将竖向增稳电机22的顺时针旋转运动平顺地转化为支承杆在竖向向下的线性运动。尽管在此使平衡同步轮23借助于同步带25A和25B将竖向增稳电机22的旋转运动转化为支承杆的线性运动，但本领域技术人员知晓，利用链轮和链等其它等效方式也是可行的。Similarly, when the support rod is expected to drive the load to move downward in the vertical direction to compensate for the vertical vibration, the control device sends a control command to the vertical stabilization motor 22 to make it pivot in a clockwise direction, in substantially the same way. The clockwise rotation movement of the vertical stabilization motor 22 is smoothly converted into the vertical downward linear movement of the support rod. Although the balance synchronization wheel 23 is used here to convert the rotational motion of the vertical stabilization motor 22 into the linear motion of the support rod by means of the timing belts 25A and 25B, those skilled in the art know that other equivalent methods such as sprockets and chains are used. It is also feasible.
优选地，为了更好地实现对支承杆的引导，在本实施例中，在支承杆的背侧设置直导轨26的基础上，则该支承杆的另一侧还增设有与其规定连接的第二直导轨26A，即自所述支承杆的不同侧分别设置有固定连接至支承杆25的多个直导轨26和26A，从而引导支承杆25相对于所述壳体在直线方向上运动。借助于这样的设置，能够确保在多个方向沿直线方向引导该支承杆，同时还能增加支承杆在竖向上的刚性，即使在竖向支撑很重的载荷时，该支承杆也不会发生挠曲变形，这对于竖向增稳装置20的可靠性和高使用寿命都是有益的。Preferably, in order to better realize the guidance of the support rod, in this embodiment, on the basis of the straight guide rail 26 provided on the back side of the support rod, the other side of the support rod is additionally provided with a second side connected to it. Two straight guides 26A, namely, a plurality of straight guides 26 and 26A fixedly connected to the supporting rod 25 are respectively provided from different sides of the supporting rod, so as to guide the supporting rod 25 to move in a linear direction relative to the housing. With this arrangement, it can be ensured that the support rod is guided in a straight line in multiple directions, and at the same time, the rigidity of the support rod in the vertical direction can be increased. Even when a heavy load is supported vertically, the support rod will not occur. Flexural deformation is beneficial to the reliability and long service life of the vertical stabilization device 20.
进一步不同于其他实施例地，在本实施例中的卷簧盒31被构造成与平衡同步轮23形成为一体件，其中卷簧外端32A固定连接至该卷簧盒31的内侧。卷簧32的卷簧内端32B则固定连接至插设在卷簧盒31内的转轴49A的安装槽49B内。在此，该转轴49A的一端固定连接有用户能调节的棘轮49，另一端则借助于轴承被支承在卷簧盒31内。Further different from other embodiments, the coil spring box 31 in this embodiment is configured to be formed as an integral piece with the balance synchronization wheel 23, wherein the coil spring outer end 32A is fixedly connected to the inner side of the coil spring box 31. The coil spring inner end 32B of the coil spring 32 is fixedly connected to the mounting groove 49B of the rotating shaft 49A inserted in the coil spring box 31. Here, one end of the rotating shaft 49A is fixedly connected with a user-adjustable ratchet 49, and the other end is supported in the coil spring box 31 by means of a bearing.
在使用该竖向增稳装置20时，用户能先通过拨开用于止动棘轮49的棘爪46D并手动地旋转棘轮49及与其固定连接的转轴49A。结果，卷簧内端32B在转轴49A的带动下相对于固定连接至卷簧盒31内侧的卷簧外端32A被卷绕或者退绕，这使得该卷簧32用以平衡载荷重力的预紧力度被增大或者减小以适应不同重量的载荷。当调节好卷簧32的预紧力度后，用户将棘爪46D重新拨回成接合该棘轮49并将其锁止就位，从而使卷簧32保持有期望的预紧力并始终令人满意地平衡载荷的重力。When using the vertical stabilization device 20, the user can first open the pawl 46D for stopping the ratchet wheel 49 and manually rotate the ratchet wheel 49 and the rotating shaft 49A fixedly connected to it. As a result, the inner end 32B of the coil spring is wound or unwound relative to the outer end 32A of the coil spring fixedly connected to the inner side of the coil spring box 31 under the drive of the rotating shaft 49A, which makes the coil spring 32 to balance the pretension of the load gravity The strength is increased or decreased to accommodate loads of different weights. After adjusting the pre-tightening force of the coil spring 32, the user dials back the pawl 46D to engage the ratchet wheel 49 and lock it in place, so that the coil spring 32 maintains the desired pre-tightening force and is always satisfactory. The gravity of the ground balance load.
尽管在此示出了利用棘轮49和棘爪46D来调节卷簧32的预紧力，实际上转轮和锁销的配合同样也能令人满意地调节卷簧32的预紧力，这些常规变型均应视为本发明的一部分而被涵盖入本申请的保护范围内。Although it is shown here that the ratchet wheel 49 and the pawl 46D are used to adjust the pretension force of the coil spring 32, in fact, the cooperation of the runner and the lock pin can also satisfactorily adjust the pretension force of the coil spring 32. These conventional Variations should be regarded as a part of the present invention and included in the protection scope of this application.
在本文中，在可选为输出齿条的支承杆25的顶端固定连接有可以是惯性测量单元(IMU)的姿态传感器，以获取竖向增稳装置20在空间上的姿态信息，例如但不限于竖向高度、竖向增稳装置20在三维空间中的角速度和加速度。需指出的是，位于该支承杆25的顶端的位置传感器可借助于有线连接或者无线连接(包括但不限于蓝牙和NFC的通信方式)的方式将竖向增稳装置20的姿态信息传递给增稳式机架10的控制装置，从而允许控制装置基于竖向增稳装置20的姿态信息来控制纵向增稳电机和/或横向增稳电机运动以将竖向增稳装置20保持在竖直姿态。具体的控制方式将在下文中详细描述。In this article, an attitude sensor, which may be an inertial measurement unit (IMU), is fixedly connected to the top end of the support rod 25, which may be an output rack, to obtain the spatial attitude information of the vertical stabilization device 20, for example, but not It is limited to the vertical height, the angular velocity and acceleration of the vertical stabilization device 20 in a three-dimensional space. It should be pointed out that the position sensor at the top of the support rod 25 can transmit the posture information of the vertical stabilization device 20 to the booster by means of a wired connection or a wireless connection (including but not limited to Bluetooth and NFC communication methods). The control device of the stable frame 10 allows the control device to control the movement of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture . The specific control method will be described in detail below.
在该竖向增稳装置20工作时，设置在支承杆25顶端的姿态传感器被用来执行载荷的竖向位置的测量以获取载荷的实际竖向位置。进一步，作为一种示例，在竖向增稳装置20的位置控制器中设定或者存储有载荷的预设竖向位置并且在载荷发生竖向震动时，该位置控制器被设计成根据预设竖向位置和实际竖向位置来控制竖向增稳电机22发生枢转，从而经由该竖向增稳电机22的动作使载荷沿震动方向的反方向运动，从而将载荷定位在竖向上的确定位置，这样使得该载荷能够在竖向上具有基本不变的绝对位置。这种主动增稳的方式能够实现更好的竖向增稳效果。When the vertical stabilization device 20 is working, the attitude sensor provided at the top of the support rod 25 is used to measure the vertical position of the load to obtain the actual vertical position of the load. Further, as an example, the preset vertical position of the load is set or stored in the position controller of the vertical stabilization device 20, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset The vertical position and the actual vertical position are used to control the pivoting of the vertical stabilization motor 22, so that the load is moved in the opposite direction of the vibration direction through the action of the vertical stabilization motor 22, thereby positioning the load in the vertical direction. Position, so that the load can have a substantially constant absolute position in the vertical direction. This active stabilization method can achieve better vertical stabilization effects.
在图17中示出了安装有上述图3中示出的竖向增稳装置20的手持摄影器材的主视图，其中该竖向增稳装置20以重心调平方式安装在固定连接至横向电机转子192的连接座15处，即竖向增稳装置20的重心安装成经过该安装座141所限定出的纵向轴线L，同时竖向增稳装置20和连杆14的整体重心经过横向轴线，这样实现了竖向增稳装置20在两向增稳式手持机架10中 的重心调平。FIG. 17 shows a front view of a handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIG. 3, wherein the vertical stabilization device 20 is installed in a center-of-gravity leveling manner and fixedly connected to the lateral motor The connecting seat 15 of the rotor 192, that is, the center of gravity of the vertical stabilizing device 20 is installed to pass through the longitudinal axis L defined by the mounting seat 141, while the overall center of gravity of the vertical stabilizing device 20 and the connecting rod 14 passes through the transverse axis, In this way, the center of gravity of the vertical stabilization device 20 in the two-directional stabilization handheld frame 10 is leveled.
在图17至19中描述了本发明的手持摄影器材中的载荷为搭载有单反相机的三轴稳定器的优选实施方式，其中该三轴稳定器90为包括有航向轴电机91、横滚轴电机92和俯仰轴电机93的三轴稳定器，在此作为示例，其中航向轴电机91与横滚轴电机92的两个旋转轴形成的角度为在60°到70°之间的非直角，这使得该横滚轴电机92不会对该三轴稳定器90所搭载的拍摄装置的背面造成遮挡。在本文中，其中该三轴稳定器90固定连接至竖向增稳装置20的支承杆25。In FIGS. 17 to 19, a preferred embodiment in which the load in the handheld photographic equipment of the present invention is a three-axis stabilizer equipped with a single-lens reflex camera is described, wherein the three-axis stabilizer 90 includes a pan axis motor 91 and a roll axis. The three-axis stabilizer of the motor 92 and the pitch axis motor 93, as an example, the angle formed by the two rotation axes of the pan axis motor 91 and the roll axis motor 92 is a non-right angle between 60° and 70°, This prevents the roll axis motor 92 from blocking the back of the imaging device mounted on the three-axis stabilizer 90. Herein, the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20.
为了便于将作为三轴稳定器90的载荷固定连接至竖向增稳装置，在图14-15中示出了一种示例性的快拆锁紧机构，其便于用户实现三轴稳定器相对于竖向增稳装置20的固定位置的调节且能便于用户更换或搭载不同类型的三轴稳定器，从而提高该手持摄影器材的通用性和便利性。In order to facilitate the fixed connection of the load as the three-axis stabilizer 90 to the vertical stabilization device, an exemplary quick-release locking mechanism is shown in FIGS. 14-15, which facilitates the user to realize the three-axis stabilizer relative to The adjustment of the fixed position of the vertical stabilization device 20 can facilitate the user to replace or carry different types of three-axis stabilizers, thereby improving the versatility and convenience of the handheld photographic equipment.
如图14-15所示，在该竖向增稳装置20的支承杆25的端部固定设置快拆锁紧机构，其中该快拆锁紧机构包括彼此相对设置的、能与三轴稳定器的诸如为航向连接臂滑动配合的滑槽51，在此该滑槽51优选为燕尾槽。在此该滑槽51的延伸方向与快拆锁紧机构的宽度延伸方向相一致。相应地，该快拆锁紧机构还带有设置在滑槽51一侧的扣压件54(参见图15)，其中该扣压件54能在图示出的供用户操作的锁紧件52的作用下能在压紧位置和旋松位置之间移动。在安装三轴稳定器或者调节三轴稳定器90相对于竖向增稳装置20的固定位置时，用户首先通过旋松锁紧件52使扣压件54在弹性件的复位力的作用下运动至旋松位置，此时允许优选将三轴稳定器90的航向连接臂***由滑槽51内或者允许其能在滑槽51内自由地滑动以按需进行调节。当选定好三轴稳定器或者达到所需的固定位置时，旋紧锁紧件52使扣压件54运动至其压紧位置，在那里扣压件54抵靠三轴稳定器的航向连接臂以将三轴稳定器锁紧就位。As shown in Figures 14-15, a quick-release locking mechanism is fixedly arranged at the end of the support rod 25 of the vertical stabilization device 20, wherein the quick-release locking mechanism includes a three-axis stabilizer arranged opposite to each other. For example, the sliding groove 51 of the heading connecting arm is slidably fitted. Here, the sliding groove 51 is preferably a dovetail groove. Here, the extension direction of the sliding groove 51 is consistent with the width extension direction of the quick release locking mechanism. Correspondingly, the quick release locking mechanism also has a buckle member 54 (see FIG. 15) provided on one side of the chute 51, wherein the buckle member 54 can play the role of the locking member 52 shown in the figure for the user to operate It can move between the pressing position and the unscrewing position. When installing the three-axis stabilizer or adjusting the fixed position of the three-axis stabilizer 90 relative to the vertical stabilization device 20, the user first loosens the locking member 52 so that the withholding member 54 moves to the position under the reset force of the elastic member. The loosening position allows the heading connecting arm of the three-axis stabilizer 90 to be preferably inserted into the sliding slot 51 or allowing it to slide freely in the sliding slot 51 for adjustment as required. When the three-axis stabilizer is selected or the desired fixed position is reached, the locking member 52 is tightened to move the clamping member 54 to its clamping position, where the clamping member 54 abuts against the heading connecting arm of the three-axis stabilizer. Lock the three-axis stabilizer in place.
如图14-15所示，还可将竖向增稳装置20的优选为惯性检测单元的姿态传感器53借助于减震球安装在该快拆锁紧机构上，设置减震球能够滤去会影响姿态传感器53的检测精度的机械高频振动，这对于提供竖向增稳装置20的竖向增稳性能是有益的。As shown in Figures 14-15, the attitude sensor 53 of the vertical stabilization device 20, which is preferably an inertial detection unit, can also be installed on the quick-release locking mechanism by means of a shock-absorbing ball. The mechanical high-frequency vibration that affects the detection accuracy of the attitude sensor 53 is beneficial for providing the vertical stabilization performance of the vertical stabilization device 20.
接下来结合图17至19来描述本发明的两向增稳式手持机架10和手持摄影器材的操作方法。Next, the operation method of the two-way stabilizing handheld frame 10 and the handheld photographing equipment of the present invention will be described with reference to FIGS. 17 to 19.
首先，将作为负载设备的竖向增稳装置20安装在两向增稳式手持机架 10的连接座15上，如图17所示，横向轴线T经过竖向增稳装置20和连杆14的整体重心。随后，将三轴稳定器90的航向轴电机90借助于例如与1/4螺纹孔的螺纹连接以吊装的方式固定连接至竖向增稳装置20的支承杆25，由此借助于竖向增稳装置20将三轴稳定器90以“悬浮”的方式设置在两向增稳式手持机架10的内部空间中(参见图17)。优选地，为了实现竖向方向上的重心调平，可以借助于在竖向增稳装置20远离该载荷的另一侧增设平衡重的方式来实现。First, install the vertical stabilizing device 20 as a load device on the connecting seat 15 of the two-way stabilizing handheld frame 10. As shown in FIG. 17, the transverse axis T passes through the vertical stabilizing device 20 and the connecting rod 14. The overall center of gravity. Subsequently, the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support rod 25 of the vertical stabilization device 20 by means of, for example, a threaded connection with a 1/4 threaded hole in a hoisting manner. The stabilizing device 20 sets the three-axis stabilizer 90 in a "suspended" manner in the internal space of the two-way stabilizing handheld frame 10 (see FIG. 17). Preferably, in order to achieve the leveling of the center of gravity in the vertical direction, it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
如图17所示，在用户双手握持该手持摄影器材拍摄期间，期望实现竖向增稳装置20始终处于竖直姿态以确保对三轴稳定器的良好竖向增稳效果，此时三轴稳定器90所承载的拍摄装置的镜头能始终保持成与纵向轴线L平行。若用户在双手握持该手持摄影器材进行大幅度的俯拍或仰拍时，会由于用户的手部动作使该两向增稳式机架10摆动偏离其初始的竖直姿态(例如在横向上和/或竖向上发生偏离)，此时若该两向增稳式机架10不具备两向增稳功能，显然该竖向增稳装置会偏离竖直姿态且该拍摄装置的镜头将会一并地偏转，造成拍摄装置的镜头晃动从而无法保证拍摄效果。As shown in FIG. 17, during the shooting period when the user holds the handheld photographic equipment with both hands, it is desirable to realize that the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer. The lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L. If the user holds the handheld photographic equipment with both hands and performs a large-scale overhead or overhead shot, the two-way stabilization frame 10 will swing away from its initial vertical posture (for example, in the horizontal (Upper and/or vertical deviation), if the two-way stabilization rack 10 does not have the two-way stabilization function, it is obvious that the vertical stabilization device will deviate from the vertical posture and the lens of the shooting device will be Deflection at the same time causes the lens of the shooting device to shake and the shooting effect cannot be guaranteed.
在此情形下，能借助于两向增稳式机架10所带有的第一和/或第二角度传感器或竖向增稳装置20的IMU作为姿态传感器来获取当前竖向增稳装置20的姿态信息，比如此时竖向增稳装置20相对于竖直的夹角(在此包括在横向上和竖向上的偏转角度)。随后该姿态信息经由有线或无线的方式发送给控制器。在这里，控制器会基于例如纵向电机转子132和横向电机转子192的旋转角度信息和竖向增稳装置20的姿态信息闭环控制所述两向增稳电机运动以将竖向增稳装置20保持在竖直姿态。当然，本领域技术人员还能理解得到，优选为IMU的姿态传感器也可以作为两向增稳式机架的选装件来附加地提供。In this case, the current vertical stabilization device 20 can be obtained by using the first and/or second angle sensor or the IMU of the vertical stabilization device 20 of the two-way stabilization frame 10 as the attitude sensor. For example, the angle of the vertical stabilization device 20 relative to the vertical at this time (including the deflection angles in the lateral and vertical directions) at this time. The posture information is then sent to the controller via wired or wireless means. Here, the controller will control the movement of the two-way stabilization motor in a closed loop based on, for example, the rotation angle information of the longitudinal motor rotor 132 and the transverse motor rotor 192 and the attitude information of the vertical stabilization device 20 to maintain the vertical stabilization device 20. In an upright position. Of course, those skilled in the art can also understand that the attitude sensor, which is preferably an IMU, can also be additionally provided as an option for the two-way stabilization rack.
具体地，在控制器内可以预设有预设信息，例如，预设信息为两向增稳式机架10处于竖直姿态使得竖向增稳装置20处于竖直姿态的姿态信息。此时，控制器即可根据竖向增稳装置20的姿态信息和预设信息生成控制指令，例如，当竖向增稳装置20的姿态信息为其相对于竖直处于俯仰角-10°且横滚角+10°为而预设信息为0°时，处理器可以生成相应的控制指令，使得控制器控制纵向增稳电机13旋转+10°且横向增稳电机19旋转-10°，使得借助于纵向增稳电机13和横向增稳电机19驱动竖向增稳装置20旋转回到0°的姿态。优选地，由于在纵向电机转子132或横向电机转子192上 分别设置有角度传感器用来获取纵向增稳电机13和横向增稳电机19动作后的旋转角度信息，这允许控制器基于角度传感器的旋转角度信息和设置在竖向增稳装置20上的姿态传感器的姿态信息闭环控制纵向增稳电机13和横向增稳电机19运动以将竖向增稳装置20保持在竖直姿态，从而拍摄得到预设想要的效果。可以理解的是，这里的预设信息可以由用户自行设置，并不限于使得竖向增稳装置20处于竖直姿态。Specifically, preset information may be preset in the controller. For example, the preset information is posture information that the two-way stabilization rack 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture. At this time, the controller can generate a control instruction according to the attitude information and preset information of the vertical stabilization device 20. For example, when the attitude information of the vertical stabilization device 20 is at a pitch angle of -10° relative to the vertical, and When the roll angle is +10° and the preset information is 0°, the processor can generate corresponding control instructions, so that the controller controls the longitudinal stabilization motor 13 to rotate +10° and the lateral stabilization motor 19 to rotate -10°, so that With the help of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, the vertical stabilization device 20 is driven to rotate back to the 0° posture. Preferably, since an angle sensor is respectively provided on the longitudinal motor rotor 132 or the transverse motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and the lateral stabilization motor 19, this allows the controller to rotate based on the angle sensor. The angle information and the attitude information of the attitude sensor provided on the vertical stabilization device 20 are closed-loop controlled to move the longitudinal stabilization motor 13 and the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical posture, so that the shooting can be predicted. Set the desired effect. It is understandable that the preset information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
尤其是，由于使用上述方式来对竖向增稳装置20进行两向增稳，还可以确保控制的实时性，还可以进一步丰富上述手持摄影器材的功能和玩法。具体来说，即用户握持该手持摄影器材进行变速运动时。In particular, since the above method is used to stabilize the vertical stabilization device 20 in two directions, the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched. Specifically, that is, when the user holds the handheld photographic equipment for variable-speed motion.
当机架处于竖直方向，若用户进行急加速或急减速运动时，则机架所搭载的竖向增稳装置20会由于自身惯性的作用相对于机架出现不期望的多向晃动。在采用根据本发明的两向增稳式手持机架10后，利用例如为IMU的姿态传感器实时获取作为负载设备的竖向增稳装置20的姿态信息。在此，无论是纵向急加速还是纵向急减速，控制器均可根据负载设备的实时姿态信息和预设信息生成控制指令，使得增稳电机驱动竖向增稳装置20旋转回到0°的姿态，如图18-19所示。优选地，由于在纵向电机转子132和横向电机转子192上设置有角度传感器用来获取增稳电机动作后的旋转角度信息，这允许控制器基于角度传感器的旋转角度信息和附接至竖向增稳装置20的姿态传感器的姿态信息闭环控制增稳电机运动以将所述负载设备保持在竖直姿态，从而拍摄得到预设想要的效果，如图18-19所示。When the rack is in a vertical direction, if the user performs a rapid acceleration or rapid deceleration movement, the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia. After adopting the two-way stabilization hand-held frame 10 according to the present invention, the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU. Here, whether it is longitudinal rapid acceleration or longitudinal rapid deceleration, the controller can generate control commands according to the real-time attitude information and preset information of the load equipment, so that the stabilization motor drives the vertical stabilization device 20 to rotate back to the 0° posture , As shown in Figure 18-19. Preferably, since angle sensors are provided on the longitudinal motor rotor 132 and the transverse motor rotor 192 to obtain the rotation angle information of the stabilization motor after the action, this allows the controller to attach to the vertical increaser based on the rotation angle information of the angle sensor. The posture information of the posture sensor of the stabilization device 20 closes the motion of the stabilization motor to keep the load device in a vertical posture, so as to obtain a preset desired effect when shooting, as shown in FIGS. 18-19.
进一步，在图20-25中示出了一种多功能手持摄影器材，其可以以摇臂的方式允许载荷在空间内以确定的轨迹运动。Further, Figures 20-25 show a multi-functional handheld photographic equipment, which can allow the load to move in a definite trajectory in the space in the manner of a rocker arm.
在图20-21中示出了根据本发明的下文中会使用到的锁定机构120，该锁定机构用于将上述竖向增稳装置20在增稳模式和锁定模式之间切换，其中在增稳模式下，上述竖向增稳装置20的支承杆25能如上文描述的那样相对于壳体运动以对载荷竖向增稳。而在锁定模式下，支承杆25相对于竖向增稳装置20的壳体以确定的长度被锁止，此时可以使该处于锁定模式下的竖向增稳装置20用作为摇臂，在该确定的长度所得出的半径空间范围内，带动载荷在一定的空间范围内到达任意位置，从而允许利用手持摄影器材带动载荷自动地按预设轨迹进行拍摄。Figures 20-21 show a locking mechanism 120 that will be used hereinafter according to the present invention. The locking mechanism is used to switch the above-mentioned vertical stabilization device 20 between a stabilization mode and a locking mode. In the stable mode, the support rod 25 of the vertical stabilization device 20 can move relative to the housing as described above to increase the vertical stabilization of the load. In the locked mode, the support rod 25 is locked relative to the housing of the vertical stabilizer 20 at a certain length. At this time, the vertical stabilizer 20 in the locked mode can be used as a rocker arm. Within the radius space obtained by the determined length, the load can be driven to reach any position within a certain space range, thereby allowing the use of hand-held photographic equipment to drive the load to automatically shoot according to a preset trajectory.
如图20-21。其中该锁定机构包括：固定连接至竖向增稳装置20的壳体半部21A和21B上的固定架124，其中该固定架124跨设在支承杆25上。具体 来说，该固定架124的主体横向于支承杆25两侧凸伸出一对固定臂，其中在这对固定臂上分别设置有供下文描述的螺接件125A和125B穿设的通孔。在此该螺接件125A和125B的螺纹方向是是相反的且在两者之间设置有用于将两者朝向两侧偏压打开的优选为弹簧的弹性件123。一对锁紧夹121A和121B借助于与之相连的螺接件125A和125B以跨越在支承杆25上方的方式各自被抵靠至固定架124的成对的固定臂上，该成对锁紧夹121A和121B的下部带有用于与支承杆25两侧设置的锁紧槽25A相接合的卡合部，其中在该锁紧夹121A和121B卡合入该支承杆25的锁紧槽25A内时，该锁定机构将支承杆25锁止。As shown in Figure 20-21. The locking mechanism includes a fixing frame 124 fixedly connected to the housing halves 21A and 21B of the vertical stabilization device 20, wherein the fixing frame 124 is straddled on the supporting rod 25. Specifically, the main body of the fixing frame 124 protrudes from a pair of fixing arms transverse to the two sides of the supporting rod 25, wherein the pair of fixing arms are respectively provided with through holes through which the bolts 125A and 125B described below pass through. . Here, the thread directions of the screw members 125A and 125B are opposite, and an elastic member 123, which is preferably a spring, is provided between the two for biasing and opening the two toward both sides. A pair of locking clamps 121A and 121B are each abutted against the pair of fixed arms of the fixing frame 124 by means of the bolts 125A and 125B connected to them so as to straddle the supporting rod 25. The lower parts of the clamps 121A and 121B are provided with engaging parts for engaging with the locking grooves 25A provided on both sides of the supporting rod 25, wherein the locking clamps 121A and 121B are engaged in the locking grooves 25A of the supporting rod 25 At this time, the locking mechanism locks the support rod 25.
在初始状态下，由于弹性件123的预紧力的作用，该成对的螺接件125A和125B将会被迫使分开，从而使成对的锁紧夹121A和121B并不会与支承杆25的锁紧槽25A出现卡合，此时竖向增稳装置20的支承杆25能够不受阻地伸长或者缩短以正常作用。当需要将该支承杆25锁止在期望长度或者位置时，借助于作为调节件的扭紧扳手122***螺接件125A和125B中的任一者中，向旋紧螺接件125A和125B的方向旋转，由于螺接件125A和125B的螺纹方向是相反的，这会使得在扭紧扳手122的旋转带动下克服弹性件123的弹性力将螺接件125A和125B拉近，这从而造成了成对的锁紧夹121A和121B各自被拉向相配合的支承杆25的锁紧槽25A，其结果是，支承杆25被锁止在期望的长度或位置处。In the initial state, due to the pre-tightening force of the elastic member 123, the pair of screw members 125A and 125B will be forced apart, so that the pair of locking clips 121A and 121B will not be with the support rod 25. When the locking groove 25A is engaged, the support rod 25 of the vertical stabilization device 20 can be extended or shortened without hindrance to function normally. When it is necessary to lock the support rod 25 at a desired length or position, insert the tightening wrench 122 as an adjusting member into any one of the screw connections 125A and 125B to tighten the screw connections 125A and 125B. Rotating in the direction of rotation, because the thread directions of the screw joints 125A and 125B are opposite, this will cause the screw joints 125A and 125B to be drawn closer by overcoming the elastic force of the elastic member 123 under the rotation of the torque wrench 122. The pair of locking clips 121A and 121B are each pulled toward the locking groove 25A of the mating support rod 25. As a result, the support rod 25 is locked at a desired length or position.
在图22中示出了安装有上述图3至13中示出的竖向增稳装置20的多功能手持摄影器材的主视图，其中该竖向增稳装置20以重心调平的方式安装在固定连接至横向增稳电机转子192的连接座15处：使竖向增稳装置20的重心安装成经过该安装座141所限定出的横滚轴线L，同时竖向增稳装置20和连杆14的整体重心经过俯仰轴线，这样实现了竖向增稳装置20在增稳式手持机架10中的重心调平，从而组装成为根据本发明的多功能手持摄影器材。In FIG. 22 is shown a front view of the multifunctional handheld photographic equipment equipped with the vertical stabilization device 20 shown in FIGS. 3 to 13 above, wherein the vertical stabilization device 20 is installed in a center of gravity leveled manner Fixedly connected to the connecting seat 15 of the rotor 192 of the lateral stabilization motor: the center of gravity of the vertical stabilization device 20 is installed to pass through the rolling axis L defined by the mounting seat 141, and the vertical stabilization device 20 and the connecting rod The overall center of gravity of 14 passes through the pitch axis, so that the center of gravity of the vertical stabilizer 20 in the stabilized handheld frame 10 is leveled, thereby being assembled into the multifunctional handheld photographic equipment according to the present invention.
在图17-18中描述了本发明的手持摄影器材中的载荷为搭载有单反相机的三轴稳定器的优选实施方式，其中该三轴稳定器90为包括有航向轴电机91在内的三轴稳定器，在此作为示例，其中航向轴电机91与余下的两个旋转轴形成的角度为在60°到70°之间的非直角，这使得不会对该三轴稳定器所搭载的拍摄装置的背面造成遮挡。在本文中，其中该三轴稳定器固定连接至竖向增稳装置20的支承杆25。In FIGS. 17-18, the load in the handheld photographic equipment of the present invention is described in a preferred embodiment of a three-axis stabilizer equipped with a single-lens reflex camera, wherein the three-axis stabilizer 90 is a three-axis stabilizer including a yaw axis motor 91 Shaft stabilizer, as an example here, the angle formed by the yaw axis motor 91 and the remaining two rotating shafts is a non-right angle between 60° and 70°, which makes it impossible to mount the three-axis stabilizer The back of the camera is obstructed. Herein, the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20.
接下来结合图22至25来描述本发明的多功能手持摄影器材的操作方法。Next, the operation method of the multifunctional handheld photographing equipment of the present invention will be described with reference to FIGS. 22-25.
在使用本发明的多功能手持摄影器材时，优选首先在竖向方向上对其进行重心调平以减少电机驱动转动时的阻力矩。为此，如图22所示，还带有能够可调地连接至该竖向增稳装置20的远离载荷的一端的平衡重110。优选地平衡重100的数量配备为多个且重量不相同，以根据竖向增稳装置20的支承杆25所连接的载荷的重量来进行调节，其中在调节到位后(在此例如为，三轴稳定器、单反相机和竖向增稳装置以及平衡重的整体重心经过俯仰轴线T)，可以利用成对的卡位件111将平衡重110卡止。当然可以理解，还包括平衡重驱动件以用于使平衡重110沿竖向增稳装置20的长度方向滑动，以自动平衡不同载荷的重量。When using the multifunctional handheld photographic equipment of the present invention, it is preferable to level the center of gravity in the vertical direction first to reduce the resistance torque when the motor is driven to rotate. To this end, as shown in FIG. 22, there is also a balance weight 110 that can be adjustably connected to the end of the vertical stabilization device 20 away from the load. Preferably, the number of balance weights 100 is equipped with multiple and different weights, so as to adjust according to the weight of the load connected by the support rod 25 of the vertical stabilization device 20, wherein after the adjustment is in place (here, for example, three The shaft stabilizer, the SLR camera, the vertical stabilization device, and the overall center of gravity of the balance weight pass through the pitch axis T), and the balance weight 110 can be locked by the pair of retaining members 111. Of course, it can be understood that a balance weight driving member is also included for sliding the balance weight 110 along the length direction of the vertical stabilization device 20 to automatically balance the weight of different loads.
在此，根据本发明的多功能手持摄影器材首先能够满足用户在运动摄影时进行横向或纵向跟拍时的增稳要求，具体来说：Here, the multifunctional handheld photographic equipment according to the present invention can firstly meet the stabilization requirements of the user when performing horizontal or vertical follow-up shooting during sports photography, specifically:
首先，在完成重心调平后，三轴稳定器的航向轴电机90以吊装的方式固定连接至竖向增稳装置20的支承杆25，由此借助于竖向增稳装置20将三轴稳定器90以“悬浮”的方式设置在增稳式手持机架10的内部空间中(参见图22)。First, after the center of gravity leveling is completed, the yaw axis motor 90 of the three-axis stabilizer is fixedly connected to the support rod 25 of the vertical stabilization device 20 in a hoisting manner, thereby stabilizing the three-axis by means of the vertical stabilization device 20 The device 90 is arranged in the internal space of the stabilized handheld frame 10 in a "suspended" manner (see FIG. 22).
如图17和22所示，在用户双手握持该手持摄影器材以匀速走动的方式进行户外拍摄期间，能够借助于该手持摄影器材实现竖向增稳装置20始终处于竖直状态以确保对三轴稳定器的良好竖向增稳效果，此时即使由于用户在走动过程中产生竖向方向上的振动或抖动，均可以借助于竖向增稳装置20的竖向增稳作用予以滤除，这使得利用本发明的手持摄影器材拍摄出的画面画质是非常高的。As shown in Figures 17 and 22, when the user holds the handheld photographic equipment with both hands and moves at a constant speed during outdoor shooting, the handheld photographic equipment can be used to realize that the vertical stabilization device 20 is always in a vertical state to ensure three-dimensional alignment. The shaft stabilizer has a good vertical stabilization effect. At this time, even if the user generates vertical vibration or jitter during walking, it can be filtered out by the vertical stabilization effect of the vertical stabilization device 20. This makes the picture quality of the picture taken by the handheld photographing equipment of the present invention very high.
在进行户外拍摄时，若用户在双手握持该手持摄影器材进行大幅度的俯拍或仰拍或者用户握持该手持摄影器材进行变速运动时，手持机架所搭载的竖向增稳装置会在自身惯性的作用下相对于机架出现不期望的晃动。在采用根据本发明的增稳式手持机架10后，利用设置在支承杆25端部的姿态传感器实时获取作竖向增稳装置20的姿态信息。在此，无论是纵向急加速还是纵向急减速，控制装置均可根据负载设备的实时姿态信息和预设姿态信息生成控制指令，使纵向增稳电机13和/或横向增稳电机19驱动竖向增稳装置20保持在竖直状态。优选地，由于在纵向增稳电机转子132和横向增稳电机转子192上设置有角度传感器来获取纵向增稳电机13和/或横向增 稳电机19动作后的旋转角度信息，这允许控制装置基于来自姿态传感器的姿态信息和来自角度传感器的旋转角度信息闭环控制纵向增稳电机13和/或横向增稳电机19运动以将所述竖向增稳装置20保持在竖直状态，从而拍摄得到预设想要的效果。When shooting outdoors, if the user holds the handheld photographic equipment in both hands for large-scale overhead or vertical shooting, or when the user holds the handheld photographic equipment for variable-speed motion, the vertical stabilization device mounted on the handheld rack will be affected. Undesired shaking relative to the frame due to its own inertia. After adopting the stabilizing handheld frame 10 according to the present invention, the posture information of the vertical stabilizing device 20 is acquired in real time by using the posture sensor provided at the end of the supporting rod 25. Here, whether it is longitudinal rapid acceleration or longitudinal rapid deceleration, the control device can generate control commands according to the real-time attitude information and preset attitude information of the load equipment, so that the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 drive the vertical direction. The stabilization device 20 is maintained in a vertical state. Preferably, since angle sensors are provided on the longitudinal stabilization motor rotor 132 and the lateral stabilization motor rotor 192 to obtain the rotation angle information of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 after the action, this allows the control device to be based on The posture information from the posture sensor and the rotation angle information from the angle sensor close-loop control the motion of the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 to maintain the vertical stabilization device 20 in a vertical state, so that the shooting can be predicted Set the desired effect.
在图23-25中示出了根据本发明的多功能手持摄影器材的另一种功能，在用户进行户外拍摄时，尤其是为了拍摄诸如影视剧或者综艺节目时，期望手持摄影器材还能带动载荷实现预定的拍摄轨迹。此时，用户仅需手动的旋紧作为调节件的扭紧扳手122以使竖向增稳装置20处于锁定模式，从而将竖向增稳装置20用作为能在确定的长度的半径的空间范围(图24中标示为S)内按确定轨迹转动的摇臂。尤其是，如图23所示，此时横向增稳电机19能被转到平行于地面的姿态，此时横向增稳电机19带动竖向增稳装置20在大致呈120度的角度范围内自由转动。此时用户可以借助于设置在手持机架10上的与该控制装置信号连接的控制摇杆来操作纵向增稳电机13和/或横向增稳电机19动作。由于竖向增稳装置20所具有的长度是确定的且能如摇臂一样在纵向增稳电机13和/或横向增稳电机19的带动下在空间范围内进行摇、移、跟、升降摄像等运动。尤其是，在该控制摇杆的操作下，能够使该手持摄影器材所搭载的单反相机在空间范围内受控地达到任意位置，尤其还能以远程的方式或者预设的方式使单反相机按预设的运动轨迹进行拍摄而不会受用户的经验和抖动的影响，从而满足用户对于更高拍摄画质的实际需求。Figures 23-25 show another function of the multifunctional handheld photographic equipment according to the present invention. When the user is shooting outdoors, especially for filming TV dramas or variety shows, it is expected that the handheld photographic equipment can also drive The load realizes a predetermined shooting trajectory. At this time, the user only needs to manually tighten the tightening wrench 122 as an adjustment member to make the vertical stabilization device 20 in the locked mode, so that the vertical stabilization device 20 can be used as a space range that can be within a radius of a certain length. (Marked as S in Fig. 24) The rocker arm that rotates according to the determined trajectory. In particular, as shown in Figure 23, the lateral stabilization motor 19 can be turned parallel to the ground at this time. At this time, the lateral stabilization motor 19 drives the vertical stabilization device 20 to be free in an angle range of approximately 120 degrees. Rotate. At this time, the user can operate the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 by means of a control rocker provided on the handheld frame 10 and connected to the control device in signal. Since the length of the vertical stabilization device 20 is determined and can be driven by the longitudinal stabilization motor 13 and/or the lateral stabilization motor 19 like a rocker arm, it can pan, move, follow, and raise and lower the camera in the space. Waiting for movement. In particular, under the operation of the control joystick, the SLR camera mounted on the handheld photographic equipment can be controlled to reach any position within the spatial range, and in particular, the SLR camera can be pressed remotely or in a preset manner. The preset motion trajectory is not affected by the user's experience and jitter, so as to meet the user's actual demand for higher shooting quality.
还希望指出的是，根据本发明的多功能手持摄影器材实现了一机多能，这样不但显著地降低了用户购置摄影器材的花费，还便于用户减少进行户外摄影所需携带的行李重量和体积，从而大大地提高用户的好感度和满意度。It is also desirable to point out that the multifunctional handheld photographic equipment according to the present invention realizes one machine with multiple functions, which not only significantly reduces the cost of the user to purchase photographic equipment, but also facilitates the user to reduce the weight and volume of the luggage that needs to be carried for outdoor photography. , Thereby greatly improving the user’s favorability and satisfaction.
更进一步，在图26中示出了另一种多功能手持摄影器材，其可以在增稳期间使载荷始终保持在确定的竖向高度，以达到媲美滑轨的效果。Furthermore, FIG. 26 shows another multifunctional handheld photographic equipment, which can keep the load at a certain vertical height during the stabilization period, so as to achieve an effect comparable to a sliding rail.
更进一步，如图26所示，若用户握持该手持摄影器材在户外进行综艺节目或者动作片拍摄时，往往需要做来回往返做特急加速和特急减速运动以满足拍摄需求，此时竖向增稳装置20将会从图26中在20A所标示的左倾姿态和在20B所标示的右倾姿态之间频繁地借助于纵向增稳电机13和横向增稳电机19被增稳回竖直姿态。为了确保在增稳期间该三轴稳定器所搭载的拍摄装置的镜头仍保持在确定的竖向高度以获得良好的、无抖动的画 质，在此期间该手持摄影器材的控制装置还进一步控制竖向增稳装置20中的竖向增稳电机22进入如下动作以将所述载荷始终保持在确定的竖向高度。Furthermore, as shown in Figure 26, if the user is holding the handheld camera equipment to shoot a variety show or action film outdoors, he often needs to go back and forth and do extreme acceleration and extreme deceleration to meet the shooting needs. At this time, the vertical increase The stabilizing device 20 will frequently be stabilized back to the vertical posture by means of the longitudinal stabilization motor 13 and the lateral stabilization motor 19 between the left-inclined posture indicated by 20A and the right-inclined posture indicated by 20B in FIG. 26. In order to ensure that during the stabilization period, the lens of the shooting device carried by the three-axis stabilizer remains at a certain vertical height to obtain a good, jitter-free image quality, during this period the control device of the handheld photographic equipment further controls The vertical stabilization motor 22 in the vertical stabilization device 20 enters the following actions to keep the load always at a certain vertical height.
具体来说，例如在竖向增稳装置20由于变速运动处于由20A所标示的左倾姿态时(一般来说左倾姿态不超过10度)，若竖向增稳装置20的长度若保持不变的情况下，则会使处于左倾姿态的竖向控制装置将载荷沿竖向向上提升一定高度(其工作原理类似于钟摆)，且在竖向增温装置20被增稳回到竖直姿态时，该载荷的实际竖向高度是会随着夹角的大小发生变化，这种竖向高度上的细微变化能会在一定程度上影响拍摄的画质，对于有高要求的视频制作而言是不期望的。相同的情形也存在竖向增稳装置20由于变速运动处于由20B所标示的右倾姿态。这种增稳过程期间的竖向高度变化在往返急变速运动过程中会显现地更加明显。Specifically, for example, when the vertical stabilization device 20 is in the left-inclined posture indicated by 20A due to the variable speed movement (generally, the left-inclined posture does not exceed 10 degrees), if the length of the vertical stabilization device 20 remains unchanged In this case, the vertical control device in the left-leaning attitude will raise the load to a certain height in the vertical direction (its working principle is similar to a pendulum), and when the vertical warming device 20 is stabilized and returned to the vertical attitude, The actual vertical height of the load will change with the size of the included angle. This slight change in vertical height can affect the image quality of the shooting to a certain extent, which is not for high-demand video production. Expected. The same situation also exists that the vertical stabilization device 20 is in the right-inclined posture indicated by 20B due to the variable speed movement. The vertical height change during this stabilization process will be more obvious during the reciprocating rapid speed change movement.
为此，控制装置可以根据从姿态传感器所获取的竖向增稳装置20相对于竖直方向的夹角以及竖向增稳装置20此时本身的长度(这可利用竖向增稳电机22的旋转角度来获知)，以左倾姿态20A为例，可以利用诸如预设公式和算法获得此时若将载荷保持在确定的竖向高度该竖向增稳装置20所需的长度，从而计算得出此时竖向增稳装置20此时应该与其默认长度相比伸出一补偿长度d1。虽然，控制装置根据该补偿长度d1以及支承杆25与平衡轮23的驱动比将所需补偿长度d1转化为竖向增稳电机22应驱动支承杆25的旋转转数，从而使竖向增稳电机22按需地将支承杆25向外驱动出补偿长度d1。结果是，此时载荷被保持在确定的竖向高度处。同样地控制方式也适用于右倾姿态20B(此时补偿长度为d2)以及在左倾姿态20A和右倾姿态20B之间的任意夹角位置。因此，通过增加对竖向增稳电机20的控制和取决于实际夹角的长度补偿，能够与用户的变速运动和运动方向无关地实现将载荷保持在确定的竖向高度处。在这种工作模式下，即使用户并不具有熟练的手持摄影器材的操作技巧且需要在大幅度运动范围内频繁进行往返变速运动，仍然能够借助本发明的手持摄影器材取得堪比电动滑轨的增稳效果的拍摄画质。这使得用户尤其在狭小的工作空间内仍能借助本发明的手持摄影器材进行拍摄而无需携带或者安装电动滑轨，对于用户来说同样能够实现一机多用、功能多样。To this end, the control device can be based on the angle of the vertical stabilization device 20 relative to the vertical obtained from the attitude sensor and the length of the vertical stabilization device 20 itself at this time (this can be done by using the vertical stabilization motor 22 Rotation angle to know), taking the left-inclined attitude 20A as an example, you can use preset formulas and algorithms to obtain the required length of the vertical stabilization device 20 if the load is maintained at a certain vertical height at this time, so as to calculate At this time, the vertical stabilization device 20 should extend a compensation length d1 compared with its default length. Although, the control device converts the required compensation length d1 into the number of rotations of the support rod 25 to be driven by the vertical stabilization motor 22 according to the compensation length d1 and the drive ratio between the support rod 25 and the balance wheel 23, so as to increase the vertical stability. The motor 22 drives the support rod 25 outwards to a compensation length d1 as needed. As a result, the load is maintained at a certain vertical height at this time. The same control method is also applicable to the right-inclined attitude 20B (at this time, the compensation length is d2) and any included angle position between the left-inclined attitude 20A and the right-inclined attitude 20B. Therefore, by increasing the control of the vertical stabilization motor 20 and the length compensation depending on the actual included angle, it is possible to maintain the load at a certain vertical height regardless of the user's variable speed movement and movement direction. In this working mode, even if the user does not have proficient hand-held photographic equipment operating skills and needs to perform frequent reciprocating and variable-speed movements within a large range of motion, he can still use the handheld photographic equipment of the present invention to obtain a comparable electric slide rail. Stabilization effect of shooting image quality. This enables the user to take pictures with the handheld photographing equipment of the present invention, especially in a small work space, without carrying or installing an electric slide rail. For the user, it is also possible to achieve multiple functions and multiple functions in one machine.
作为本发明的另一方面，在图27中示出了本发明的另一种竖向增稳装置的具体实施方式。As another aspect of the present invention, another specific embodiment of the vertical stabilization device of the present invention is shown in FIG. 27.
在图27中，示意性地示出了本发明的一个实施方式的用于减震来自壳体的竖向震动的竖向增稳装置210，其中该竖向增稳装置210用于支撑载荷。在此，作为一种示例，该载荷可以是用于拍摄图像/视频的成像装置，例如数码相机、摄像机，也可以为具有摄像功能的手机、平板电脑等便携式通讯装置，同样该载荷也可以是搭载有该成像装置的稳定器。其中，该竖向增稳装置220包括一以绕枢转轴线A1枢转的方式支承在壳体211的变速平衡机构，在图27所示出的实施例中，该变速平衡机构230包括：例如经由安装在轴承座234上的轴承235枢转地安置在壳体211内的枢转轴231，其中该枢转轴231自身的轴线被标示为枢转轴线A1。进一步，在该枢转轴231上围绕该枢转轴线A1隔开地同轴布置有第一齿轮232和第二齿轮233，其中在此示出的第一齿轮232可选地在直径和模数上均大于第二齿轮233。优选地，该第一齿轮的直径是所述第二齿轮的直径的至少3倍、具体可为大4倍。具体来说，作为一种非限定性的示例，其中第一齿轮232的直径可以选定为约60毫米，而第二齿轮233的直径可以选定为约15毫米。In Fig. 27, a vertical stabilization device 210 for damping vertical vibration from a housing according to an embodiment of the present invention is schematically shown, wherein the vertical stabilization device 210 is used to support a load. Here, as an example, the load can be an imaging device used to capture images/videos, such as digital cameras and video cameras, or portable communication devices such as mobile phones and tablet computers with camera functions. Similarly, the load can also be Equipped with the stabilizer of the imaging device. Wherein, the vertical stabilization device 220 includes a variable speed balancing mechanism supported on the housing 211 in a manner of pivoting about a pivot axis A1. In the embodiment shown in FIG. 27, the variable speed balancing mechanism 230 includes: for example The pivot shaft 231 is pivotally arranged in the housing 211 via a bearing 235 mounted on the bearing seat 234, wherein the axis of the pivot shaft 231 itself is designated as the pivot axis A1. Further, a first gear 232 and a second gear 233 are coaxially arranged on the pivot shaft 231 spaced apart around the pivot axis A1, wherein the first gear 232 shown here is optionally in diameter and modulus. Both are larger than the second gear 233. Preferably, the diameter of the first gear is at least 3 times the diameter of the second gear, and specifically may be 4 times larger. Specifically, as a non-limiting example, the diameter of the first gear 232 may be selected to be about 60 mm, and the diameter of the second gear 233 may be selected to be about 15 mm.
相应地，在该变速平衡机构230的一侧设置有与其作用连接的支承机构240，其中该支承机构240在此用于竖向支撑以上描述的载荷，在此该载荷例如为图28中示出的增稳装置220(在此作为示例为三轴增稳装置)，当然可以理解得到的是也可以为两轴的增稳装置。在此，该支承机构240包括与该第一齿轮232相啮合的第一齿条241，其中该第一齿条241的顶端上设有可与载荷的底部的例如1/4螺纹孔相连接的螺纹件。优选地，将第一齿条241布置成在其1/2行程位置处与该第一齿轮232的外周相啮合，由此实现在该变速平衡机构230的一侧在距该枢转轴线A1第一距离(第一齿轮232的半径)处与该变速平衡机构230作用连接，以传递来自所述载荷220的重力对变速平衡机构230沿第一旋转方向(在图28中为逆时针方向)施加第一转矩。Correspondingly, a support mechanism 240 operatively connected to the shift balance mechanism 230 is provided on one side of the shift balance mechanism 230, wherein the support mechanism 240 is used here to vertically support the load described above, where the load is, for example, as shown in FIG. 28 The stabilization device 220 (here as an example is a three-axis stabilization device), of course, it can be understood that it can also be a two-axis stabilization device. Here, the supporting mechanism 240 includes a first rack 241 meshed with the first gear 232, wherein a top end of the first rack 241 is provided with a threaded hole that can be connected to the bottom of the load, for example, a 1/4 threaded hole. Threaded parts. Preferably, the first rack 241 is arranged to mesh with the outer circumference of the first gear 232 at its 1/2 stroke position, thereby achieving a distance from the pivot axis A1 on one side of the shift balance mechanism 230 A distance (radius of the first gear 232) is operatively connected with the shift balance mechanism 230 to transmit the gravity from the load 220 to the shift balance mechanism 230 in the first rotation direction (counterclockwise in FIG. 28) First torque.
需要指出的是，尽管在此将该支承机构240设计为与变速平衡机构的第一齿轮232相啮合的刚性的第一齿条241，但这并非是限定性的。实际上，本领域技术人员能够想到其它用于竖向支撑载荷并将该载荷的重力在距枢转轴线第一距离处作用连接的方式，诸如可以借助于滑轮传动或者带传动等柔性件的方式。It should be pointed out that although the supporting mechanism 240 is designed as a rigid first rack 241 meshing with the first gear 232 of the shift balance mechanism, this is not limiting. In fact, those skilled in the art can think of other ways to support the load vertically and to connect the gravity of the load at a first distance from the pivot axis, such as a flexible member such as a pulley drive or a belt drive. .
与此同时，如图28所示，在该变速平衡机构的同一侧(在图28中的图面靠左侧)与该支承机构240并排间隔开地设置有力产生机构250，其中该力产生机构包括与第二齿轮233相啮合的第二齿条251，其中在该第二齿条251 的上端优选地固定连接有转接件253。如图28所示，该转接件253大致呈薄板状，其中薄板状的转接件253的一端(图28中靠左端)操作连接至下文中详述的弹性件252且相对的另一端(图28中靠右端)操作连接至该第二齿条251。在此，这里的弹性件252被构造成能够沿壳体的延伸方向受压回缩的压簧，其中该压簧的一端能直接或者借助于下文详述的调节盖272操作地连接至壳体211。该压簧自身所积蓄的弹性力借助于该转接件253的传递作用会向第二齿条251施加向上的作用力。由于该第二齿条251啮合至该第二齿轮233，从而允许该力产生机构250以布置在变速平衡机构230的同一侧的方式在距该枢转轴线A1第二距离(第二齿轮233的半径)处与该变速平衡机构230作用连接，以向变速平衡机构230施加向上的作用力从而对变速平衡机构230沿相反于第一旋转方向的第二旋转方向(在此为顺时针方向)施加第二转矩。优选地，将第二齿条251布置成在其1/2行程位置处与该第二齿轮233的外周相啮合，通过调节压簧所提供的弹性力的大小，可以借助于变速平衡机构使压簧的弹性力完全实现对载荷重力补偿。当然，需要指出的是，除了在此示例性描述的压簧外，也可以实现在直线方向上拉伸的拉簧，例如将弹性件的作用方向从向上改变成向下即可。At the same time, as shown in FIG. 28, a force generating mechanism 250 is provided side by side and spaced apart from the supporting mechanism 240 on the same side of the shift balance mechanism (on the left side of the drawing in FIG. 28), wherein the force generating mechanism It includes a second rack 251 meshed with the second gear 233, wherein an adapter 253 is preferably fixedly connected to the upper end of the second rack 251. As shown in FIG. 28, the adapter 253 is roughly in the shape of a thin plate, wherein one end (the left end in FIG. 28) of the thin plate-shaped adapter 253 is operatively connected to the elastic member 252 described in detail below and the opposite end ( The right end in FIG. 28) is operatively connected to the second rack 251. Here, the elastic member 252 here is configured as a compression spring that can be compressed and retracted along the extending direction of the casing, wherein one end of the compression spring can be operatively connected to the casing directly or by means of an adjusting cover 272 described in detail below. 211. The elastic force accumulated by the compression spring itself exerts an upward force on the second rack 251 by means of the transfer effect of the adapter 253. Since the second rack 251 is meshed with the second gear 233, the force generating mechanism 250 is allowed to be arranged on the same side of the shift balance mechanism 230 at a second distance from the pivot axis A1 (the second gear 233 Radius) is operatively connected to the shift balance mechanism 230 to apply an upward force to the shift balance mechanism 230 so as to apply an upward force to the shift balance mechanism 230 in a second rotation direction (here, a clockwise direction) opposite to the first rotation direction The second torque. Preferably, the second rack 251 is arranged to mesh with the outer circumference of the second gear 233 at its 1/2 stroke position. By adjusting the elastic force provided by the compression spring, the compression can be made by means of a shift balance mechanism. The elastic force of the spring can completely compensate the load gravity. Of course, it should be pointed out that, in addition to the compression spring described exemplarily here, a tension spring that stretches in a straight direction can also be realized, for example, the action direction of the elastic member can be changed from upward to downward.
如图28所示，在该竖向增稳装置未经受竖向震动时，由于压簧252对于载荷的重力补偿或者重力平衡作用，使得载荷可以形成“悬浮”效果，这对于摄影师来说是很有吸引力的。而当竖向增稳装置经受竖向震动时(例如摄影师为了实现以第一人称的运动拍摄，例如步行自拍)，来自身体的起伏运动会例如借助于摄影师的手使得载荷相对于壳体211在竖向上发生不期望的相对移动，这种相对移动在齿轮/齿条运动副的作用下会造成枢转轴231发生一定角度的转动。应该注意，本文中竖向震动泛指具有竖向分量的震动，即只要震动在竖直方向具有分量，即可称作竖向震动，换言之，竖向震动的宏观运动方向并不一定是竖直方向的，也可以与竖直方向具有一定的夹角。As shown in Fig. 28, when the vertical stabilization device is not subjected to vertical vibration, due to the gravity compensation or gravity balance effect of the compression spring 252 on the load, the load can form a "levitation" effect, which is very important for the photographer. Very attractive. And when the vertical stabilization device is subjected to vertical vibration (for example, in order to achieve first-person motion shooting by the photographer, such as walking self-portrait), the undulating motion from the body will, for example, use the photographer's hand to make the load relative to the housing 211 Undesirable relative movement occurs vertically, and this relative movement will cause the pivot shaft 231 to rotate at a certain angle under the action of the gear/rack motion pair. It should be noted that in this article, vertical vibration generally refers to vibration with a vertical component, that is, as long as the vibration has a component in the vertical direction, it can be called vertical vibration. In other words, the macroscopic motion direction of vertical vibration is not necessarily vertical. It can also have a certain angle with the vertical direction.
根据以上详述的竖向增稳装置，由于第一齿轮232的直径远大于第二齿轮233的直径，这就意味着当第一齿条241在竖向上移动一定距离时，其造成第二齿条251移位的距离在变速平衡机构的传动比作用下会大大的减小，例如在第一齿轮232的直径是所述第二齿轮233的直径4倍时，第一齿条241每移动1毫米，第二齿条251相应地只会移动0.25毫米。在变速平衡机构的传动缩小机制的作用下，由于第二齿条251的行程范围很小，这使得 其移动所造成的压簧的压缩量相应地也很小，所以压簧252在整个竖向震动运动过程中提供的支撑力变化很小，从而允许力产生机构250以基本不变的力平衡所述载荷的重力，这使得载荷很快恢复至“悬浮”状态，从而不会对拍摄的画质带来实质性的影响。其结果是，在载荷经受轻微的竖向震动时，归因于上述竖向增稳装置的作用，允许摄影师在以第一人称步行自拍时也能够拍出令人满意的画质而无需进行后期处理。这样允许在更宽的起伏运动范围内更加可靠地消除载荷不期望的竖向抖动。According to the vertical stabilization device detailed above, since the diameter of the first gear 232 is much larger than the diameter of the second gear 233, this means that when the first rack 241 moves a certain distance in the vertical direction, it causes the second tooth The displacement distance of the bar 251 will be greatly reduced under the action of the transmission ratio of the shift balance mechanism. For example, when the diameter of the first gear 232 is 4 times the diameter of the second gear 233, the first rack 241 moves by 1 Mm, the second rack 251 will only move 0.25 mm accordingly. Under the action of the transmission reduction mechanism of the shift balance mechanism, since the stroke range of the second rack 251 is small, the compression amount of the compression spring caused by its movement is correspondingly small, so the compression spring 252 is in the entire vertical direction. The support force provided during the vibration movement changes very little, allowing the force generating mechanism 250 to balance the gravity of the load with a substantially constant force, which makes the load quickly return to the "suspended" state, so that the photographed picture will not be affected. Quality has a substantial impact. As a result, when the load is subjected to a slight vertical shock, due to the effect of the above-mentioned vertical stabilization device, it allows the photographer to take a satisfactory picture quality even when taking a self-portrait on foot in the first person without the need for post-production. deal with. This allows to more reliably eliminate the undesired vertical jitter of the load in a wider range of undulating motion.
进一步，在此示出的示例实施方式中，该竖向增稳装置的载荷范围大致在1千克至3千克的范围内，因此期望该弹性件252所积蓄的弹簧力是可调的以适应于不同重量的载荷。为此，优选地使该竖向增稳装置还设置有用于调节该弹性件252的预紧力的调节机构270。如图28所示，该调节机构270包括设置在壳体211的底端的与该壳体211的端盖212螺纹连接的调节件271，在此该调节件271为螺丝，其允许用户用手或者借助于工具被拧紧或者旋松从而相对于壳体211的端盖212向里或向外移位。在此，该弹性件252以其一端抵靠至设置于端盖212内的调节盖272，其中该调节盖272与调节件271的端部相抵靠。借此，经由相对于该壳体211旋入该调节件271能向里压缩弹性件252以提供较高的预紧力。反之，也可以相对于壳体211旋出该调节件271以允许弹性件252向外伸展从而具有较低的预紧力，这适合于较轻的载荷。同样地，图28中的调节机构是非限定性的，例如可以利用扳手件来实现对弹性件252的预紧力的调节。Further, in the exemplary embodiment shown here, the load range of the vertical stabilization device is approximately in the range of 1 kg to 3 kg. Therefore, it is desirable that the spring force accumulated by the elastic member 252 is adjustable to adapt to Loads of different weights. For this reason, it is preferable that the vertical stabilization device is further provided with an adjustment mechanism 270 for adjusting the pre-tightening force of the elastic member 252. As shown in FIG. 28, the adjusting mechanism 270 includes an adjusting member 271 which is provided at the bottom end of the housing 211 and is threadedly connected with the end cover 212 of the housing 211. Here, the adjusting member 271 is a screw, which allows the user to manually or It is tightened or unscrewed by means of a tool so as to be displaced inward or outward relative to the end cover 212 of the housing 211. Here, one end of the elastic member 252 abuts against the adjusting cover 272 provided in the end cover 212, wherein the adjusting cover 272 abuts against the end of the adjusting member 271. Thereby, by screwing the adjusting member 271 relative to the housing 211, the elastic member 252 can be compressed inwardly to provide a higher pre-tightening force. Conversely, the adjusting member 271 can also be screwed out relative to the housing 211 to allow the elastic member 252 to extend outward so as to have a lower pre-tightening force, which is suitable for a lighter load. Similarly, the adjustment mechanism in FIG. 28 is non-limiting. For example, a wrench can be used to adjust the pre-tightening force of the elastic member 252.
并且，如图28所示，由于能够将支承机构240和力产生机构250以同侧布置的方式设置在壳体211内，与现有技术相比，这种同轴布置的方式使得壳体211内的空间利用率大大提高，这种紧凑的布置方式对于商品的小型化和便携化是非常有益的。Moreover, as shown in FIG. 28, since the supporting mechanism 240 and the force generating mechanism 250 can be arranged in the same-side arrangement in the housing 211, compared with the prior art, this coaxial arrangement makes the housing 211 The space utilization rate inside is greatly improved, and this compact layout is very beneficial to the miniaturization and portability of commodities.
为了确保支承机构240和力产生机构250对变速平衡机构230总是沿竖向方向上施加作用力以避免施力不均对竖向减震效果的不利影响，优选地，如图28所示，该竖向增稳装置还包括设置在壳体211内的至少一个直线引导机构260，其中该直线引导机构包括固定设置在壳体211上的滑行部262、262A和相应地固定连接至第一齿条241和第二齿条251的直导轨部261、261A，从而允许在发生竖向震动时允许在该直线引导机构260的引导作用下使第一齿条241和第二齿条251相对于壳体211始终在直线方向上运动。这对于该竖向增稳装置的长时间的稳定工作是非常有益的。当然，在 图28中示出的直线引导机构260的结构是示例性而非限定性的，实际上，诸如滑槽和与之配合的滑销等方式也是可行的。In order to ensure that the supporting mechanism 240 and the force generating mechanism 250 always exert a force on the shift balance mechanism 230 in the vertical direction to avoid the adverse effect of uneven force on the vertical shock absorption effect, preferably, as shown in FIG. 28, The vertical stabilization device further includes at least one linear guide mechanism 260 arranged in the housing 211, wherein the linear guide mechanism includes sliding portions 262, 262A fixedly arranged on the housing 211 and correspondingly fixedly connected to the first tooth. The straight rail portions 261, 261A of the bar 241 and the second rack 251 allow the first rack 241 and the second rack 251 to be relative to the housing under the guidance of the linear guide mechanism 260 when vertical vibration occurs. The body 211 always moves in a linear direction. This is very beneficial for the long-term stable operation of the vertical stabilization device. Of course, the structure of the linear guide mechanism 260 shown in FIG. 28 is exemplary and not restrictive. In fact, methods such as a sliding groove and a sliding pin matched with it are also feasible.
在图28中示出了该竖向定位设备，其包括用于测量载荷的竖向位置的位置传感器(未图示出)、用于接收来自该位置传感器的载荷的位置的信号的控制器(未图示出)以及与该竖向增稳装置的变速平衡机构相连接的电机82。下面将结合图27和28进行详细描述。The vertical positioning device is shown in FIG. 28, which includes a position sensor (not shown) for measuring the vertical position of the load, and a controller (not shown) for receiving a signal of the position of the load from the position sensor ( (Not shown) and a motor 82 connected to the variable speed balance mechanism of the vertical stabilization device. The detailed description will be given below with reference to Figs. 27 and 28.
如图27所示，在第一齿条241的顶端固定连接有传感器支承件281C，该支承件281C大致呈平板状且以其一端借助于紧固件固定连接至该第一齿条241顶端。在该传感器支承件281C的上方平行地设置有用于安装位置传感器的呈板状的传感器安装座281A，在此，优选为惯性测量单元(IMU)的传感器固定地安放在该传感器安装座281A。优选地，为了使该传感器免受来自外界的机械高频震动的影响(该高频震动可被视为是传感器的“噪声”)而主要识别由于摄影师步伐走动所带来的低频上下起伏，在该传感器支承件281C和传感器安装座281A安装有用于阻尼来自外部的机械高频震动(例如来自于电机动作时产生的机械高频震动)的多个减震球281B，如图27所示，这些减震球281B以分设在板状的传感器支承件81C的四角的方式夹设在支承件281C和安装座281A之间。As shown in FIG. 27, a sensor support 281C is fixedly connected to the top end of the first rack 241. The support 281C is substantially flat and fixedly connected to the top end of the first rack 241 by a fastener at one end thereof. A plate-shaped sensor mounting seat 281A for mounting a position sensor is provided in parallel above the sensor support 281C. Here, a sensor of an inertial measurement unit (IMU) is preferably fixedly mounted on the sensor mounting seat 281A. Preferably, in order to protect the sensor from mechanical high-frequency vibration from the outside (the high-frequency vibration can be regarded as the "noise" of the sensor) and mainly identify the low-frequency ups and downs caused by the photographer's walking, The sensor support 281C and the sensor mounting seat 281A are equipped with a plurality of damping balls 281B for damping mechanical high-frequency vibrations from the outside (for example, mechanical high-frequency vibrations generated when a motor is operating), as shown in FIG. 27, These damping balls 281B are interposed between the support 281C and the mounting seat 281A so as to be separately provided at the four corners of the plate-shaped sensor support 81C.
进一步，在图27中还示出了操作连接至该变速平衡机构230的电机282，其中优选地该电机282配设有用于处理来自位置传感器的载荷的竖向位置的信号。在此，如图28所示，该电机282的输出端直接连接至变速平衡机构230的枢转轴231，从而允许电机282与载荷的竖向震动相关地直接旋转驱动该枢转轴231按需地转动。当然，电机282的安装位置在此不做限制，只要能使枢转轴231按需转动即可。比如，电机282可安装在轴承座234处，或者该电机282可以借助于减速齿轮间接地连接至该枢转轴231。Further, FIG. 27 also shows a motor 282 operatively connected to the variable speed balance mechanism 230, wherein the motor 282 is preferably equipped with a signal for processing the vertical position of the load from the position sensor. Here, as shown in FIG. 28, the output end of the motor 282 is directly connected to the pivot shaft 231 of the speed balance mechanism 230, thereby allowing the motor 282 to directly rotate and drive the pivot shaft 231 to rotate as needed in relation to the vertical vibration of the load. . Of course, the installation position of the motor 282 is not limited here, as long as the pivot shaft 231 can be rotated as required. For example, the motor 282 may be installed at the bearing seat 234, or the motor 282 may be indirectly connected to the pivot shaft 231 by means of a reduction gear.
在该竖向定位设备工作时，首先由设置在传感器安装座81A上的传感器来执行载荷的竖向位置的测量以获取载荷的实际竖向位置。进一步，作为优选的方式，可以位置控制器中设定或者存储有载荷的预设竖向位置并且在载荷发生竖向震动时，该位置控制器被设计成根据预设竖向位置和实际竖向位置来控制电机282发生枢转，从而经由该电机282的动作使载荷沿震动方向的反方向运动，从而将载荷定位在竖向上的确定位置，这样使得该载荷能够在竖向上具有基本不变的绝对位置。When the vertical positioning device is in operation, the sensor provided on the sensor mounting seat 81A first performs the measurement of the vertical position of the load to obtain the actual vertical position of the load. Further, as a preferred way, the preset vertical position of the load may be set or stored in the position controller, and when the load undergoes vertical vibration, the position controller is designed to be based on the preset vertical position and the actual vertical position. Position to control the motor 282 to pivot, so that the load is moved in the opposite direction of the vibration direction through the action of the motor 282, thereby positioning the load at a determined vertical position, so that the load can have a substantially constant vertical direction. Absolute position.
具体地，在载荷在竖向上发生震动时(例如由于摄影师的步伐所造成的 微小起伏)，该位置传感器获取到载荷的实际竖向位置后将实际竖向位置的信号传输到位置控制器中。在此，本发明实施方式的位置传感器用于实时(或周期性)获取载荷的实际竖向位置并将实际竖向位置传输到位置控制器中，该位置控制器内具有预设的竖向位置信息并且基于所接收的实际竖向位置的信号来判断实际竖向位置与预设竖向位置是否存在偏差(不同)。当实际的竖向位置高于预设的竖向位置时，即意味着载荷出现了快速的向上升高运动，此时位置控制器通过驱动电机282进行逆时针转动从而带动变速平衡机构230内的第一齿条241使载荷向下运动(即沿震动方向的反方向运动)，从而抵消了该载荷在竖直方向出现的抖动并将载荷定位在竖向上的确定位置。同样地，当实际的竖向位置低于预设的竖向位置时，即意味着载荷出现了快速的向下降落运动，此时位置控制器通过驱动电机282进行顺时针转动从而带动变速平衡机构230内的第一齿条241使载荷向上运动(即沿震动方向的反方向运动)，这同样能抵消了该载荷在竖直方向出现的抖动并将载荷定位在竖向上的确定位置。与被动增稳相比，以上利用位置传感器、位置控制器和电机的主动增稳的方式响应时间更短，能够进行精准位移补偿。对于微小的上下起伏改善效果也很明显。Specifically, when the load vibrates in the vertical direction (for example, slight fluctuations caused by the photographer's steps), the position sensor obtains the actual vertical position of the load and transmits the signal of the actual vertical position to the position controller . Here, the position sensor of the embodiment of the present invention is used to obtain the actual vertical position of the load in real time (or periodically) and transmit the actual vertical position to the position controller, which has a preset vertical position. Information and based on the received signal of the actual vertical position to determine whether there is a deviation (different) between the actual vertical position and the preset vertical position. When the actual vertical position is higher than the preset vertical position, it means that the load has a rapid upward movement. At this time, the position controller rotates counterclockwise through the drive motor 282 to drive the speed balance mechanism 230 The first rack 241 moves the load downward (that is, moves in the opposite direction of the vibration direction), thereby canceling the vibration of the load in the vertical direction and positioning the load at a certain position in the vertical direction. Similarly, when the actual vertical position is lower than the preset vertical position, it means that the load has a rapid downward movement. At this time, the position controller rotates clockwise through the drive motor 282 to drive the variable speed balance mechanism The first rack 241 in 230 moves the load upward (that is, moves in the opposite direction of the vibration direction), which can also offset the vibration of the load in the vertical direction and position the load at a certain vertical position. Compared with passive stabilization, the above methods of active stabilization using position sensors, position controllers and motors have a shorter response time and can perform precise displacement compensation. The improvement effect is also obvious for small ups and downs.
进一步，尽管在图1-28中示出了在纵向和横向上增稳的、用于搭载负载设备的增稳式手持机架，但同样还增稳式手持机架可以是在纵向或横向上进行增稳的，例如在图31中示出了带有根据本发明的优选实施方式的纵向增稳式手持机架的手持摄影器材，其中该手持摄影器材能够允许在用户进行大幅度运动期间仍能提供可靠的增稳效果。在此，作为一种示例，该纵向手持摄影器材包括在图29至30中示出的纵向增稳式手持机架10和由该纵向增稳式手持机架10所搭载的作为负载设备的、在图3至15或者图27至28中示出的各种竖向增稳装置20。在此相同名称的部件以上文中相同的附图标记予以标示。Further, although Figure 1-28 shows a stabilized handheld rack for carrying load equipment that is stabilized in the longitudinal and transverse directions, the same stabilized handheld rack can be in the longitudinal or transverse direction. For stabilization, for example, a handheld photographic equipment with a longitudinally stabilized handheld frame according to a preferred embodiment of the present invention is shown in FIG. 31, wherein the handheld photographic equipment can allow the user to perform a large exercise period Can provide reliable stabilization effect. Here, as an example, the longitudinal handheld photographic equipment includes the longitudinally stabilized handheld frame 10 shown in FIGS. 29 to 30 and the load equipment carried by the longitudinally stabilized handheld frame 10, Various vertical stabilizing devices 20 are shown in FIGS. 3 to 15 or 27 to 28. Here, components with the same name are denoted by the same reference numerals in the above text.
在下文中首先结合附图29至30对该纵向增稳式手持机架10的结构进行非限定性的描述。In the following, the structure of the longitudinally stabilized handheld frame 10 will be described in a non-limiting manner with reference to FIGS. 29 to 30.
具体来说，如图29和30所示，其中第一管体部11和第二管体部12在其上下两侧分别设有用于相互配合连接的连接端(在此仅标示出位于上侧的第一连接端151和第二连接端152)，在此示出的第一连接端151和第二连接端152例如优选为可以借助于夹紧扳手被夹紧或松开的松紧套筒。Specifically, as shown in Figures 29 and 30, the first tube body portion 11 and the second tube body portion 12 are respectively provided on the upper and lower sides of the upper and lower sides with connecting ends for mating connection (only shown here on the upper side) The first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
如图30所示，第一连接端151和第二连接端152沿横向轴线T被对齐， 并在两者之间设置有纵向增稳电机13和连杆14，在此该纵向增稳电机包括连接至第一管体部11的电机壳体131和能相对于电机壳体131绕该横向轴线T枢转的电机转子132。在这里，优选地该电机壳体131的一端借助于例如为螺钉的紧固件173固定连接至在此优选为中空杆的第一连接杆171，接下来将固定连接有电机壳体131的第一连接杆171插设入第一管体部11的第一连接端151内，由于该第一连接端151是可被夹紧或松开的松紧套筒，这允许可相对于该第一连接端151移入或者移出该第一连接杆171，同时保证与该第一连接杆171相连接的电机壳体131始终保持与横向轴线T是同轴的。As shown in FIG. 30, the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a longitudinal stabilization motor 13 and a connecting rod 14 are arranged between the two, where the longitudinal stabilization motor includes The motor housing 131 connected to the first pipe body 11 and the motor rotor 132 that can pivot about the transverse axis T relative to the motor housing 131. Here, preferably one end of the motor housing 131 is fixedly connected to the first connecting rod 171, which is preferably a hollow rod, by means of a fastener 173 such as a screw, and then the motor housing 131 is fixedly connected. The first connecting rod 171 is inserted into the first connecting end 151 of the first tube body 11. Since the first connecting end 151 is a tight sleeve that can be clamped or loosened, this allows the A connecting end 151 moves in or out of the first connecting rod 171, while ensuring that the motor housing 131 connected to the first connecting rod 171 is always kept coaxial with the transverse axis T.
如图30所示，该连杆14包括位于中部的能限定出纵向轴线L(在此该纵向轴线L与横向轴线T彼此是正交的)的安装座141，其中如下文所述该安装座141是用于安装将由该纵向增稳式手持机架10所搭载的负载设备。在该安装座141的两侧分别优选一体延伸出一对连接臂142和143以使得该连杆14优选大致呈U形，其中第一连接臂142连接至纵向增稳电机13的电机转子132从而在其带动下允许连杆14绕横向轴线T枢转。同时第二连接臂143在其端部带有与横向轴线T对齐的通孔16，该通孔16中能容置有轴承161和插设入该轴承161的芯轴162，其中该芯轴162可以固定连接至可拆卸地插设入第二管体部12的第二连接端152的第二连接杆172。借此，实现了将第一管体部11和第二管体部12的上侧的相互连接。优选地，该纵向增稳式手持机架10可以借助于用于连接第一管体部11和第二管体部12的中空管18从而形成为环形管体结构，在此中空管18、第一管体部11和第二管体部12均能优选采用30毫米直径的碳纤维管，碳纤维管的壁厚优选为1.5毫米，从而允许该纵向增稳式手持机架10具有足够的强度，且具有较轻的重量。当然，该第一管体部11和第二管体部12也可以设计为其它横截面形状，只要能允许用户方便握持。纵向增稳式手持机架10的环形部分的上侧还能够方便安装控制摇杆、监视器、图传设备等配件。As shown in FIG. 30, the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat is described below 141 is used to install load equipment to be carried by the longitudinally stabilized handheld frame 10. A pair of connecting arms 142 and 143 are preferably integrally extended on both sides of the mounting seat 141 so that the connecting rod 14 is preferably substantially U-shaped, wherein the first connecting arm 142 is connected to the motor rotor 132 of the longitudinal stabilization motor 13 so as to Under its drive, the connecting rod 14 is allowed to pivot about the transverse axis T. At the same time, the second connecting arm 143 has a through hole 16 aligned with the transverse axis T at its end. The through hole 16 can accommodate a bearing 161 and a mandrel 162 inserted into the bearing 161, wherein the mandrel 162 It can be fixedly connected to the second connecting rod 172 detachably inserted into the second connecting end 152 of the second tube portion 12. Thereby, the upper sides of the first pipe body portion 11 and the second pipe body portion 12 are connected to each other. Preferably, the longitudinally stabilized hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 , Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, so as to allow the longitudinally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight. Of course, the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them. The upper side of the annular part of the longitudinally stabilized handheld frame 10 can also be easily installed with accessories such as control rockers, monitors, and image transmission equipment.
需要指出的是，尽管在此图29和30中示出了纵向增稳电机13设置在图示出的手持机架10的上侧(这种布置方式便于用户以正向的方式操作该手持机架，此时负载设备设置在手持机架10的内部区域中),但实际上也可以将纵向增稳电机13设置在手持机架10的下侧，这种布置方式便于用于以倒置的方式操作该手持机架，此时负载设备以设置在手持机架10的内部区域外从而允许用户能够完成更大拍摄视角的场景拍摄且允许用户轻松地拍 摄正上方的场景。更进一步，尽管在图29和30中示出了手持机架10被构造为封闭的，但这并不是必须的，该第一管体部11和第二管体部12也可以并不完全封闭，这样允许负载设备能够更加自由地在空间内动作，而不会与第一管体部11和第二管体部12发生不期望的干涉或碰撞。It should be pointed out that although the longitudinal stabilization motor 13 is shown in Figs. 29 and 30 to be arranged on the upper side of the hand-held frame 10 shown in the figure (this arrangement is convenient for the user to operate the hand-held machine in a positive manner). In this case, the load equipment is set in the inner area of the hand-held frame 10), but in fact, the longitudinal stabilization motor 13 can also be arranged on the lower side of the hand-held frame 10. This arrangement is convenient for inverted When the handheld rack is operated, the load device is set outside the inner area of the handheld rack 10 so as to allow the user to complete the scene shooting with a larger shooting angle of view and allow the user to easily shoot the scene directly above. Furthermore, although it is shown in FIGS. 29 and 30 that the handheld frame 10 is configured to be closed, this is not necessary, and the first tube body portion 11 and the second tube body portion 12 may not be completely closed. This allows the load device to move more freely in the space without undesired interference or collision with the first tube body portion 11 and the second tube body portion 12.
如图30所示，该第一管体部11和第二管体部12的中段设有防滑套以使其能够作为手持区域供用户握持。当用户进行手持拍摄时，双手握持住纵向增稳式手持机架10的两侧，此时可以将负载设备安装在连杆14的安装座141处。优选地，为了便于下文所述由纵向增稳电机13实现对负载设备的纵向增稳，期望将该负载设备安装成使横向轴线T经过负载设备和连杆的整体重心，这样使得纵向增稳电机13在动作时不会由于该整体重心偏离该纵向增稳电机13的枢转轴线而造成对纵向增稳电机13不期望的阻力矩。As shown in FIG. 30, the middle sections of the first tube body portion 11 and the second tube body portion 12 are provided with non-slip sleeves so that they can be used as hand-held areas for the user to hold. When the user performs handheld shooting, the two hands hold both sides of the longitudinally stabilized handheld frame 10, and the load device can be installed at the mounting seat 141 of the connecting rod 14 at this time. Preferably, in order to facilitate the longitudinal stabilization of the load device by the longitudinal stabilization motor 13 described below, it is desirable to install the load device so that the transverse axis T passes through the overall center of gravity of the load device and the connecting rod, so that the longitudinal stabilization motor During operation, the overall center of gravity deviates from the pivot axis of the longitudinal stabilization motor 13 to cause undesirable resistance torque to the longitudinal stabilization motor 13.
为了实现对连接至安装座的负载设备进行精确地纵向增稳，在该电机转子132或者连杆14上设置有角度传感器以获取该电机转子132或连杆14的旋转角度信息。具体地，该传感器可以是设置在该电机转子132上的磁编码器，从而获得该电机转子132相对于电机定子131的实时旋转角度信息。在此，该电机转子132的旋转角度信息可以包括电机转子132在俯仰方向(即相对于横向轴线T的旋转角度)的角速度及角加速度信息。例如集成在电机13中或者安装在纵向增稳式手持机架10的环形部分上的控制摇杆中的处理器用于至少基于来自该传感器的旋转角度信息来控制该纵向增稳电机13运动以允许连杆14绕横向轴线T枢转，从而实现对连接至安装座141的负载设备进行纵向增稳。In order to achieve accurate longitudinal stabilization of the load equipment connected to the mounting base, an angle sensor is provided on the motor rotor 132 or the connecting rod 14 to obtain the rotation angle information of the motor rotor 132 or the connecting rod 14. Specifically, the sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain real-time rotation angle information of the motor rotor 132 relative to the motor stator 131. Here, the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T). For example, a processor integrated in the motor 13 or a control rocker installed on the annular portion of the longitudinal stabilization handheld frame 10 is used to control the longitudinal stabilization motor 13 to move based on at least the rotation angle information from the sensor to allow The connecting rod 14 pivots about the transverse axis T, thereby realizing longitudinal stabilization of the load equipment connected to the mounting base 141.
如图31所示，在用户双手握持该手持摄影器材拍摄期间，期望实现竖向增稳装置20始终处于竖直状态以确保对三轴稳定器的良好竖向增稳效果，此时三轴稳定器90所承载的拍摄装置的镜头能始终保持成与纵向轴线L平行。若用户在双手握持该手持摄影器材进行低视角的俯拍时，会由于用户的手部动作使该纵向增稳机架10摆动到图31中虚线所示的10B位置。在此情形下，借助于电机转子的角度传感器或竖向增稳装置20的姿态传感器来获取当前竖向增稳装置20的相对于竖直的夹角。随后将信息经由有线或无线的方式发送给控制器。在这里，控制器会基于例如电机转子的旋转角度信息和/或竖向增稳装置20的姿态信息控制所述纵向增稳电机运动以将竖向增稳装置20保持在竖直状态。当然，本领域技术人员还能理解得到，优选为IMU的姿态传感器也可以作为纵向增稳机架的选装件来附加地提 供。As shown in FIG. 31, during the shooting period when the user holds the handheld photographic equipment with both hands, it is desirable to realize that the vertical stabilization device 20 is always in a vertical state to ensure a good vertical stabilization effect on the three-axis stabilizer. At this time, the three-axis stabilizer The lens of the photographing device carried by the stabilizer 90 can always be kept parallel to the longitudinal axis L. If the user holds the handheld photographic equipment with both hands and performs a low-view overhead shot, the longitudinal stabilization frame 10 will swing to the position 10B shown by the dashed line in FIG. 31 due to the user's hand motion. In this case, the angle sensor of the motor rotor or the attitude sensor of the vertical stabilization device 20 is used to obtain the current included angle of the vertical stabilization device 20 relative to the vertical. The information is then sent to the controller via wired or wireless means. Here, the controller controls the movement of the longitudinal stabilization motor based on, for example, the rotation angle information of the motor rotor and/or the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical state. Of course, those skilled in the art can also understand that the attitude sensor, preferably an IMU, can also be additionally provided as an option for the longitudinal stabilization frame.
具体地，在控制器内可以预设有预设姿态信息，例如，预设姿态信息为纵向增稳机架10处于竖直状态使得竖向增稳装置20处于竖直姿态的姿态信息。此时，控制器即可根据竖向增稳装置20的姿态信息和预设姿态信息生成控制指令，例如，当竖向增稳装置20的姿态信息为其相对于竖直处于俯仰角-10°而预设姿态信息为0°时(由电机转子的旋转角度信息和/或竖向增稳装置20的姿态信息可得出)，控制器可以生成相应的控制指令，使得控制器控制纵向增稳电机13旋转+10°，使得纵向增稳电机驱动竖向增稳装置20旋转到0°的姿态。优选地，由于在电机转子上设置有角度传感器来获取纵向增稳电机动作后的姿态信息，这还可允许控制器基于姿态传感器的姿态信息和角度传感器的旋转角度信息闭环控制所述纵向增稳电机13运动以将竖向增稳装置20保持在竖直状态，从而拍摄得到预设想要的效果。可以理解的是，这里的预设姿态信息可以由用户自行设置，并不限于使得竖向增稳装置20处于竖直姿态。Specifically, preset posture information may be preset in the controller. For example, the preset posture information is posture information indicating that the longitudinal stabilization frame 10 is in a vertical state and the vertical stabilization device 20 is in a vertical posture. At this time, the controller can generate control instructions according to the attitude information of the vertical stabilization device 20 and the preset attitude information. For example, when the attitude information of the vertical stabilization device 20 is at a pitch angle of -10° relative to the vertical When the preset attitude information is 0° (which can be obtained from the rotation angle information of the motor rotor and/or the attitude information of the vertical stabilization device 20), the controller can generate corresponding control instructions so that the controller can control the longitudinal stabilization The motor 13 rotates by +10°, so that the longitudinal stabilization motor drives the vertical stabilization device 20 to rotate to a posture of 0°. Preferably, since an angle sensor is provided on the motor rotor to obtain the posture information of the longitudinal stabilization motor after action, this can also allow the controller to close-loop control of the longitudinal stabilization based on the posture information of the posture sensor and the rotation angle information of the angle sensor. The motor 13 moves to maintain the vertical stabilization device 20 in a vertical state, so that the desired effect can be obtained by shooting. It is understandable that the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
类似地，若用户在双手握持该手持摄影器材进行高视角的仰拍时，会由于用户的手部动作使该纵向增稳机架10摆动到图31中虚线所示的10A位置，此时同样可以借助于以上控制器的闭环控制来将竖向增稳装置20保持在竖直状态，从而拍摄得到预设想要的效果。由于其控制方式与上文基本相同，在此不再赘述。Similarly, if the user is holding the handheld photographic equipment with both hands to perform a high-view angle shot, the longitudinal stabilization frame 10 will swing to the position 10A shown by the dashed line in FIG. 31 due to the user's hand movement. It is also possible to maintain the vertical stabilization device 20 in a vertical state by means of the closed-loop control of the above controller, so as to obtain a preset desired effect when shooting. Since its control method is basically the same as the above, it will not be repeated here.
尤其是，由于使用上述方式来对竖向增稳装置20进行纵向增稳，还可以确保控制的实时性，还可以进一步丰富上述手持摄影器材的功能和玩法。具体来说，即用户握持该手持摄影器材沿纵向进行变速运动时，In particular, since the above method is used to longitudinally stabilize the vertical stabilizer 20, the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched. Specifically, when the user holds the hand-held photographic equipment for variable-speed movement in the longitudinal direction,
当机架处于竖直方向，若用户在纵向方向出现急加速或急减速运动时，则机架所搭载的竖向增稳装置20会由于自身惯性的作用相对于机架出现不期望的晃动。在采用根据本发明的纵向增稳式手持机架10后，利用例如为IMU的姿态传感器实时获取竖向增稳装置20的姿态信息。在此，在纵向急加速时，该负载设备例如会摆动到图31中虚线所示的10B位置，而在纵向急减速时，该负载设备例如会摆动到图31中虚线所示的10A位置。在任一情形下，控制器即可根据竖向增稳装置20的实时姿态信息和预设姿态信息生成控制指令，使得纵向增稳电机驱动竖向增稳装置20旋转到0°的姿态，从而拍摄得到预设想要的效果。When the rack is in the vertical direction, if the user accelerates or decelerates rapidly in the longitudinal direction, the vertical stabilization device 20 carried by the rack will shake undesirably relative to the rack due to its own inertia. After adopting the longitudinal stabilization handheld frame 10 according to the present invention, the posture information of the vertical stabilization device 20 is obtained in real time by using a posture sensor such as an IMU. Here, during rapid longitudinal acceleration, the load device will swing to the position 10B shown by the dashed line in FIG. 31, and during rapid longitudinal deceleration, the load device will swing to the position 10A shown by the dashed line in FIG. 31, for example. In any case, the controller can generate a control command according to the real-time posture information and preset posture information of the vertical stabilization device 20, so that the vertical stabilization motor drives the vertical stabilization device 20 to rotate to a 0° posture, thereby shooting Get the desired effect by default.
进一步，作为一种示例，该纵向手持摄影器材包括在图32至33中示出 的横向增稳式手持机架10和由该横向增稳式手持机架10所搭载的作为负载设备的、在图3至15或27至28中示出的各种竖向增稳装置20。在此相同名称的部件以上文中相同的附图标记予以标示。Further, as an example, the longitudinal handheld photographic equipment includes the laterally stabilized handheld frame 10 shown in FIGS. 32 to 33 and the load device mounted by the laterally stabilized handheld frame 10 as a load device. Various vertical stabilization devices 20 are shown in FIGS. 3 to 15 or 27 to 28. Here, components with the same name are denoted by the same reference numerals in the above text.
在下文中首先结合附图32-33对该横向增稳式手持机架10的结构进行非限定性的描述。In the following, the structure of the laterally stabilizing handheld frame 10 will be described in a non-limiting manner with reference to FIGS. 32-33.
请一并参阅图32至图33，其中示出了作为本申请的示例性优选实施方式的、用于搭载负载设备的横向增稳式手持机架10。在该实施方式中，负载设备具体可以是在图3中示出的竖向增稳装置20。可以理解的是，负载设备也可以是其他可以安装于该横向增稳式手持机架10的设备，如其他二轴稳定器或不具有增稳功能的摄像支架(例如电动摇臂)等。Please refer to FIGS. 32 to 33 together, which show a laterally stabilizing handheld frame 10 for carrying load equipment as an exemplary preferred embodiment of the present application. In this embodiment, the load device may specifically be the vertical stabilization device 20 shown in FIG. 3. It is understandable that the load device can also be other devices that can be installed in the laterally stabilized handheld frame 10, such as other two-axis stabilizers or camera brackets (such as electric rockers) that do not have a stabilization function.
具体来说，如图32和33所示，其中第一管体部11和第二管体部12在其上下两侧分别设有用于相互配合连接的连接端(在此仅标示出位于上侧的第一连接端151和第二连接端152)，在此示出的第一连接端151和第二连接端152例如优选为可以借助于夹紧扳手被夹紧或松开的松紧套筒。Specifically, as shown in Figures 32 and 33, the first tube body portion 11 and the second tube body portion 12 are respectively provided with connecting ends for mating connection on the upper and lower sides (only shown here on the upper side) The first connection end 151 and the second connection end 152), the first connection end 151 and the second connection end 152 shown here are, for example, preferably elastic sleeves that can be clamped or loosened by means of a clamping wrench.
如图33所示，第一连接端151和第二连接端152沿横向轴线T被对齐，并在两者之间设置有横向增稳电机13和优选为U形的连杆14。具体来说，该连杆14包括位于中部的能限定有纵向轴线L(在此该纵向轴线L与横向轴线T彼此是正交的)的安装座141，其中该安装座141是用于安装横向增稳电机13。在该安装座141的两侧分别延伸出一对连接臂142和143以使得大致呈U形。在此，第一连接臂142和第二连接臂分别借助于优选为中空杆的第一连接杆171和第二连接杆172固定连接至第一管体部11的第一连接端151和第二管体部12的第二连接端152。其中，该第一连接杆171和第二连接杆172分别插设入第一管体部11的第一连接端151和第二管体部12的第二连接端152。由于该第一连接端151是可被夹紧或松开的松紧套筒，这允许可相对于该第一连接端151和第二连接端152独立地移入或者移出该第一连接杆171和第二连接杆172，同时保证与该第一连接杆171和第二连接杆172相连接的U形连杆14始终保持与横向轴线T是同轴的。进一步，这样的设计还同时实现了将第一管体部11和第二管体部12的上侧的相互连接。As shown in FIG. 33, the first connecting end 151 and the second connecting end 152 are aligned along the transverse axis T, and a transverse stabilizing motor 13 and a preferably U-shaped connecting rod 14 are arranged between them. Specifically, the connecting rod 14 includes a mounting seat 141 in the middle that can define a longitudinal axis L (here the longitudinal axis L and the transverse axis T are orthogonal to each other), wherein the mounting seat 141 is used for mounting the transverse axis. Stabilization motor 13. A pair of connecting arms 142 and 143 are respectively extended on both sides of the mounting seat 141 so as to be substantially U-shaped. Here, the first connecting arm 142 and the second connecting arm are respectively fixedly connected to the first connecting end 151 and the second connecting end 151 and the second connecting end 151 of the first pipe body 11 by means of a first connecting rod 171 and a second connecting rod 172, which are preferably hollow rods. The second connecting end 152 of the tube portion 12. Wherein, the first connecting rod 171 and the second connecting rod 172 are respectively inserted into the first connecting end 151 of the first pipe body portion 11 and the second connecting end 152 of the second pipe body portion 12. Since the first connecting end 151 is a tightening sleeve that can be clamped or loosened, this allows the first connecting rod 171 and the first connecting rod 171 and the first connecting rod 171 and the The two connecting rods 172 ensure that the U-shaped connecting rod 14 connected to the first connecting rod 171 and the second connecting rod 172 is always kept coaxial with the transverse axis T. Furthermore, this design also realizes the interconnection of the upper sides of the first pipe body portion 11 and the second pipe body portion 12 at the same time.
进一步，横向增稳电机13包括连接至安装座141的电机壳体131和能相对于电机壳体131绕该纵向轴线L枢转的电机转子132。在这里，优选地该电机壳体131的一端借助于焊接或者紧固件等方式固定连接至连杆14的安装座141。同时，在此用于安放下文所述的例如为竖向增稳装置20的连接 座15(在此例如为连接板)可借助于多个紧固件15A固定连接至电机转子132，从而在电机转子132的带动下，允许固定连接至连接座15的负载设备绕纵向轴线L发生枢转从而如下文所详细描述的那样实现对负载设备的横向增稳。Further, the lateral stabilization motor 13 includes a motor housing 131 connected to the mounting base 141 and a motor rotor 132 capable of pivoting about the longitudinal axis L relative to the motor housing 131. Here, preferably one end of the motor housing 131 is fixedly connected to the mounting seat 141 of the connecting rod 14 by means of welding or fasteners. At the same time, the connecting seat 15 (here, for example, the connecting plate) used to place the vertical stabilizing device 20 described below can be fixedly connected to the motor rotor 132 by means of a plurality of fasteners 15A, so that the motor Driven by the rotor 132, the load device fixedly connected to the connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load device as described in detail below.
更进一步，该横向增稳式手持机架10可以借助于用于连接第一管体部11和第二管体部12的中空管18从而形成为环形管体结构，在此中空管18、第一管体部11和第二管体部12均能优选采用30毫米直径的碳纤维管，碳纤维管的壁厚优选为1.5毫米，从而允许该横向增稳式手持机架10具有足够的强度，且具有较轻的重量。当然，该第一管体部11和第二管体部12也可以设计为其它横截面形状，只要能允许用户方便握持。横向增稳式手持机架10的环形部分的上侧还能够方便安装控制摇杆、监视器、图传设备等配件。Furthermore, the laterally stabilizing hand-held frame 10 can be formed into an annular tube structure by means of a hollow tube 18 for connecting the first tube body portion 11 and the second tube body portion 12, where the hollow tube 18 , Both the first tube body 11 and the second tube body 12 can preferably adopt a carbon fiber tube with a diameter of 30 mm, and the wall thickness of the carbon fiber tube is preferably 1.5 mm, thereby allowing the laterally stabilized handheld frame 10 to have sufficient strength , And has a lighter weight. Of course, the first tube body portion 11 and the second tube body portion 12 can also be designed in other cross-sectional shapes, as long as the user can easily hold them. The upper side of the annular part of the laterally stabilizing handheld frame 10 can also facilitate the installation of accessories such as control rockers, monitors, and image transmission equipment.
为了实现对连接至连接座15的负载设备进行精确地横向增稳，在该电机转子132设置有角度传感器以获取该电机转子132的旋转角度信息。具体地，该角度传感器可以是设置在该电机转子132上的磁编码器，从而获得该电机转子132相对于电机定子131的实时旋转角度。在此，该电机转子132的旋转角度信息可以包括电机转子132在俯仰方向(即相对于横向轴线T的旋转角度)的角速度及角加速度信息。例如集成在电机13中或者安装在横向增稳式手持机架10的环形部分上的控制摇杆中的控制器至少基于来自角度该传感器的旋转角度信息来闭环控制该横向增稳电机13运动以允许连接座15绕纵向轴线L枢转，从而实现对连接至连接座15的负载设备进行横向增稳。In order to achieve accurate lateral stabilization of the load equipment connected to the connecting base 15, an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the motor rotor 132. Specifically, the angle sensor may be a magnetic encoder arranged on the motor rotor 132 to obtain the real-time rotation angle of the motor rotor 132 relative to the motor stator 131. Here, the rotation angle information of the motor rotor 132 may include the angular velocity and angular acceleration information of the motor rotor 132 in the pitch direction (that is, the rotation angle relative to the transverse axis T). For example, a controller integrated in the motor 13 or installed in the control rocker on the annular part of the laterally stabilized handheld frame 10 controls the motion of the laterally stabilized motor 13 in a closed loop at least based on the rotation angle information from the angle sensor. The connecting seat 15 is allowed to pivot about the longitudinal axis L, so as to realize the lateral stabilization of the load equipment connected to the connecting seat 15.
接下来结合图34和35来描述本发明的横向增稳式手持机架10和手持摄影器材的操作方法。Next, in conjunction with FIGS. 34 and 35, the operation method of the laterally stabilized handheld frame 10 and the handheld photographic equipment of the present invention will be described.
首先，将作为负载设备的竖向增稳装置20安装在横向增稳式手持机架10的连接座15上。如图34所示，纵向轴线L经过竖向增稳装置20和连杆14的整体重心。随后，将三轴稳定器90的航向轴电机90借助于例如与1/4螺纹孔的螺纹连接以吊装的方式固定连接至竖向增稳装置20的支承机构40，由此借助于竖向增稳装置20将三轴稳定器90以“悬浮”的方式设置在横向增稳式手持机架10的内部空间中(参见图34)。优选地，为了实现竖向方向上的重心调平，可以借助于在竖向增稳装置20远离该载荷的另一侧增设平衡重的方式来实现。First, the vertical stabilization device 20 as a load device is installed on the connecting seat 15 of the lateral stabilization handheld frame 10. As shown in FIG. 34, the longitudinal axis L passes through the overall center of gravity of the vertical stabilization device 20 and the connecting rod 14. Subsequently, the yaw axis motor 90 of the three-axis stabilizer 90 is fixedly connected to the support mechanism 40 of the vertical stabilization device 20 by means of a threaded connection with a 1/4 threaded hole in a hoisting manner, thereby by means of the vertical increase The stabilizing device 20 arranges the three-axis stabilizer 90 in the internal space of the laterally stabilized handheld frame 10 in a "suspended" manner (see FIG. 34). Preferably, in order to achieve the leveling of the center of gravity in the vertical direction, it can be achieved by adding a counterweight on the other side of the vertical stabilization device 20 away from the load.
如图34所示，在用户双手握持该手持摄影器材进行侧面拍摄期间，期 望实现竖向增稳装置20始终处于竖直姿态以确保对三轴稳定器的良好竖向增稳效果，此时三轴稳定器90所承载的拍摄装置的镜头能始终保持成与横向轴线T平行。若用户在进行侧面拍摄期间在双手握持该手持摄影器材进行低视角的俯拍时，会由于用户的手部动作使该横向增稳机架10摆动到图34中虚线所示的10B代表的处于左倾姿态的位置，此时若该横向增稳机架10不具备横向增稳功能，显然该竖向增稳装置随之一并会偏离竖直姿态且该拍摄装置的镜头将会一并地向左倾斜，造成拍摄装置的镜头无法保持成与横向轴线T平行的横向水平状态而出现向左晃动从而无法保证拍摄效果。As shown in FIG. 34, when the user holds the handheld photographic equipment with both hands for side-shooting, it is desirable to realize that the vertical stabilization device 20 is always in a vertical posture to ensure a good vertical stabilization effect on the three-axis stabilizer. The lens of the photographing device carried by the three-axis stabilizer 90 can always be kept parallel to the transverse axis T. If the user holds the handheld photographic equipment with both hands to perform low-view overhead shooting during side shooting, the lateral stabilization frame 10 will swing to the point represented by 10B shown by the dashed line in FIG. 34 due to the user's hand motion. In the left-leaning position, if the lateral stabilization frame 10 does not have the lateral stabilization function at this time, it is obvious that the vertical stabilization device will deviate from the vertical posture along with one of the stabilization devices, and the camera lens of the shooting device will be integrated. Tilting to the left causes the lens of the shooting device to be unable to maintain a horizontal horizontal state parallel to the horizontal axis T, and shakes to the left, so that the shooting effect cannot be guaranteed.
在此情形下，借助于设置于电机转子的角度传感器或竖向增稳装置20的IMU作为姿态传感器来获取当前竖向增稳装置20的姿态信息，比如此时竖向增稳装置20相对于竖直向左倾斜的夹角。随后该姿态信息经由有线或无线的方式发送给控制器。在这里，控制器会基于例如电机转子的旋转角度信息和竖向增稳装置20的姿态信息闭环控制所述横向增稳电机运动以将竖向增稳装置20保持在竖直姿态。当然，本领域技术人员还能理解得到，优选为IMU的姿态传感器也可以作为横向增稳机架的选装件来附加地提供。In this case, the angle sensor provided on the motor rotor or the IMU of the vertical stabilization device 20 is used as the posture sensor to obtain the posture information of the current vertical stabilization device 20. For example, at this time, the vertical stabilization device 20 is relative to The angle tilted vertically to the left. The posture information is then sent to the controller via wired or wireless means. Here, the controller will close-loop control the movement of the lateral stabilization motor based on, for example, the rotation angle information of the motor rotor and the posture information of the vertical stabilization device 20 to maintain the vertical stabilization device 20 in a vertical posture. Of course, those skilled in the art can also understand that the attitude sensor, preferably an IMU, can also be additionally provided as an option for the lateral stabilization rack.
具体地，在控制器内可以预设有预设姿态信息，例如，预设姿态信息为横向增稳机架10处于竖直姿态使得竖向增稳装置20处于竖直姿态的姿态信息。此时，控制器即可根据竖向增稳装置20的姿态信息和预设姿态信息生成控制指令，例如，当竖向增稳装置20的姿态信息为其相对于竖直处于向左倾斜(横滚)角-10°而预设姿态信息为0°时，处理器14可以生成相应的控制指令，使得控制器控制横向增稳电机13旋转+10°，使得横向增稳电机驱动竖向增稳装置20旋转回到0°的姿态。优选地，由于在电机转子132上设置有角度传感器用来获取横向增稳电机13动作后的旋转角度信息，这允许控制器基于所述角度传感器的旋转角度信息和姿态传感器的姿态信息闭环控制所述横向增稳电机13运动以将竖向增稳装置20保持在竖直姿态，从而拍摄得到预设想要的效果。可以理解的是，这里的预设姿态信息可以由用户自行设置，并不限于使得竖向增稳装置20处于竖直姿态。Specifically, preset posture information may be preset in the controller. For example, the preset posture information is posture information indicating that the lateral stabilization frame 10 is in a vertical posture and the vertical stabilization device 20 is in a vertical posture. At this time, the controller can generate a control command according to the posture information of the vertical stabilization device 20 and the preset posture information. For example, when the posture information of the vertical stabilization device 20 is tilted to the left (horizontal When the roll angle is -10° and the preset attitude information is 0°, the processor 14 can generate a corresponding control command, so that the controller controls the lateral stabilization motor 13 to rotate +10°, so that the lateral stabilization motor drives the vertical stabilization The device 20 rotates back to the 0° attitude. Preferably, since an angle sensor is provided on the motor rotor 132 to obtain the rotation angle information of the lateral stabilization motor 13 after the action, this allows the controller to close the loop control station based on the rotation angle information of the angle sensor and the attitude information of the attitude sensor. The lateral stabilization motor 13 moves to maintain the vertical stabilization device 20 in a vertical posture, so as to obtain a preset desired effect when shooting. It is understandable that the preset posture information here can be set by the user, and is not limited to making the vertical stabilization device 20 in a vertical posture.
类似地，若用户在双手握持该手持摄影器材进行高视角的仰拍时，会由于用户的手部动作使该横向增稳机架10摆动到图34中虚线所示的10A代表的处于右倾姿态的位置，此时同样可以借助于以上控制器的闭环控制来 将竖向增稳装置20保持在竖直姿态，从而拍摄得到预设想要的效果。由于其控制方式与上文基本相同，在此不再赘述。Similarly, if the user holds the handheld photographic equipment with both hands and performs a high-view angle shot, the lateral stabilization frame 10 will swing to the right as indicated by the dotted line 10A in FIG. 34 due to the user's hand motion. The position of the posture, at this time, the closed-loop control of the above controller can also be used to maintain the vertical stabilization device 20 in the vertical posture, so that the preset desired effect can be obtained by shooting. Since its control method is basically the same as the above, it will not be repeated here.
尤其是，由于使用上述方式来对竖向增稳装置20进行横向增稳，还可以确保控制的实时性，还可以进一步丰富上述手持摄影器材的功能和玩法。具体来说，即用户握持该手持摄影器材进行侧面拍摄时沿横向进行变速运动时，In particular, since the above method is used to stabilize the vertical stabilization device 20 laterally, the real-time control can also be ensured, and the functions and play methods of the aforementioned handheld photographic equipment can be further enriched. Specifically, when the user is holding the hand-held photographic equipment for side-shooting and performing a variable speed movement in the lateral direction,
当机架处于竖直方向，若用户在进行侧面拍摄期间沿横向方向出现急加速或急减速运动时，则机架所搭载的竖向增稳装置20会由于自身惯性的作用相对于机架出现不期望的晃动。在采用根据本发明的横向增稳式手持机架10后，利用例如为IMU的姿态传感器实时获取作为负载设备的竖向增稳装置20的姿态信息。在此，在横向急加速时，该负载设备例如会摆动到图34中虚线所示的10B位置，而在横向急减速时，该负载设备例如会摆动到图34中虚线所示的10A位置。在任一情形下，控制器即可根据负载设备的实时姿态信息和预设姿态信息生成控制指令，使得横向增稳电机驱动竖向增稳装置30旋转到0°的姿态。优选地，由于在电机转子或连杆上的设置有角度传感器用来获取横向增稳电机动作后的姿态信息，这允许控制器基于所述角度传感器的姿态信息和姿态传感器的姿态信息闭环控制所述横向增稳电机运动以将所述负载设备保持在竖直姿态，从而拍摄得到预设想要的效果。When the rack is in the vertical direction, if the user experiences rapid acceleration or rapid deceleration in the lateral direction during side shooting, the vertical stabilization device 20 mounted on the rack will appear relative to the rack due to its own inertia. Unexpected shaking. After adopting the lateral stabilization hand-held frame 10 according to the present invention, the posture information of the vertical stabilization device 20 as the load device is obtained in real time by using the posture sensor such as an IMU. Here, during rapid lateral acceleration, the load device will swing to the 10B position shown by the dashed line in FIG. 34, and during rapid lateral deceleration, the load device will swing to the 10A position shown by the dashed line in FIG. 34, for example. In any case, the controller can generate a control command according to the real-time posture information and preset posture information of the load equipment, so that the lateral stabilization motor drives the vertical stabilization device 30 to rotate to a 0° posture. Preferably, since an angle sensor is provided on the motor rotor or connecting rod to obtain the posture information of the lateral stabilization motor after action, this allows the controller to close-loop control of the station based on the posture information of the angle sensor and the posture information of the posture sensor. The lateral stabilization motor moves to maintain the load device in a vertical posture, so as to obtain a preset desired effect when shooting.
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经组合，形成本领域技术人员可以理解的其它实施方式。It should be understood that although this specification is described in accordance with various embodiments, not each embodiment only contains an independent technical solution. This narration in the specification is only for clarity, and those skilled in the art should regard the specification as a whole The technical solutions in the various embodiments can also be combined to form other implementations that can be understood by those skilled in the art.
以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。在不脱离本发明的构思和原则的前提下，本领域的技术人员可作的等同变化、修改与结合，均应属于本发明保护的范围。The foregoing descriptions are merely illustrative specific implementations of the present invention, and are not intended to limit the scope of the present invention. Without departing from the concept and principle of the present invention, equivalent changes, modifications and combinations that can be made by those skilled in the art shall fall within the protection scope of the present invention.

Claims (16)

  1. 一种增稳式手持机架，其用于搭载负载设备，其特征在于，包括：A stabilized handheld rack, which is used to carry load equipment, and is characterized in that it includes:
    沿横向轴线相对设置的第一管体部和第二管体部；A first tube body portion and a second tube body portion arranged opposite to each other along the transverse axis;
    连杆，其包括限定出纵向轴线的安装座和自该安装座的相对两侧延伸出的、能分别与第一管体部和第二管体部相连的一对连接臂，其中所述纵向轴线与所述横向轴线彼此正交；The connecting rod includes a mounting seat defining a longitudinal axis and a pair of connecting arms extending from opposite sides of the mounting seat and capable of being connected to the first tube body and the second tube body respectively, wherein the longitudinal The axis and the transverse axis are orthogonal to each other;
    至少一个增稳电机，其包括电机壳体和能相对于所述电机壳体绕枢转轴线枢转的电机转子，其中所述至少一个增稳电机将所述连杆的连接臂和第一管体部相连和/或连接至所述连杆的安装座；At least one stabilization motor includes a motor housing and a motor rotor capable of pivoting about a pivot axis relative to the motor housing, wherein the at least one stabilization motor connects the connecting arm of the connecting rod and the second A mounting seat connected to the pipe body and/or to the connecting rod;
    设置在至少一个增稳电机的所述电机转子上的至少一个角度传感器，其用于获取所述电机转子的旋转角度信息；以及At least one angle sensor arranged on the motor rotor of at least one stabilization motor, which is used to obtain rotation angle information of the motor rotor; and
    控制器，其构造成至少基于来自所述至少一个角度传感器的旋转角度信息控制所述至少一个增稳电机运动以允许所述连杆绕横向轴线和/或纵向轴线枢转，从而实现对连接至该安装座的负载设备进行横向和/或纵向增稳。The controller is configured to control the movement of the at least one stabilization motor to allow the connecting rod to pivot about the transverse axis and/or the longitudinal axis based on at least the rotation angle information from the at least one angle sensor, thereby realizing the pair connection to The load equipment of the mounting seat is stabilized laterally and/or longitudinally.
  2. 如权利要求1所述的增稳式手持机架，其特征在于，所述至少一个增稳电机包括纵向增稳电机和/或横向增稳电机，其中所述纵向增稳电机包括连接至所述第一管体部的纵向电机壳体和能相对于所述纵向电机壳体绕横向轴线枢转的、与连接臂相连的纵向电机转子，其中所述横向增稳电机包括连接至所述连杆的安装座的横向电机壳体和能相对于所述横向电机壳体绕纵向轴线枢转的横向电机转子，其中负载设备能固定连接至所述横向电机转子。The stabilization handheld frame according to claim 1, wherein the at least one stabilization motor includes a longitudinal stabilization motor and/or a lateral stabilization motor, wherein the longitudinal stabilization motor includes a The longitudinal motor housing of the first tube body and the longitudinal motor rotor connected to the connecting arm that can pivot about the transverse axis relative to the longitudinal motor housing, wherein the transverse stabilization motor includes The transverse motor housing of the mounting seat of the connecting rod and the transverse motor rotor capable of pivoting about the longitudinal axis relative to the transverse motor housing, wherein the load device can be fixedly connected to the transverse motor rotor.
  3. 如权利要求1所述的增稳式手持机架，其特征在于，还包括能附接至所述负载设备的姿态传感器，所述姿态传感器用于获取所述负载设备的姿态信息；其中所述控制器基于所述至少一个角度传感器的旋转角度信息以及姿态传感器的姿态信息来闭环控制至少一个增稳电机动作以将所述负载设备保持在竖直姿态。The stabilizing handheld frame of claim 1, further comprising an attitude sensor that can be attached to the load device, the attitude sensor is used to obtain the attitude information of the load device; wherein the Based on the rotation angle information of the at least one angle sensor and the attitude information of the attitude sensor, the controller controls the action of the at least one stabilization motor in a closed loop to maintain the load device in a vertical attitude.
  4. 一种手持摄影器材，其被构造成允许对载荷辅助拍摄，其特征在于，包括如权利要求1至3中任一项所述的增稳式手持机架和作为负载设备的、以重心调平的方式受至少一个增稳电机驱动的竖向增稳装置，以允许所述竖向增稳装置能借助于所述至少一个增稳电机枢转被保持在竖直姿态。A handheld photographic equipment, which is configured to allow auxiliary shooting of a load, and is characterized by comprising the stabilized handheld frame according to any one of claims 1 to 3 and a load device that is leveled at the center of gravity. The vertical stabilization device driven by at least one stabilization motor allows the vertical stabilization device to be maintained in a vertical posture by pivoting of the at least one stabilization motor.
  5. 如权利要求4所述的手持摄影器材，其特征在于，所述竖向增稳装置 包括：The handheld photographic equipment of claim 4, wherein the vertical stabilization device comprises:
    固定连接至该增稳式手持机架的壳体；Fixedly connected to the housing of the stabilized handheld frame;
    以能绕一枢转轴线枢转的方式安置在所述竖向增稳装置的壳体内的平衡轮；A balance wheel arranged in the housing of the vertical stabilization device in a manner capable of pivoting about a pivot axis;
    能竖向连接载荷的支承杆，其被构造成与平衡轮作用连接；The support rod that can connect the load vertically, which is configured to be operatively connected with the balance wheel;
    连接至所述平衡轮的弹性件，其中所述支承杆通过所述弹性件的弹力支撑所述载荷并平衡载荷的重力；An elastic member connected to the balance wheel, wherein the support rod supports the load by the elastic force of the elastic member and balances the gravity of the load;
    设置在所述支承杆端部的姿态传感器，其用于获取所述竖向增稳装置在空间上的姿态信息；An attitude sensor arranged at the end of the supporting rod, which is used to obtain the spatial attitude information of the vertical stabilization device;
    操作连接至所述平衡轮的竖向增稳电机，其中竖向增稳电机带动平衡轮转动时驱动所述支承杆相对于所述竖向增稳装置的壳体在竖向上运动以对载荷进行竖向增稳。Operate the vertical stabilization motor connected to the balance wheel, wherein when the vertical stabilization motor drives the balance wheel to rotate, the support rod is driven to move vertically relative to the housing of the vertical stabilization device to perform load Vertical stabilization.
  6. 如权利要求5所述的手持摄影器材，其中所述竖向增稳装置被构造为能以增稳模式或锁定模式操作，其中在所述增稳模式下，所述支承杆能相对于所述竖向增稳装置的壳体运动以对所述载荷竖向增稳，在所述锁定模式下，所述支承杆相对于所述竖向增稳装置的壳体以确定的长度被锁止，其中控制器被构造成在竖向增稳装置处于增稳模式时基于来自所述姿态传感器的姿态信息控制纵向增稳电机和/或横向增稳电机动作以将所述竖向增稳装置和载荷保持在竖直状态，或在所述竖向增稳装置处于锁定模式时基于来自所述姿态传感器的姿态信息控制所述纵向增稳电机和/或横向滚增稳电机动作以允许所述载荷在空间内以确定的轨迹运动。The handheld photographic equipment according to claim 5, wherein the vertical stabilization device is configured to operate in a stabilization mode or a locking mode, wherein in the stabilization mode, the support rod can be relative to the The housing of the vertical stabilization device moves to stabilize the load vertically, and in the locking mode, the support rod is locked relative to the housing of the vertical stabilization device by a certain length, The controller is configured to control the action of the longitudinal stabilization motor and/or the lateral stabilization motor based on the posture information from the attitude sensor when the vertical stabilization device is in the stabilization mode, so as to increase the vertical stabilization device and the load. Keep in a vertical state, or control the action of the longitudinal stabilization motor and/or the lateral roll stabilization motor based on the attitude information from the attitude sensor when the vertical stabilization device is in the locked mode to allow the load to be Definite trajectory movement in space.
  7. 如权利要求5所述的手持摄影器材，其中所述控制器被构造成基于来自所述姿态传感器的姿态信息控制至少一个增稳电机动作以将所述竖向增稳装置和载荷增稳成竖直姿态且控制所述竖向增稳电机动作以在增稳期间使所述载荷始终保持在确定的竖向高度。The handheld photographic equipment according to claim 5, wherein the controller is configured to control the action of at least one stabilization motor to stabilize the vertical stabilization device and the load based on the posture information from the posture sensor. And control the action of the vertical stabilization motor to keep the load at a certain vertical height during the stabilization period.
  8. 如权利要求5至7中任一项所述的手持摄影器材，其特征在于，所述平衡轮为与所述竖向增稳电机的转子一体形成的平衡同步轮，其经由沿其外周布置的两条同步带分别连接至所述支承杆的相对两端以旋转驱动所述支承杆运动。The handheld photographic equipment according to any one of claims 5 to 7, wherein the balance wheel is a balance synchronization wheel integrally formed with the rotor of the vertical stabilization motor, which is arranged along its outer circumference Two synchronous belts are respectively connected to opposite ends of the supporting rod to rotationally drive the supporting rod to move.
  9. 如权利要求8所述的手持摄影器材，其特征在于，还包括与所述平衡同步轮一体形成的卷簧盒，其中所述弹性件为一端固定连接至所述卷簧盒的、盘设在所述卷簧盒内的卷簧，其中所述卷簧的另一端固定连接至能 相对于所述竖向增稳装置的壳体调节的转轴，从而能随所述卷簧盒的转动被收卷或者放卷。The handheld photographic equipment of claim 8, further comprising a coil spring box integrally formed with the balance synchronization wheel, wherein the elastic member is fixedly connected to the coil spring box at one end, and is arranged on the coil spring box. The coil spring in the coil spring box, wherein the other end of the coil spring is fixedly connected to a rotating shaft that can be adjusted relative to the housing of the vertical stabilization device, so that it can be retracted with the rotation of the coil spring box Roll or unwind.
  10. 如权利要求5至7中任一项所述的手持摄影器材，其特征在于，所述平衡轮为与所述支承杆啮合传动的平衡齿轮，所述弹性件为同轴地盘设在所述平衡齿轮的枢转轴上的卷簧，其中所述卷簧的一端固定连接至能相对于所述竖向增稳装置的壳体调节的卷簧盒且另一端固定连接至所述枢转轴从而能随所述枢转轴的转动收卷或者放卷。The hand-held photographic equipment according to any one of claims 5 to 7, wherein the balance wheel is a balance gear that meshes and drives with the support rod, and the elastic member is a coaxial ground set on the balance gear. The coil spring on the pivot shaft of the gear, wherein one end of the coil spring is fixedly connected to a coil spring box that can be adjusted relative to the housing of the vertical stabilization device, and the other end is fixedly connected to the pivot shaft so as to be able to follow The rotation of the pivot shaft rewinds or unwinds.
  11. 如权利要求5所述的手持摄影器材，其特征在于，还包括自所述支承杆的不同侧分别固定连接至所述支承杆的多个直导轨，从而引导所述支承杆相对于所述竖向增稳装置的壳体在直线方向上运动。The handheld photographic equipment of claim 5, further comprising a plurality of straight guide rails respectively fixedly connected to the support rod from different sides of the support rod, so as to guide the support rod relative to the vertical The housing of the stabilization device moves in a linear direction.
  12. 如权利要求5所述的手持摄影器材，其特征在于，所述竖向增稳装置还包括连接至支承杆端部的用于接合载荷的快拆锁紧机构，其中所述快拆锁紧机构包括：The handheld photographic equipment of claim 5, wherein the vertical stabilization device further comprises a quick release locking mechanism connected to the end of the support rod for engaging the load, wherein the quick release locking mechanism include:
    彼此相对设置的、能与载荷滑动配合的一对滑槽；A pair of sliding grooves arranged opposite to each other and capable of slidingly matching with the load;
    扣压件，其能相对于一对滑槽在压紧位置和旋松位置之间移动且能在所述压紧位置抵靠所述载荷以将其锁紧就位。The fastening member can move between a compression position and an unscrewing position relative to a pair of sliding grooves, and can abut the load at the compression position to lock it in place.
  13. 权利要求4所述的手持摄影器材，其特征在于，所述竖向增稳装置包括：The handheld photographic equipment of claim 4, wherein the vertical stabilization device comprises:
    壳体；case;
    以能绕一枢转轴线枢转的方式安置在所述竖向增稳装置的壳体内的变速平衡机构；A variable speed balance mechanism arranged in the housing of the vertical stabilization device in a manner capable of pivoting about a pivot axis;
    竖向支撑所述载荷的支承机构，其被构造成在该变速平衡机构的一侧在距该枢转轴线第一距离处与该变速平衡机构作用连接，以传递来自所述载荷的重力对所述变速平衡机构沿第一旋转方向施加第一转矩；A support mechanism that vertically supports the load is configured to be operatively connected to the shift balance mechanism at a first distance from the pivot axis on one side of the shift balance mechanism to transmit the gravity from the load to the position The speed balance mechanism applies a first torque along a first rotation direction;
    力产生机构，其被构造成在该变速平衡机构的同一侧在距该枢转轴线第二距离处与该变速平衡机构作用连接，以向所述变速平衡机构施力从而对所述变速平衡机构沿相反于第一旋转方向的第二旋转方向施加第二转矩，该力产生机构以其一端固定连接至所述竖向增稳装置的壳体；A force generating mechanism is configured to be operatively connected with the shift balance mechanism at a second distance from the pivot axis on the same side of the shift balance mechanism to apply force to the shift balance mechanism to thereby exert a force on the shift balance mechanism Applying a second torque in a second rotation direction opposite to the first rotation direction, the force generating mechanism is fixedly connected to the housing of the vertical stabilization device with one end thereof;
    其中在所述载荷经受竖向震动而处于不同竖向高度时，所述变速平衡机构被构造成允许力产生机构以基本不变的力平衡所述载荷的重力。Wherein, when the load is subjected to vertical vibration and is at different vertical heights, the shift balance mechanism is configured to allow the force generation mechanism to balance the gravity of the load with a substantially constant force.
  14. 如权利要求13所述的竖向增稳装置，其特征在于，其中所述变速平衡机构包括：The vertical stabilization device according to claim 13, wherein the shift balance mechanism comprises:
    可枢转地安置在所述竖向增稳装置的壳体内的枢转轴；A pivot shaft that is pivotally arranged in the housing of the vertical stabilization device;
    同轴布置的具有较大的外径和/或模数的第一齿轮和具有较小的和/或的第二齿轮；A first gear with a larger outer diameter and/or modulus and a second gear with a smaller and/or coaxially arranged;
    其中所述支承机构包括与该第一齿轮相啮合的第一齿条，所述力产生机构还包括与该第二齿轮相啮合的第二齿条，其中所述第一齿条和第二齿条被布置在同一侧。Wherein the supporting mechanism includes a first rack meshed with the first gear, the force generating mechanism further includes a second rack meshed with the second gear, wherein the first rack and the second tooth The bars are arranged on the same side.
  15. 如权利要求13所述的竖向增稳装置，其特征在于，所述力产生机构还包括：The vertical stabilization device according to claim 13, wherein the force generating mechanism further comprises:
    能够沿直线方向拉伸或者回缩的弹性件，所述弹性件的一端可操作地连接至所述竖向增稳装置的壳体；An elastic member that can be stretched or retracted in a linear direction, one end of the elastic member is operably connected to the housing of the vertical stabilization device;
    转接件，所述转接件的一端操作连接至所述弹性件且相对的另一端操作连接至所述第二齿条，以允许所述弹性件和所述第二齿条大致平行地相邻布置。An adapter, one end of the adapter is operatively connected to the elastic member and the opposite end is operatively connected to the second rack to allow the elastic member and the second rack to be substantially parallel to each other Neighborhood layout.
  16. 如权利要求15所述的竖向增稳装置，其特征在于，还包括用于调节所述弹性件的预紧力的调节机构，其包括：与所述竖向增稳装置的壳体螺纹连接的、并与该弹性件的一端操作连接的调节件，其中经由相对于该壳体旋入或者旋出该调节件来调节所述弹性件的预紧力。The vertical stabilization device according to claim 15, further comprising an adjustment mechanism for adjusting the pre-tightening force of the elastic member, which comprises: threaded connection with the housing of the vertical stabilization device The adjusting member operatively connected with one end of the elastic member, wherein the pre-tightening force of the elastic member is adjusted by screwing in or out of the adjusting member relative to the housing.
PCT/CN2021/075719 2020-02-28 2021-02-07 Stabilizing handheld frame and handheld photography apparatus WO2021169778A1 (en)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN202010133474.9A CN113323981B (en) 2020-02-28 2020-02-28 Vertical positioning equipment, vertical damping device and stabilizer with vertical damping device
CN202010133474.9 2020-02-28
CN202010623457.3A CN112145881B (en) 2020-06-30 2020-06-30 Hand-held photographic equipment
CN202010618144.9 2020-06-30
CN202010618145.3 2020-06-30
CN202010623456.9 2020-06-30
CN202010623366.XA CN112161181B (en) 2020-06-30 2020-06-30 Two-way stability-increasing handheld frame and handheld photographic equipment
CN202010623456.9A CN111609281B (en) 2020-06-30 2020-06-30 Longitudinal stability-increasing type handheld machine frame and handheld photographic equipment
CN202010618144.9A CN111779961B (en) 2020-06-30 2020-06-30 Transverse stability-increasing type handheld frame and handheld photographic equipment
CN202010623457.3 2020-06-30
CN202010623366.X 2020-06-30
CN202010618145.3A CN112145941B (en) 2020-06-30 2020-06-30 Multifunctional hand-held photographic equipment

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CN111779961A (en) * 2020-06-30 2020-10-16 刘小琼 Transverse stability-increasing type handheld frame and handheld photographic equipment
CN112145881A (en) * 2020-06-30 2020-12-29 桂林智神信息技术股份有限公司 Hand-held photographic equipment
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