CN107278246A

CN107278246A - Vertical Zeng Wen mechanisms, cradle head device and capture apparatus

Info

Publication number: CN107278246A
Application number: CN201680006911.2A
Authority: CN
Inventors: 尹承禹
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-02-01
Filing date: 2016-02-01
Publication date: 2017-10-20
Anticipated expiration: 2036-02-01
Also published as: CN107278246B; WO2017132813A1; CN111076044A

Abstract

A kind of vertical Zeng Wen mechanisms (22), for supporting load (10).The vertical Zeng Wen mechanisms (22) include parallelogram lever (221,222,223,224) and elastic component (225), the framework (221,222,223,224) adjacent side, which is articulated, enables the angle of adjacent side to change.The two ends of the elastic component (225) are connected to two adjacent sides (222 of the framework, 223) on, the framework (221,222,223,224) by loading (10) described in the resilient support of the elastic component (225) and balancing the gravity for loading (10).Further relate to a kind of cradle head device (20) and capture apparatus (100).

Description

Vertical Zeng Wen mechanisms, cradle head device and capture apparatus

Technical field

The present invention relates to movies-making field, more particularly to a kind of vertical Zeng Wen mechanisms for being used to shoot, cradle head device and Capture apparatus.

Background technology

To realize the purpose of steady shot, many capture apparatus cradle head device of all arranging in pairs or groups is used, and cradle head device is typically to clapping Take the photograph equipment and have and increase steady function on direction of rotation, for example, three axle heads can be in pitch axles, yaw axles and roll axles direction of rotation The shake of head is compensated, still, the head does not have preferable compensation effect for the shake on gravity direction.

The content of the invention

In view of this, it is necessary to which a kind of vertical Zeng Wen mechanisms, cradle head device and capture apparatus for avoiding above mentioned problem is provided.

A kind of vertical Zeng Wen mechanisms, for supporting load.The vertical Zeng Wen mechanisms include parallelogram lever and Elastic component, the adjacent side of the framework, which is articulated, enables the angle of adjacent side to change.The two ends of the elastic component are connected to On two adjacent sides of the framework, the framework is by loading and balancing the load described in the resilient support of the elastic component Gravity.

Further, the vertical Zeng Wen mechanisms include the first montant, second montant relative with first montant, the One cross bar and second cross bar relative with first cross bar, first montant, second montant, first cross bar And second cross bar constitutes four sides of the framework, the one end of first montant away from first cross bar is used to support Load, the two ends of the elastic component connect the predetermined height of first cross bar and second montant respectively.

Further, one end of the elastic component is connected on first cross bar by the first connector.

Further, first connector is the pivotal part that can be rotated relative to first cross bar；Or

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

Further, the elastic component is formed with hook structure, first cross bar away from one end of second montant The upper connecting shaft formed corresponding to the hook, the hook structure, which is sheathed in the connecting shaft, forms rotatable connection.

Further, the elastic component is helical spring.

Further, the vertical Zeng Wen mechanisms also include be arranged at it is on second montant and with the elastic component phase Adjusting part even, the adjusting part is used to adjust connection height of the elastic component end relative to second montant.

Further, the adjusting part includes adjusting rod and the adjusting set being socketed with the adjusting rod, the regulation Bar, which can be rotated, to be arranged on second montant, and the adjusting set is connected with the elastic component and is sheathed on the adjusting rod On, the adjusting set can pass through link position of the relative rotation regulation on the adjusting rod with the adjusting rod.

Further, the adjusting rod includes operating portion and the adjustment portion being connected with the operating portion, the operating portion The surface of second bar is protruded from, the adjusting set is sheathed in the adjustment portion.

Further, the adjustment portion is cylindrical, its cylinder be provided with external screw thread, the adjusting set be with it is described The sleeve for the internal thread that external screw thread is adapted, the adjusting set and the threaded connection of the adjusting rod.

Further, the sidepiece of the adjusting set extends to form a connection protuberance, the connection protuberance and the elasticity The end of part is connected.

Further, the vertical Zeng Wen mechanisms include angle regulation component, and the angle regulation component is used to adjust institute State connection angle of the vertical Zeng Wen mechanisms relative to support meanss.

Further, the angle regulation component includes the first connecting portion mutually rotatably connected and the second connection Portion, the first connecting portion is fixedly linked with second montant.

Further, the first connecting portion is rotated after predetermined angular relative to the second connecting portion, first connection It can be relatively fixed between portion and the second connecting portion.

Further, the second connecting portion includes a lock operation part, described by operating the lock operation part It can relatively rotate or be relatively fixed between first connecting portion and the second connecting portion.

Further, the vertical Zeng Wen mechanisms also include damping piece, and the damping piece is connected to the adjacent of the framework Between both sides.

Further, the damping piece includes air spring damper, hydraulic damper, spring-damper, hydraulic damping At least one of device, pulse damper, viscous damper, Damping sliding rail.

Further, described in the load deviation of gravity center on the first montant described in the distance of the line of two pivot centers away from From more than or equal to -10mm and less than or equal to 10mm.

Further, the distance of the line of two pivot centers is more than etc. on the first montant described in the load deviation of gravity center In -5mm and less than or equal to 5mm.

Further, the elastic component deviates two on second montant towards the drawing point position of described second montant one end The distance mark of line between individual pivot center is more than or equal to -2mm and less than or equal to 0mm.

Further, the elastic component deviates two on second montant towards the drawing point position of described second montant one end The distance of line between individual pivot center is more than or equal to -0.6mm and less than or equal to -0.2mm.

Further, the elastic component deviates two on second montant towards the drawing point position of described second montant one end The distance of line between individual pivot center is -0.4mm.

A kind of cradle head device, for supporting imaging device.The cradle head device includes vertical Zeng Wen mechanisms, the vertical increasing Steady mechanism includes parallelogram lever and elastic component.The adjacent side of the framework, which is articulated, enables the angle of adjacent side to become Change.The two ends of the elastic component are connected on two adjacent sides of the framework, the bullet that the framework passes through the elastic component Power supports the imaging device and balances the gravity of the imaging device.

Further, the vertical Zeng Wen mechanisms include the first montant, second montant relative with first montant, the One cross bar and second cross bar relative with first cross bar, first montant, second montant, first cross bar And second cross bar constitutes four sides of the framework, the one end of first montant away from first cross bar is used to support Imaging device, the two ends of the elastic component connect the predetermined height of first cross bar and second montant respectively.

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

Further, the elastic component is helical spring.

Further, described in the imaging device deviation of gravity center on the first montant the line of two pivot centers distance institute State distance and be more than or equal to -10mm and less than or equal to 10mm.

Further, the distance of the line of two pivot centers is big on the first montant described in the imaging device deviation of gravity center In equal to -5mm and less than or equal to 5mm.

Further, the cradle head device includes axial direction Zeng Wen mechanisms, the axial Zeng Wen mechanisms and the imaging device And the vertical Zeng Wen mechanisms are connected, the axial direction shake for compensating the cradle head device.

Further, the axial Zeng Wen mechanisms are three axle heads.

Further, the axial Zeng Wen mechanisms include first connector portions, and first montant includes one and institute The second connector portions that the first connector portions are adapted are stated, the first connector portions described in second connector portions cooperate and realize the axle To Zeng Wen mechanisms and the vertical Zeng Wen mechanisms mechanical connection and electrically connect.

Further, the vertical Zeng Wen mechanisms include the 3rd connector portions being connected with second montant, described It is electrically connected to each other between second connector portions and the 3rd connector portions.

A kind of capture apparatus, including imaging device, cradle head device and support meanss.The cradle head device includes vertical increasing Steady mechanism, the vertical Zeng Wen mechanisms include parallelogram lever and elastic component.The adjacent side of the framework be articulated so that The angle of adjacent side can change.The two ends of the elastic component are connected on two adjacent sides of the framework, and the framework leads to Cross imaging device described in the resilient support of the elastic component and balance the gravity of the imaging device.The support meanss can be propped up Support the cradle head device.

First connector is the pivotal part that can be rotated relative to first cross bar；Or

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

Further, the elastic component is helical spring.

Further, the elastic component deviates two on second montant towards the drawing point position of described second montant one end The distance of line between individual pivot center is -04mm.

Further, the axial Zeng Wen mechanisms are three axle heads.

The vertical Zeng Wen mechanisms include the 3rd connector portions being connected with second montant, second connector portions It is electrically connected to each other between the 3rd connector portions.

Further, the support meanss include the 4th connector being adapted with the joint among three members, the support Device is electrically connected by the 4th joint with the cradle head device and/or imaging device.

Relative to prior art, the capture apparatus and cradle head device can be disappeared by setting the vertical Zeng Wen mechanisms Except the influence that the shake of capture apparatus vertical direction is caused to shooting, the quality and effect of shooting ensure that.

Brief description of the drawings

Fig. 1 is the stereogram of the capture apparatus of first embodiment of the invention.

Fig. 2 is the phantom of another angle of Fig. 1 capture apparatus.

Fig. 3 is that Fig. 1 capture apparatus is in the schematic diagram of another state.

Fig. 4 is the schematic diagram of the vertical Zeng Wen mechanisms of Fig. 2 capture apparatus.

Fig. 5 is Fig. 4 vertical Zeng Wen mechanisms to the holding power of load and the graph of relation of the load height.

Fig. 6 be it is different apart from e when Fig. 4 vertical Zeng Wen mechanisms it is corresponding with the load height to the holding power of load Graph of relation.

Fig. 7 be it is different apart from g when Fig. 4 vertical Zeng Wen mechanisms it is corresponding with the load height to the holding power of load Graph of relation.

Main element symbol description

Capture apparatus 100

Imaging device 10

Cradle head device 20

First axle a1

Second axle a2

3rd axle a3

Axial Zeng Wen mechanisms 21

First axle driver element 211

First support 212

Second axle driver element 213

Second support 214

Three-axis drive unit 215

First connector portions 210

Vertical Zeng Wen mechanisms 22

First montant 221

Second connector portions 221a

Second montant 222

Groove 2221

First cross bar 223

Second cross bar 224

Elastic component 225

First connector 226

Adjusting part 227

Adjusting rod 2271

Operating portion 2271a

Adjustment portion 2271b

Adjusting set 2272

Connection protuberance 2272a

Angle regulation component 228

First connecting portion 2281

Second connecting portion 2282

Resettlement section 2282a

3rd connector portions 2282c

Damping piece 229

First pivot s1

Second pivot s2

3rd pivot s3

4th pivot s4

Support meanss 30

Shoot function key 31

4th connector portions 32

Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.

Embodiment

Fig. 1 and Fig. 2 is referred to, the capture apparatus 100 of first embodiment of the invention includes imaging device 10, cradle head device 20 and support meanss 30.The cradle head device 20 is arranged between the imaging device 10 and support meanss 30, for changing Become the shooting angle of the imaging device 10 and eliminate influence of the shake to the imaging device 10.

The imaging device 10 is used for shooting image/video.The imaging device 10 can for digital camera, video camera, Mobile phone, tablet personal computer with camera function etc..

The cradle head device 20 includes axial direction Zeng Wen mechanisms 21 and vertical Zeng Wen mechanisms 22.It is described in present embodiment Axial Zeng Wen mechanisms 21 are three axle support meanss, more specifically, the axial Zeng Wen mechanisms 21 are three axle heads, it can be around the One axle a1 (for example, course (yaw) axle), the second axle a2 (for example, roll (roll) axle) and the 3rd axle a3 are (for example, pitching (pitch) axle) the adjustment imaging device 10 angle.The axial Zeng Wen mechanisms 21 include first axle driver element 211, the One support 212, the second axle driver element 213, second support 214 and Three-axis drive unit 215.The first support 212 It is connected with the first axle driver element 211 and can be under the drive of the first axle driver element 211 around the first axle Rotation；The second axle driver element 213 is fixedly installed on the first support 212 away from the first axle driver element 211 End；The second support 214 is connected with the second axle driver element 213 and can be in the second axle driver element Rotated under 213 drive around second axle；It is remote that the Three-axis drive unit 215 is fixedly installed on the second support 214 From the end of the second axle driver element 213, the imaging device 10 is connected with the Three-axis drive unit 215 and can Rotated under the drive of the Three-axis drive unit 215 around the 3rd axle.In present embodiment, the first axle driving is single Member 211, the second axle driver element 213 and the Three-axis drive unit 215 are brushless electric machine.

In present embodiment, the cradle head device 20 can include sensor (not shown) and controller (not shown). The sensor is used for the attitude information for sensing the capture apparatus 100, and specifically, the sensor can be inertia measurement list First (IMU).The controller is used to control the first axle driver element according to the information sensed of the sensor 211st, at least one rotation in the second axle driver element 213 and the Three-axis drive unit 215, described to eliminate Influence of the axial direction shake of capture apparatus 100 to the imaging device 10.More specifically, described in the controller drive control At least one edge in one axle driver element 211, the second axle driver element 213 and the Three-axis drive unit 215 The direction opposite with the axial jitter direction of the capture apparatus 100 is rotated, and is shaken with the axial direction for eliminating the capture apparatus 100 Influence to the imaging device 10.

It is appreciated that the controller can also respond user command information control the first axle driver element 211, At least one rotation in the second axle driver element 213 and the Three-axis drive unit 215, is realized and is wanted with user The purpose that shoots of angle/direction.

The axial Zeng Wen mechanisms 21 also include the first connector portions being fixedly linked with the first axle driver element 211 210, first connector portions 210 are used to connect the vertical Zeng Wen mechanisms 22.First connector portions 210 can be erected with described Connection is connected together, is threadedly coupled or is interference fitted to Zeng Wen mechanisms 22.In addition, first connector portions 210 also include electricity Connecting portion (not shown), when the axial Zeng Wen mechanisms 21 are connected with each other with the vertical Zeng Wen mechanisms 22, the electrical connection Portion can be by the imaging device 10 and/or the first axle driver element 211, the second axle driver element 213, the 3rd axle Driver element 215 is electrically connected to other electronic components (for example, being arranged at the power supply in the support meanss, controller, processor Deng).

It is appreciated that the axial Zeng Wen mechanisms 21 can also be single shaft head, twin shaft head or other kinds of cloud Platform.

The vertical Zeng Wen mechanisms 22 can balance the gravity of the imaging device 10 and the cradle head device 20, be used in combination In eliminating influence of the vertical shake of the capture apparatus 100 to the imaging device 10.It should be noted that described vertically shake general Refer to the shake with vertical component, as long as the shake of that is, described capture apparatus 100 has component in vertical direction, you can referred to as erect To shake, in other words, the macroscopic motion direction not necessarily vertical direction for the capture apparatus 100 vertically shaken, can also There is certain angle with vertical direction.It is horizontal that the vertical Zeng Wen mechanisms 22 include the first montant 221, the second montant 222, first Bar 223, the second cross bar 224 and elastic component 225.First montant 221 respectively with first cross bar 223 and described The side end pivot joint of two cross bars 224, the two ends of second montant 222 respectively with first cross bar 223 and described the The end side pivot joint of two cross bars 224.In present embodiment, first cross bar 223 is mutual with second cross bar 224 Parallel and same length so that first montant 221, second montant 222, first cross bar 223 and institute State the second cross bar 224 and constitute quadrilateral frame, the adjacent side of the quadrilateral frame, which is pivotally connected, causes the angle of adjacent side can adjust.It is described One end that second cross bar 224 is connected with first montant 221 is relative to first cross bar 223 and first montant 221 Connected one end is closer to the imaging device 10.

In present embodiment, pass through a first pivot s1 phase between first montant 221 and first cross bar 223 Mutually pivot joint, is mutually pivotally connected between first montant 221 and second cross bar 224 by a second pivot s2, and described the Mutually it is pivotally connected by a 3rd pivot s3 between two montants 222 and first cross bar 223, second montant 222 and institute State and be mutually pivotally connected by a 4th pivot s4 between the second cross bar 224.

First montant 221 includes a second connector portions 221a being adapted with first connector portions 210, described Second connector portions 221a cooperates with first connector portions 210 realizes that the axial Zeng Wen mechanisms 21 and the vertical increasing are steady The mechanical connection of mechanism 22 and electrical connection.

The elastic component 225 is connected between first cross bar 223 and second montant 222, the elastic component 225 Pulling force in the vertical direction component can balance the gravity of the imaging device 10, the gravity of the cradle head device 20 and The deadweight of the vertical Zeng Wen mechanisms 22, in other words, the vertical Zeng Wen mechanisms 22 can by the pulling force of the elastic component 225 Balance the gravity of the imaging device 10 and the cradle head device 20.In present embodiment, the elastic component 225 is spiral bullet Spring, one end of the elastic component 225 is connected on first cross bar 223, and the other end is connected to the pre- of second montant 222 At fixed height so that form angle between the length of the length direction of elastic component 225 and first cross bar 223.This embodiment party In formula, one end of the elastic component 225 is connected on first cross bar 223 by the first connector 226.Specifically, it is described First connector 226 is the pivotal part that can be rotated relative to first cross bar 223, it will be understood that first connector 226 It can also be formed in one on first cross bar 223 or the component that is fixedly connected on first cross bar 223, as long as One end of the elastic component 225 can be connected on first cross bar 223.In addition, first connector 226 It can omit, and directly the end of the elastic component 225 is connected on first cross bar 223, now, the elastic component 225 end can form on hook structure, first cross bar 223 connecting shaft formed corresponding to the hook, the extension Hook structure, which is sheathed in the connecting shaft, forms rotatable connection.

In present embodiment, the vertical Zeng Wen mechanisms 22 also include adjusting part 227, and the adjusting part 227 is used for Adjust connection height of the end relative to second montant 222 of the elastic component 225.

Specifically, the adjusting part 227 includes adjusting rod 2271 and the adjusting set being socketed with the adjusting rod 2271 2272.The adjusting rod 2271 is rotatably arranged on second montant 222, and the length direction of the adjusting rod 2271 is big Cause the length direction parallel to second montant 222.The adjusting rod 2271 include operating portion 2271a and with the operation Adjustment portion 2271b connected portion 2271a.The operating portion 2271a protrudes from the surface of second montant 222, the operation Portion 2271a allows user directly or indirectly to operate to rotate the adjusting rod 2271.In present embodiment, the operating portion 2271a substantially in round table-like, its in week side be the surface with certain roughness, enable the user to be easier to operate to described in Adjusting rod 2271 rotates.It is appreciated that the operating portion 2271a can also be ellipticity platform or polygon prism shape platform.Institute State adjustment portion 2271b cylindrical, its cylinder is provided with external screw thread.Second montant 222 is towards first montant 221 One side surface offers groove 2221, and the adjustment portion 2271b is located in the groove 2221, so that the energy of the adjusting set 2272 Enough stretch into and be connected in the groove 2221 with the adjustment portion 2271b.

The adjusting set 2272 is the female sleeve of tool.The internal thread of the adjusting set 2272 can be with the regulation Portion 2271b external screw thread is adapted, to realize the threaded connection of the adjusting set 2272 and the adjusting rod 2271.The regulation The sidepiece of set 2272 extends the end to form connection protuberance a 2272a, the connection protuberance 2272a and the elastic component 225 It is connected.

The connection position of the adjusting set 2272 and the adjustment portion 2271b can be adjusted by rotating the adjusting rod 2271 Put, that is, connection height of the end relative to second montant 222 of the elastic component 225 is adjusted, by adjusting the elasticity The end of part 225 can adjust the pulling force of elastic component 225, therefore, institute relative to the connection height of second montant 222 The pulling force of elastic component 225 can be adjusted according to the weight of the load of carrying needed for it by stating vertical Zeng Wen mechanisms 22, therefore, described perpendicular It can be adjusted flexibly to Zeng Wen mechanisms 22 according to the load of different model and species needed for the weight that it balances the load In power, present embodiment, the load is the imaging device 10 and the axial Zeng Wen mechanisms 21, described under some situations Load can only include the imaging device 10.

In present embodiment, the vertical Zeng Wen mechanisms 22 also include angle regulation component 228, the angle regulation component 228 connection angle for adjusting the vertical Zeng Wen mechanisms 22 and the support meanss.The angle regulation component 228 includes The mutually first connecting portion 2281 and second connecting portion 2282 that rotatably connect, the first connecting portion 2281 and described the Two montants 222 are fixedly linked.It is (described pre- that the first connecting portion 2281 rotates predetermined angular relative to the second connecting portion 2282 It can be multiple to determine angle, for example, 1 °, 2 °, 3 °, 5 °, 10 °, 20 °, 30 °, 45 °, 60 °, 75 °, 90 ° etc.) after, described first connects Socket part 2281 can be relatively fixed with the second connecting portion 2282.In present embodiment, the first connecting portion 2281 and institute State the second montant 222 to be integrally formed, the first connecting portion 2281 is substantially in flat arched sheet.The second connecting portion 2282 offer resettlement section 2282a, the first connecting portion 2281 insert the resettlement section 2282a and with the second connecting portion 2282 are rotatably coupled.To realize predetermined angle is rotated in the first connecting portion 2281 relative to the second connecting portion 2282 Spending the latter two can be relatively fixed, and disk tooth knot can be used between the first connecting portion 2281 and the second connecting portion 2282 Structure (not shown) is intermeshed, and is needing to adjust the connection between the first connecting portion 2281 and the second connecting portion 2282 During angle, the disk toothing can be disengaged from.It is appreciated that the first connecting portion 2281 and the second connecting portion Angle can also be fixedly connected with by the adjustment of other fit systems between 2282.In addition, the first connecting portion 2281 with it is described Mutually the be rotatably assorted structure of connection of second connecting portion 2282 can be exchanged, for example, the first connecting portion 2281 opens up collecting Portion, and the second connecting portion 2282 inserts the resettlement section and is rotatably coupled with the first connecting portion 2281.

The second connecting portion 2282 includes a lock operation part 2282b, by operating the lock operation part 2282b, can relatively rotate or be relatively fixed between the first connecting portion 2281 and the second connecting portion 2282.This reality Apply in mode, the lock operation part 2282b is button, when pressing the lock operation part 2282b, the first connecting portion It can be relatively rotated between 2281 and the second connecting portion 2282, when unclamping the lock operation part 2282b, first connection It is relatively fixed between portion 2281 and the second connecting portion 2282.It is appreciated that when the first connecting portion 2281 and described the Two connecting portions 2282 are mutually rotatably assorted the structure of connection when exchanging, and the lock operation part 2282b can also be arranged at described In first connecting portion 2281.

The second connecting portion 2282 also includes the 3rd connector portions 2282c for being used to connect the support meanss 30.It is described 3rd connector portions 2282c can be connected together, is threadedly coupled or be interference fitted with the support meanss 30 and be connected.In addition, institute Stating the 3rd connector portions 2282c also includes electrical connection section (not shown), the second connector portions 221a and the 3rd connector portions It can be electrically connected to each other between 2282c by the soft arranging wire of flexible circuit board (not shown).The second connecting portion 2282 with When the support meanss 30 are connected with each other, the electrical connection section can be by the imaging device 10 and/or axial direction Zeng Wen mechanisms 21 The support meanss 30 are electrically connected to, the imaging device 10 and/or the axle are controlled by the support meanss 30 to realize To Zeng Wen mechanisms 21.In present embodiment, the 3rd connector portions 2282c has similar knot with first connector portions 210 Structure.

In present embodiment, the vertical Zeng Wen mechanisms 22 also include damping piece 229, and the damping piece 229 is used to eliminate Due to covibration caused by shake, play a part of further steady shot.One end of the damping piece 229 and described first Montant 221 is rotationally connected, and the other end is rotationally connected with second cross bar 224.In other implementations, institute State the two ends of damping piece 229 and can be respectively connecting on first montant 221 and first cross bar 223, described first On cross bar 223 and second montant 222 or on second montant 222 and second cross bar 224.The resistance Damping member 229 can be air spring damper, hydraulic damper, spring-damper, hydraulic damper, pulse damper, viscous Any one in damper, Damping sliding rail etc. or combination.

It is appreciated that the damping piece 229 can be omitted；In addition, may also set up the first pivot s1, second pivot The pivoting friction of at least one in axle s2, the 3rd pivot s3 and the 4th pivot s4 is common caused by shake to eliminate Shake phenomenon.

The support meanss 30 are used to support the imaging device 10 and the cradle head device 20.In present embodiment, The support meanss 30 are that hand-held support meanss, i.e. user can be shot with the hand-held support meanss 30, the support Shoot function key 31 is provided with device 30, the shoot function key 31 allows user to operate to control to shoot, for example, controls institute State screening-mode, shooting angle of the imaging device of imaging device 10 etc..The support meanss 30 also include and described the The 4th connector portions 32 that three connector portions 2282c are adapted, pass through the 4th connector portions 32 and the 3rd connector portions 2282c Cooperation, the support meanss 30 can mechanically connect with the vertical Zeng Wen mechanisms 22, but also can axially increase with described Steady mechanism 21 and/or the imaging device 10 are electrically connected.

It is (described axially to increase steady machine according to the imaging device 10 and the axial Zeng Wen mechanisms 21 first before when in use Structure 21 can be omitted in some cases) pulling force of the adjustment elastic component 225, enable the vertical Zeng Wen mechanisms 22 by The weight of imaging device 10 described in tension balanced in the elastic component 225 and the axial Zeng Wen mechanisms 21.In use, when not When thering is the vertical shake to occur, due to the vertical Zeng Wen mechanisms 22 can horizontal support imaging device 10 and it is described axially increase it is steady Mechanism 21；It is described due to the effect of inertia, the imaging device 10 and the axial direction when support meanss 30 have vertical shake The interaction force of Zeng Wen mechanisms 21 and the vertical Zeng Wen mechanisms 22 produces change, and the vertical Zeng Wen mechanisms 22 can hesitate bullet Property part active force and produce the motion opposite with the jitter direction, with compensate it is described it is vertical shake to the imaging device 10 Influence, it is ensured that the effect of shooting.

In capture apparatus 100 shown in Fig. 1, the support meanss 30, which are in erect, holds state.Furthermore, it is possible to pass through the angle Component 228 is adjusted according to the shooting of the user of user to be accustomed to and other specific described vertical steady machines of increasing of photographing request adjustment Angle between structure 22 and the support meanss 30, enabling grip the support meanss 30 at a predetermined angle and shot. Referring to Fig. 3, in shown capture apparatus 100, the joint angle between vertical the Zeng Wen mechanisms 22 and the support meanss 30 Spend and spent for substantially 0, gripping the support meanss 30 therefore, it is possible to level is shot.

It is appreciated that support meanss 30 are not limited to hand-held support meanss, it can also be other moveable supports Device, for example, unmanned vehicle, unmanned vehicle, unmanned boat etc..

The capture apparatus 100 to the compensation effect of the shake of vertical direction, i.e. the steady effect of increasing of in the vertical direction by The influence of many-sided parameter of the vertical Zeng Wen mechanisms 22.Hereinafter, binding tests parameter is illustrated.

Referring to Fig. 4, the distance for loading the first pivot s1 and the second pivot s2 line described in deviation of gravity center is labeled as G, deviates the 3rd pivot s3 and described the by the elastic component 225 towards the drawing point position of described one end of second montant 222 The distance of line between four pivot s4 is labeled as e, the junction of the load and first montant 221 is labeled as described Load height h, when first cross bar 223 is horizontal with second cross bar 224, the load height h is zero. D is labeled as towards the distance between the drawing point position of described one end of second montant 222 and the 3rd pivot s3.

Referring to Fig. 5, showing the holding power of vertical 22 pairs of loads of Zeng Wen mechanisms with the load height h's Graph of relation.The intrinsic frequency of the vertical Zeng Wen mechanisms 22 of influence to eliminate the low-frequency jitter on vertical direction will be less than predetermined Value, the optimum shape of the curve is level of approximation but somewhat right low left high；The inclination of the curve is bigger, then illustrates described perpendicular Intrinsic frequency to Zeng Wen mechanisms 22 is higher.

Experiment shows, in the case where meeting above-mentioned holding power, and the central diameter of the elastic component 225 is bigger, and line footpath is smaller, circle It is better that number more vertically increases steady effect at least.It is described that the pulling force size of the elastic component 225 is influenceed apart from d, therefore need to match described Relation between the holding power of 22 pairs of loads of vertical Zeng Wen mechanisms and the gravity of the load, the two difference is the smaller the better.

In addition, the effect that can also influence the vertical increasing steady apart from e.Definition when e be on the occasion of when, spring draw point in institute State the left side of the line between the 3rd pivot s3 and the 4th pivot s4；When e is 0, spring draws point in the 3rd pivot On line between s3 and the 4th pivot s4；When e is negative value, spring draws point 1 in the 3rd pivot s3 and described the The right side of line between four pivot s4.E=0mm, e=1mm, e=-0.6mm and e=- are selected respectively referring to Fig. 6, showing The holding power and the corresponding graph of relation of the load height h of vertical 22 pairs of loads of Zeng Wen mechanisms during 1mm, can See, as e=0.6mm, the curve has ideal shape.It is described to be more than or equal to -2mm apart from e in present embodiment And less than or equal to 0mm, it is preferable that it is described to be more than or equal to -0.6mm and less than or equal to -0.2mm apart from e；More specifically, it is described away from It is -0.4mm from e.

It is described that the steady effect of vertical increasing of vertical Zeng Wen mechanisms 22 can be also influenceed apart from g, referring to Fig. 7, shown select g respectively The holding power of vertical 22 pairs of loads of Zeng Wen mechanisms and the load height when=- 20mm, g=0mm and g=20mm H corresponding graph of relation, it is seen then that as g=0mm, the curve has ideal shape.In present embodiment, It is described to be more than or equal to -10mm and less than or equal to 10mm apart from g, it is preferable that described to be more than or equal to -5mm apart from g and be less than or equal to 5mm。

The capture apparatus can eliminate the shake pair of capture apparatus vertical direction by setting the vertical Zeng Wen mechanisms The influence caused is shot, the quality and effect of shooting is ensure that.

It is understood that those skilled in the art can also do other changes etc. in spirit of the invention is used in the present invention's Design, without departing from the technique effect of the present invention.These changes done according to present invention spirit, should all be included in Within scope of the present invention.

Claims

1. a kind of vertical Zeng Wen mechanisms, for supporting load, it is characterised in that：The vertical Zeng Wen mechanisms include parallelogram Framework and elastic component, the adjacent side of the framework, which is articulated, enables the angle of adjacent side to change, the two ends point of the elastic component It is not connected on two adjacent sides of the framework, the framework is by loading and balancing institute described in the resilient support of the elastic component State the gravity of load.

2. vertical Zeng Wen mechanisms as claimed in claim 1, it is characterised in that：The vertical Zeng Wen mechanisms include the first montant, Second montant, first cross bar and with first cross bar relative second cross bar relative with first montant, described One montant, second montant, first cross bar and second cross bar constitute four sides of the framework, and described first erects The one end of bar away from first cross bar, which is used to support, to be loaded, the two ends of the elastic component connect respectively first cross bar and The predetermined height of second montant.

3. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：One end of the elastic component passes through the first connector It is connected on first cross bar.

4. vertical Zeng Wen mechanisms as claimed in claim 3, it is characterised in that：First connector is can be relative to described The pivotal part that first cross bar is rotated；Or

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

5. cradle head device as claimed in claim 2, it is characterised in that：The elastic component deviates from one end shape of second montant The connecting shaft for corresponding to the hook is formed on hook structure, first cross bar into having, the hook structure is sheathed on described Rotatable connection is formed in connecting shaft.

6. vertical Zeng Wen mechanisms as claimed in claim 1, it is characterised in that：The elastic component is helical spring.

7. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：The vertical Zeng Wen mechanisms also include being arranged at institute Adjusting part that is on the second montant and being connected with the elastic component is stated, the adjusting part is used to adjust the elastic component end Relative to the connection height of second montant.

8. vertical Zeng Wen mechanisms as claimed in claim 7, it is characterised in that：The adjusting part include adjusting rod and with institute State adjusting rod socket adjusting set, the adjusting rod, which can be rotated, to be arranged on second montant, the adjusting set with it is described Elastic component is connected and is sheathed on the adjusting rod, and the adjusting set can be existed by the relative rotation regulation with the adjusting rod Link position on the adjusting rod.

9. vertical Zeng Wen mechanisms as claimed in claim 8, it is characterised in that：The adjusting rod include operating portion and with it is described The connected adjustment portion of operating portion, the operating portion protrudes from the surface of second bar, and the adjusting set is sheathed on the regulation In portion.

10. vertical Zeng Wen mechanisms as claimed in claim 9, it is characterised in that：The adjustment portion is cylindrical, is set on its cylinder There is external screw thread, the adjusting set is the sleeve with the internal thread being adapted with the external screw thread, and the adjusting set is adjusted with described The threaded connection of pole.

11. vertical Zeng Wen mechanisms as claimed in claim 8, it is characterised in that：The sidepiece of the adjusting set extends to form one Connection protuberance, the connection protuberance is connected with the end of the elastic component.

12. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：The vertical Zeng Wen mechanisms include angle adjustment Component, the angle regulation component is used to adjust connection angle of the vertical Zeng Wen mechanisms relative to support meanss.

13. vertical Zeng Wen mechanisms as claimed in claim 12, it is characterised in that：The angle regulation component includes mutually turning The first connecting portion and second connecting portion of dynamic connection, the first connecting portion are fixedly linked with second montant.

14. vertical Zeng Wen mechanisms as claimed in claim 13, it is characterised in that：The first connecting portion relatively described second connects Socket part is rotated after predetermined angular, can be relatively fixed between the first connecting portion and the second connecting portion.

15. vertical Zeng Wen mechanisms as claimed in claim 14, it is characterised in that：The second connecting portion includes a locking behaviour Workpiece, can be relatively rotated by operating the lock operation part, between the first connecting portion and the second connecting portion or Person is relatively fixed.

16. vertical Zeng Wen mechanisms as claimed in claim 1, it is characterised in that：The vertical Zeng Wen mechanisms also include damping piece, The damping piece is connected between the adjacent both sides of the framework.

17. vertical Zeng Wen mechanisms as claimed in claim 16, it is characterised in that：The damping piece is damped including air spring At least one in device, hydraulic damper, spring-damper, hydraulic damper, pulse damper, viscous damper, Damping sliding rail Kind.

18. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：First montant described in the load deviation of gravity center Distance described in the distance of the line of upper two pivot centers is more than or equal to -10mm and less than or equal to 10mm.

19. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：First montant described in the load deviation of gravity center The distance of the line of upper two pivot centers is more than or equal to -5mm and less than or equal to 5mm.

20. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：The elastic component is towards second montant one The distance mark that the line on second montant between two pivot centers is deviateed in the drawing point position at end is more than or equal to -2mm and small In equal to 0mm.

21. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：The elastic component is towards second montant one The distance that the line on second montant between two pivot centers is deviateed in the drawing point position at end is more than or equal to -0.6mm and small In equal to -0.2mm.

22. vertical Zeng Wen mechanisms as claimed in claim 2, it is characterised in that：The elastic component is towards second montant one The distance that the line on second montant between two pivot centers is deviateed in the drawing point position at end is -0.4mm.

23. a kind of cradle head device, for supporting imaging device, the cradle head device includes vertical Zeng Wen mechanisms, the vertical increasing Steady mechanism includes parallelogram lever and elastic component, and the adjacent side of the framework, which is articulated, enables the angle of adjacent side to become Change, the two ends of the elastic component are connected on two adjacent sides of the framework, the bullet that the framework passes through the elastic component Power supports the imaging device and balances the gravity of the imaging device.

24. cradle head device as claimed in claim 23, it is characterised in that：The vertical Zeng Wen mechanisms include the first montant, with The second relative montant of first montant, the first cross bar and second cross bar relative with first cross bar, described first Montant, second montant, first cross bar and second cross bar constitute four sides of the framework, first montant One end away from first cross bar is used to support imaging device, the two ends of the elastic component connect respectively first cross bar with And the predetermined height of second montant.

25. cradle head device as claimed in claim 23, it is characterised in that：One end of the elastic component is connected by the first connector It is connected on first cross bar.

26. cradle head device as claimed in claim 25, it is characterised in that：First connector is can be relative to described the The pivotal part that one cross bar is rotated；Or

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

27. cradle head device as claimed in claim 23, it is characterised in that：The elastic component deviates from one end of second montant The connecting shaft formed on hook structure, first cross bar corresponding to the hook is formed with, the hook structure is sheathed on institute State and rotatable connection is formed in connecting shaft.

28. cradle head device as claimed in claim 23, it is characterised in that：The elastic component is helical spring.

29. cradle head device as claimed in claim 24, it is characterised in that：The vertical Zeng Wen mechanisms are also described including being arranged at Adjusting part that is on second montant and being connected with the elastic component, the adjusting part is used to adjust elastic component end phase For the connection height of second montant.

30. cradle head device as claimed in claim 29, it is characterised in that：The adjusting part include adjusting rod and with it is described The adjusting set of adjusting rod socket, the adjusting rod, which can be rotated, to be arranged on second montant, the adjusting set and the bullet Property part be connected and be sheathed on the adjusting rod, the adjusting set can be adjusted in institute by relative rotation with the adjusting rod State the link position on adjusting rod.

31. cradle head device as claimed in claim 30, it is characterised in that：The adjusting rod include operating portion and with the behaviour Make the connected adjustment portion in portion, the operating portion protrudes from the surface of second bar, and the adjusting set is sheathed on the adjustment portion On.

32. cradle head device as claimed in claim 31, it is characterised in that：The adjustment portion is cylindrical, and its cylinder is provided with External screw thread, the adjusting set is the sleeve with the internal thread being adapted with the external screw thread, the adjusting set and the regulation The threaded connection of bar.

33. cradle head device as claimed in claim 30, it is characterised in that：The sidepiece of the adjusting set extends to form a connection Convex portion, the connection protuberance is connected with the end of the elastic component.

34. cradle head device as claimed in claim 24, it is characterised in that：The vertical Zeng Wen mechanisms include angle adjustment group Part, the angle regulation component is used to adjust connection angle of the vertical Zeng Wen mechanisms relative to support meanss.

35. cradle head device as claimed in claim 34, it is characterised in that：The angle regulation component includes mutually rotatable The first connecting portion and second connecting portion of connection, the first connecting portion are fixedly linked with second montant.

36. cradle head device as claimed in claim 35, it is characterised in that：The relatively described second connecting portion of the first connecting portion Rotate after predetermined angular, can be relatively fixed between the first connecting portion and the second connecting portion.

37. cradle head device as claimed in claim 36, it is characterised in that：The second connecting portion includes a lock operation Part, can be relatively rotated by operating the lock operation part, between the first connecting portion and the second connecting portion or It is relatively fixed.

38. cradle head device as claimed in claim 23, it is characterised in that：The vertical Zeng Wen mechanisms also include damping piece, institute Damping piece is stated to be connected between the adjacent both sides of the framework.

39. cradle head device as claimed in claim 38, it is characterised in that：The damping piece includes air spring damper, liquid Press at least one of damper, spring-damper, hydraulic damper, pulse damper, viscous damper, Damping sliding rail.

40. cradle head device as claimed in claim 24, it is characterised in that：First montant described in the imaging device deviation of gravity center Distance described in the distance of the line of upper two pivot centers is more than or equal to -10mm and less than or equal to 10mm.

41. cradle head device as claimed in claim 24, it is characterised in that：First montant described in the imaging device deviation of gravity center The distance of the line of upper two pivot centers is more than or equal to -5mm and less than or equal to 5mm.

42. cradle head device as claimed in claim 24, it is characterised in that：The elastic component is towards described second montant one end The distance mark for drawing point position to deviate the line on second montant between two pivot centers be more than or equal to -2mm and less than etc. In 0mm.

43. cradle head device as claimed in claim 24, it is characterised in that：The elastic component is towards described second montant one end The distance for drawing point position to deviate the line on second montant between two pivot centers be more than or equal to -0.6mm and less than etc. In -0.2mm.

44. cradle head device as claimed in claim 24, it is characterised in that：The elastic component is towards described second montant one end The distance for drawing point position to deviate the line on second montant between two pivot centers is -0.4mm.

45. cradle head device as claimed in claim 24, it is characterised in that：The cradle head device includes axial direction Zeng Wen mechanisms, institute State axial Zeng Wen mechanisms with the imaging device and the vertical Zeng Wen mechanisms to be connected, the axle for compensating the cradle head device To shake.

46. cradle head device as claimed in claim 45, it is characterised in that：The axial Zeng Wen mechanisms are three axle heads.

47. cradle head device as claimed in claim 45, it is characterised in that：The axial Zeng Wen mechanisms include first joint Portion, first montant includes second connector portions that are adapted with first connector portions, described in second connector portions The mutual cooperation of first connector portions is realized the mechanical connection of the axial Zeng Wen mechanisms and the vertical Zeng Wen mechanisms and electrically connected.

48. cradle head device as claimed in claim 47, it is characterised in that：The vertical Zeng Wen mechanisms include one and described the The 3rd connected connector portions of two montants, are electrically connected to each other between second connector portions and the 3rd connector portions.

49. a kind of capture apparatus, including imaging device, cradle head device and support meanss, the cradle head device include vertical increasing Steady mechanism, the vertical Zeng Wen mechanisms include parallelogram lever and elastic component, the adjacent side of the framework be articulated so that The angle of adjacent side can change, and the two ends of the elastic component are connected on two adjacent sides of the framework, and the framework leads to Cross imaging device described in the resilient support of the elastic component and balance the gravity of the imaging device, the support meanss can be propped up Support the cradle head device.

50. capture apparatus as claimed in claim 49, it is characterised in that：The vertical Zeng Wen mechanisms include the first montant, with The second relative montant of first montant, the first cross bar and second cross bar relative with first cross bar, described first Montant, second montant, first cross bar and second cross bar constitute four sides of the framework, first montant One end away from first cross bar is used to support imaging device, the two ends of the elastic component connect respectively first cross bar with And the predetermined height of second montant.

51. capture apparatus as claimed in claim 50, it is characterised in that：One end of the elastic component is connected by the first connector It is connected on first cross bar.

52. capture apparatus as claimed in claim 51, it is characterised in that：First connector is can be relative to described the The pivotal part that one cross bar is rotated；Or

First connector is shaped on first cross bar；Or

First connector is fixedly connected on first cross bar.

53. cradle head device as claimed in claim 50, it is characterised in that：The elastic component deviates from one end of second montant The connecting shaft formed on hook structure, first cross bar corresponding to the hook is formed with, the hook structure is sheathed on institute State and rotatable connection is formed in connecting shaft.

54. capture apparatus as claimed in claim 49, it is characterised in that：The elastic component is helical spring.

55. capture apparatus as claimed in claim 50, it is characterised in that：The vertical Zeng Wen mechanisms are also described including being arranged at Adjusting part that is on second montant and being connected with the elastic component, the adjusting part is used to adjust elastic component end phase For the connection height of second montant.

56. capture apparatus as claimed in claim 55, it is characterised in that：The adjusting part include adjusting rod and with it is described The adjusting set of adjusting rod socket, the adjusting rod, which can be rotated, to be arranged on second montant, the adjusting set and the bullet Property part be connected and be sheathed on the adjusting rod, the adjusting set can be adjusted in institute by relative rotation with the adjusting rod State the link position on adjusting rod.

57. capture apparatus as claimed in claim 56, it is characterised in that：The adjusting rod include operating portion and with the behaviour Make the connected adjustment portion in portion, the operating portion protrudes from the surface of second bar, and the adjusting set is sheathed on the adjustment portion On.

58. capture apparatus as claimed in claim 57, it is characterised in that：The adjustment portion is cylindrical, and its cylinder is provided with External screw thread, the adjusting set is the sleeve with the internal thread being adapted with the external screw thread, the adjusting set and the regulation The threaded connection of bar.

59. capture apparatus as claimed in claim 56, it is characterised in that：The sidepiece of the adjusting set extends to form a connection Convex portion, the connection protuberance is connected with the end of the elastic component.

60. capture apparatus as claimed in claim 50, it is characterised in that：The vertical Zeng Wen mechanisms include angle adjustment group Part, the angle regulation component is used to adjust connection angle of the vertical Zeng Wen mechanisms relative to support meanss.

61. capture apparatus as claimed in claim 60, it is characterised in that：The angle regulation component includes mutually rotatable The first connecting portion and second connecting portion of connection, the first connecting portion are fixedly linked with second montant.

62. capture apparatus as claimed in claim 61, it is characterised in that：The relatively described second connecting portion of the first connecting portion Rotate after predetermined angular, can be relatively fixed between the first connecting portion and the second connecting portion.

63. capture apparatus as claimed in claim 62, it is characterised in that：The second connecting portion includes a lock operation Part, can be relatively rotated by operating the lock operation part, between the first connecting portion and the second connecting portion or It is relatively fixed.

64. capture apparatus as claimed in claim 60, it is characterised in that：The vertical Zeng Wen mechanisms also include damping piece, institute Damping piece is stated to be connected between the adjacent both sides of the framework.

65. the capture apparatus as described in claim 64, it is characterised in that：The damping piece includes air spring damper, liquid Press at least one of damper, spring-damper, hydraulic damper, pulse damper, viscous damper, Damping sliding rail.

66. capture apparatus as claimed in claim 50, it is characterised in that：First montant described in the imaging device deviation of gravity center Distance described in the distance of the line of upper two pivot centers is more than or equal to -10mm and less than or equal to 10mm.

67. capture apparatus as claimed in claim 50, it is characterised in that：First montant described in the imaging device deviation of gravity center The distance of the line of upper two pivot centers is more than or equal to -5mm and less than or equal to 5mm.

68. capture apparatus as claimed in claim 50, it is characterised in that：The elastic component is towards described second montant one end The distance mark for drawing point position to deviate the line on second montant between two pivot centers be more than or equal to -2mm and less than etc. In 0mm.

69. capture apparatus as claimed in claim 50, it is characterised in that：The elastic component is towards described second montant one end The distance for drawing point position to deviate the line on second montant between two pivot centers be more than or equal to -0.6mm and less than etc. In -0.2mm.

70. capture apparatus as claimed in claim 50, it is characterised in that：The elastic component is towards described second montant one end The distance for drawing point position to deviate the line on second montant between two pivot centers is -0.4mm.

71. capture apparatus as claimed in claim 50, it is characterised in that：The cradle head device includes axial direction Zeng Wen mechanisms, institute State axial Zeng Wen mechanisms with the imaging device and the vertical Zeng Wen mechanisms to be connected, the axle for compensating the cradle head device To shake.

72. the capture apparatus as described in claim 71, it is characterised in that：The axial Zeng Wen mechanisms are three axle heads.

73. the capture apparatus as described in claim 71, it is characterised in that：The axial Zeng Wen mechanisms include first joint Portion, first montant includes second connector portions that are adapted with first connector portions, described in second connector portions The mutual cooperation of first connector portions is realized the mechanical connection of the axial Zeng Wen mechanisms and the vertical Zeng Wen mechanisms and electrically connected.

74. the capture apparatus as described in claim 73, it is characterised in that：The vertical Zeng Wen mechanisms include one and described the The 3rd connected connector portions of two montants, are electrically connected to each other between second connector portions and the 3rd connector portions.

75. the capture apparatus as described in claim 74, it is characterised in that：The support meanss include and the joint among three members The 4th connector being adapted, the support meanss pass through the 4th joint and the cradle head device and/or imaging device electricity Connection.