Load stabilization device

Abstract

The present invention provides a load stabilization device, which includes: a load connection portion configured to carry a load; a connection assembly connected to the load connection portion; and a stabilization motor drivingly connected to the connection assembly and configured to drive the connection assembly to move, so that the connection assembly drives the load connection portion to move translationally.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to PCT application numbers PCT / CN2018 / 080373, PCT / CN2018 / 080366, PCT / CN2018 / 080372, PCT / CN2018 / 080367, PCT / CN2018 / 080371, PCT / CN2018 / 080368, PCT / CN2018 / 080370, and PCT / CN2018 / 080369, all filed on March 23, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to photographic technology, and more particularly to a load stabilizing device, a pan / tilt device and a photographic device. Background Art

[0004] In order to achieve anti-vibration photography and increase photography stability during the use of photographic equipment to obtain higher quality images, the photographic equipment is usually installed on a portable stabilization platform (such as a gimbal). The gimbal usually has a stabilization function in the rotation direction of the photographic equipment. For example, a three-axis gimbal compensates for the vibration of the photographic equipment in the rotation direction of the pitch axis, the rotation direction of the yaw axis, and the rotation direction of the roll axis. However, the gimbal does not have a stabilization function for the vibration of the photographic equipment in the direction of gravity. Summary of the invention

[0005] According to the present invention, there is provided a load stabilization device, comprising: a load connection portion, which is configured to carry a load; a connection assembly, which is connected to the load connection portion; and a stabilization motor, which is drivingly connected to the connection assembly and is configured to drive the connection assembly to move, so that the connection assembly drives the load connection portion to move translationally.

[0006] In addition, according to the present invention, a load stabilization device is provided, including: a connecting assembly, which is connected to a load connecting part; a force transfer member, which is drivingly connected to the connecting assembly; a stabilization motor, which is drivingly connected to the force transfer member and is configured to drive the connecting assembly to move through the force transfer member; and a blocking component, which is configured to block the force transfer member when the stabilization motor drives the force transfer member to pass a preset position. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a schematic diagram showing a photographing device according to an embodiment of the present invention.

[0008] Figure 2is a schematic diagram showing a pan-tilt device according to an embodiment of the present invention.

[0009] Figure 3 is a top view of a pan / tilt device according to an embodiment of the present invention.

[0010] Figure 4 is a side view of a load stabilizing device according to an embodiment of the present invention.

[0011] Figure 5 is a cross-sectional view of a load stabilizing device according to an embodiment of the present invention.

[0012] Figure 6 is an exploded perspective view of a load stabilizing device according to an embodiment of the present invention.

[0013] Figure 7 is a perspective view of a load stabilizing device according to an embodiment of the present invention.

[0014] Figure 8 is another stereoscopic view of a load stabilizing device according to an embodiment of the present invention.

[0015] Fig. 9 is a perspective view of a switching assembly according to an embodiment of the present invention.

[0016] Fig.10 is a cross-sectional view of a load stabilizing device in a first stabilizing mode according to an embodiment of the present invention.

[0017] Fig.11 is a cross-sectional view of a load stabilizing device in a second stabilizing mode according to an embodiment of the present invention.

[0018] Fig.12 is a side view of a load stabilizing device in a first stabilizing mode according to an embodiment of the present invention.

[0019] Fig.13 and Fig.14 is a schematic diagram showing a load stabilizing device carrying loads having different weights.

[0020] Fig.15 Schematic diagram showing the working process of the crank slider mechanism according to an embodiment of the present invention.

[0021] Fig.16 is another schematic diagram showing the working process of the crank slider mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments according to the present invention will be described with reference to the accompanying drawings, which are examples for illustrative purposes only and are not intended to limit the scope of the present invention. In all drawings, the same reference numerals will be used as much as possible to represent the same or similar parts.

[0023] As used herein, when a first component is referred to as being "fixed to" a second component, it is intended that the first component may be directly attached to the second component or may be indirectly attached to the second component through another component. When a first component is referred to as being "connected" to a second component, it is intended that the first component may be directly connected to the second component or may be indirectly connected to the second component through a third component therebetween. When a first component is referred to as being "disposed" at a second component, it is intended that the first component may be directly disposed at the second component or may be indirectly disposed at the second component through a third component therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for descriptive purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same or similar meanings as those generally understood by those of ordinary skill in the art. As described herein, the terms used in the specification of the present invention are intended to describe example embodiments rather than to limit the present invention. The term "and / or" as used herein includes any suitable combination of one or more of the listed related items.

[0025] In the case where the technical solutions described in the present invention do not conflict with each other, they can be combined.

[0026] Figure 1 is a schematic diagram showing an example photographing device 100 according to the present invention. Figure 1 As shown, the photographing apparatus 100 includes a photographing device C, a pan / tilt device 20 and a supporting device 40 .

[0027] The photographic device C is configured to capture images or videos, and may include, but is not limited to, a camera, a camcorder, or a mobile phone or tablet computer with a camera function.

[0028] The support device 40 is connected to the pan-tilt device 20 and is configured to support the pan-tilt device 20. In some embodiments, the support device 40 may be a handheld support device that can be held by a user. In some other embodiments, the support device 40 may be a non-handheld support device for supporting the pan-tilt device 20, which is arranged on, for example, an unmanned aerial vehicle (UAV), an unmanned vehicle, an unmanned ship, etc.

[0029] The pan / tilt device 20 is configured to carry the photographic device C, and can be configured to change the photographic angle of the photographic device C and compensate for the influence of vibration on the photographic device C. Figure 1As shown, the pan-tilt device 20 includes a load stabilization device 22 and a pan-tilt device 24 .

[0030] Figure 2 is a schematic diagram showing an example pan-tilt device 20 according to the present invention. Figure 3 2 is a top view of the gimbal device 20 according to the present invention. In some embodiments, the gimbal 24 may be a three-axis gimbal. The three-axis gimbal can adjust the angle of the photographic device C around the yaw axis, the roll axis, and the pitch axis. For example, Figure 2 As shown, the pan / tilt head 24 includes a first axis driver 241, a first bracket 242, a second axis driver 243, a second bracket 244 and a third axis driver 245. The first bracket 242 is connected to the first axis driver 241, and can be driven by the first axis driver 241 to rotate around the first axis Z1. The second axis driver 243 is fixedly arranged at the end of the first bracket 242 away from the first axis driver 241. The second bracket 244 is connected to the second axis driver 243, and can be driven by the second axis driver 243 to rotate around the second axis Z2. The third axis driver 245 is fixedly arranged at the end of the second bracket 244 away from the second axis driver 243. As shown in FIG. Figure 3 As shown, the photographic device C is connected to the third axis driver 245 and can be driven by the third axis driver 245 to rotate around the third axis Z3. The first axis driver 241, the second axis driver 243 and the third axis driver 245 can be, for example, brushless motors. In some other embodiments, the gimbal 24 can be a single-axis gimbal, a two-axis gimbal or any other type of gimbal.

[0031] In some embodiments, the pan / tilt 24 may also include a sensor ( Figure 2 ) and a processor ( Figure 2 ). The sensor may be configured to sense the posture of the gimbal 24 and / or the posture of the photographic device C. For example, the sensor may include an inertial measurement unit (IMU) for measuring posture (such as the angular rate of each rotation axis of the gimbal 24, the acceleration rate of the photographic device C, etc.). As another example, the sensor may include an angle sensor, such as a photoelectric encoder, for measuring the rotation angle at each rotation axis of the gimbal 24. The type of sensor is not limited herein.

[0032] The processor may be configured to control at least one of the first axis driver 241, the second axis driver 243, and the third axis driver 245 according to the posture information obtained by the sensor to eliminate the influence of the vibration of the photographic device 100 in the axis direction on the photographic equipment C. That is, the gimbal has a stabilization function in the axis direction and can be regarded as a stabilization mechanism in the axis direction. For example, the processor may control at least one of the first axis driver 241, the second axis driver 243, and the third axis driver 245 to rotate in a direction opposite to the vibration direction of the photographic device 100 to eliminate the influence of the vibration of the photographic device 100 in the axis direction on the photographic equipment C.

[0033] In some embodiments, the processor may also be configured to control at least one of the first axis driver 241, the second axis driver 243, and the third axis driver 245 in response to the user's instruction information to achieve photography at an angle or direction desired by the user.

[0034] like Figure 2 As shown, the pan / tilt head 24 further includes a joint component 240 fixedly connected to the first axis driver 241. The joint component 240 can be connected to the load stabilization device 22. The joint component 240 can also include an electrical connection portion ( Figure 2 When the pan / tilt head 24 and the load stabilizing device 22 are connected to each other, the electrical connection portion can electrically connect the photographic device C and / or the first axis driver 241, the second axis driver 243, and the third axis driver 245 to other electronic components (e.g., a power supply, a control panel, a processor, etc. arranged at other locations).

[0035] Figure 4 is a side view of a load stabilizing device 22 according to the present invention. Figure 5 is a cross-sectional view of a load stabilizing device 22 according to the present invention. Figure 6 2 is an exploded perspective view of a load stabilizing device 22 according to the present invention.

[0036] like Figure 2 and Figure 4 As shown, the load stabilization device 22 includes a stabilization motor 62, a load connection part 80 and a connection assembly 220. The load connection part 80 may also be referred to as a load connection head or a load bracket. The load may include a photographic device (such as a camera, a video camera, a mobile phone or a tablet computer with a camera function, etc.) and / or a pan / tilt. The connection assembly 220 is connected to the load connection part 80. In some embodiments, as Figure 2 As shown, the load connection portion 80 is connected to the joint component 240. For example, Figure 2 and Figure 5As shown, the interface 87 is provided at the end of the load connection portion 80 and is configured to be connected to a load, such as the pan / tilt head 24 in the embodiment of the present invention. The joint component 240 can be inserted into the interface 87 to achieve the connection between the load connection portion 80 and the joint component 240. The joint component 240 can be engaged, threaded, or interference fit with the load connection portion 80.

[0037] The stabilization motor 62 is drivingly connected to the connection assembly 220 and is configured to drive the connection assembly 220 to move so that the connection assembly 220 drives the load connection portion 80 to move translationally. The angle between the load connection portion 80 and the connection assembly 220 is configured to gradually change when the connection assembly 220 moves. It is understood that the stabilization motor 62 can be any type of motor.

[0038] Therefore, the load stabilization device 22 can use the stabilization motor 62 to drive the pan / tilt platform 24 and the photographic device C arranged at the pan / tilt platform 24 to move in the vertical direction (gravity direction) in the direction opposite to the vibration of the photographic device C, so that the vibration of the photographic device C in the vertical direction can be compensated. Therefore, the image shake caused by the vibration of the photographic device C during image capture can be improved.

[0039] The connection assembly 220 can transmit the movement of the stabilization motor 62 to the load connection part 80 so that the load connection part 80 moves in the vertical direction. The connection assembly 220 can include, but is not limited to, a rack and pinion mechanism, a crank slide mechanism, a ball screw, etc. In some embodiments, the connection assembly 220 can include a deformation mechanism. The stabilization motor 62 can drive the deformation mechanism to deform. In some embodiments, the deformation mechanism can include a parallelogram mechanism 223.

[0040] In some embodiments, Figure 2 , Figure 5 and Figure 6 As shown, the parallelogram mechanism 223 includes a first connecting arm 222, a second connecting arm 224, and a first support arm 226 rotatably connected to the first connecting arm 222 and the second connecting arm 224. The first connecting arm 222 and the second connecting arm 224 are parallel to each other. The load connecting portion 80 is connected to the first support arm 226. The parallelogram mechanism 223 and the load connecting portion 80 together form the load supporting assembly 30. The stabilization motor 62 is drivingly connected to at least one of the first connecting arm 222 or the second connecting arm 224.

[0041] like Figure 6As shown, the load stabilizing device 22 further includes a base 60. The base 60 can also be referred to as a supporting member. The parallelogram mechanism 223 further includes a second support arm 228. The second support arm 228 is arranged opposite to the first support arm 226 and is fixedly connected to the base 60. The end of the first connecting arm 222 and the end of the second connecting arm 224 are connected to the first support arm 226, and the other end of the first connecting arm 222 and the other end of the second connecting arm 224 are rotatably connected to the second support arm 228. When the parallelogram mechanism 223 moves, the second support arm 228 can be regarded as a relatively fixed component, that is, an immovable component, and the first connecting arm 222, the second connecting arm 224 and the first support arm 226 move around the second support arm 228. The parallelogram mechanism 223 can be regarded as a four-bar linkage mechanism, and the first connecting arm 222, the second connecting arm 224, the first support arm 226 and the second support arm 228 can be regarded as four arms of the four-bar linkage mechanism.

[0042] In some embodiments, the first support arm 226 and the load connection portion 80 are integrally formed. "Integrally formed" or "one-piece formed" means that the two parts are formed integrally with each other. For example, in the present invention, the first support arm 226 can be integrally formed with the load connection portion 80. In some other embodiments, the first support arm 226 can be fixedly attached to the load connection portion 80 in a detachable manner or in a non-detachable manner. The second support arm 228 can be arranged at the base 60 or attached to the base 60. In some embodiments, the second support arm 228 and the base 60 are integrally formed. In some other embodiments, the second support arm 228 can also be fixedly attached to the base 60 in a detachable manner or in a non-detachable manner.

[0043] like Figure 6 As shown, the first connecting arm 222 includes two first protrusions 2223 extending from opposite edges of the first connecting arm 222 toward the second connecting arm 224. The second connecting arm 224 includes two second protrusions 2243 extending from opposite edges of the second connecting arm 224 toward the first connecting arm 222. In this way, the first connecting arm 222 and the second connecting arm 224 form a cavity.

[0044] like Figure 6 As shown, each first protrusion 2223 includes two ears extending from opposite ends of the first protrusion 2223 along the length direction of the first protrusion 2223. Each second protrusion 2243 includes two ears extending from opposite ends of the second protrusion 2243 along the length direction of the second protrusion 2243.

[0045] like Figure 6As shown, the first support arm 226 includes two side portions opposite to each other. Each of the two side portions has an L-shaped structure and includes a first arm 226-1 and a second arm 226-2. During operation, the first arm 226-1 can be kept roughly parallel to the ground. The second arm 226-2 is roughly perpendicular to the first arm 226-1. In some embodiments, the first arm 226-1 and the second arm 226-2 can be integrally formed. The load connection portion 80 is connected to the first arm 226-1. In some embodiments, the distance between the two side portions is greater than the width of the first connecting arm 222 and the width of the second connecting arm 224. The width of the second support arm 228 is less than the width of the first connecting arm 222 and the width of the second connecting arm 224. The width of the first connecting arm 222 is different from the width of the second connecting arm 224.

[0046] like Figure 4 and Figure 6 As shown, the two ends of the first connecting arm 222 are respectively hinged to the first support arm 226 and the second support arm 228. In some embodiments, the ear of each first protrusion 2223 close to the first support arm 226 is hinged to the first arm 226-1 of the corresponding side portion arranged near the first end of the corresponding side portion. The first end of the side portion is the end of the first arm 226-1 away from the load connection portion 80. The hinge point of the ear of each first protrusion 2223 and the first support arm 226 is represented as S1. The ear of each second protrusion 2243 close to the first support arm 226 is hinged to the second arm 226-2 of the corresponding side portion arranged near the second end of the corresponding side portion. The second end of the side portion is the end of the second arm 226-2 away from the first arm 226-1. The hinge point of the ear of each second protrusion 2243 and the first support arm 226 is represented as S2.

[0047] The ears of the two first protrusions 2223 close to the second support arm 228 are hinged to the opposite side of the second support arm 228 at a position near the first end of the second support arm 228. The first end of the second support arm 228 is the end of the ears of the second support arm 228 close to the two first protrusions 2223. The hinge point between the ear of each first protrusion 2223 and the second support arm 228 is represented by S3. The ears of the two second protrusions 2243 close to the second support arm 228 are hinged to the opposite side of the second support arm 228 at a position near the second end of the second support arm 228. The second end of the second support arm 228 is the end of the ears of the second support arm 228 close to the two second protrusions 2243. The hinge point between the ear of each second protrusion 2243 and the second support arm 228 is represented by S4.

[0048] The line connecting hinge points S1 and S3 can be expressed as S1S3, and the line connecting hinge points S2 and S4 can be expressed as S2S4. Line S1S3 and line S2S4 can be parallel to each other and have the same length. That is, the first connecting arm 222, the second connecting arm 224, the first support arm 226 and the second support arm 228 can form a parallelogram structure. The angle between adjacent arms (for example, the angle between the first connecting arm 222 and the first support arm 226, or the angle between the second connecting arm 224 and the first support arm 226) can vary. However, no matter how the angle changes, the relative arms are always roughly parallel to each other (for example, the first connecting arm 222 is roughly parallel to the second connecting arm 224, and the first support arm 226 is roughly parallel to the second support arm. 228). In addition, during operation, while the adjacent arms move relative to each other, the first arm 226-1 of the first support arm 226 can remain approximately parallel to the ground, and the second arm 226-2 of the first support arm 226 can remain approximately perpendicular to the ground. As described above, the first connecting arm 222, the second connecting arm 224, the first support arm 226, and the second support arm 228 can be regarded as four arms of a four-bar linkage mechanism. That is, the lines S1S3, S2S4, S1S2, and S3S4 of adjacent hinge points can represent the four arms of the four-bar linkage mechanism.

[0049] The stabilization motor 62 may be rotatably connected to at least one of the first connecting arm 222 or the second connecting arm 224, and drive the first connecting arm 222 and / or the second connecting arm 224 to rotate clockwise or counterclockwise relative to the second support arm 228, thereby raising or lowering the first support arm 226. Figure 6 As shown, the stabilization motor 62 is arranged on one side of the base 60 .

[0050] like Figure 6 As shown, the load stabilization device 22 further includes a force transmission member 66 movably connected to the parallelogram mechanism 223 and the stabilization motor 62, so that the stabilization motor 62 can drive the parallelogram mechanism 223 to deform through the force transmission member 66. In some embodiments, the force transmission member 66 can be rotatably connected to the parallelogram mechanism 223 and the stabilization motor 62.

[0051] In some embodiments, the force transfer member 66 and the stabilization motor 62 may form a crank-slider mechanism. Figure 6 The force transmission member 66 may be arranged at the rotor of the stabilizing motor 62, and the force transmission member 66 may be rotatably connected to the stabilizing motor 62 through a hinge. The hinge may be spaced apart from the rotation axis of the stabilizing motor 62. In some embodiments, the rotor and the hinge of the stabilizing motor 62 may be integrally formed.

[0052] In some embodiments, Figure 6As shown, the stabilization motor 62 may be a first stabilization motor, and the load stabilization device 22 further includes a second stabilization motor. The first stabilization motor and the second stabilization motor are symmetrically arranged on opposite sides of the parallelogram mechanism 223, and may be arranged coaxially with each other. In some embodiments, the first stabilization motor and the second stabilization motor are symmetrically arranged on opposite sides of the base 60. One or both of the first stabilization motor and the second stabilization motor may be connected to at least one of the first connecting arm 222 or the second connecting arm 224. For example, Figure 6 As shown, the first stabilizing motor and the second stabilizing motor are connected to the second connecting arm 224. The first stabilizing motor can rotate synchronously with the second stabilizing motor, so that the first stabilizing motor and the second stabilizing motor can drive the parallelogram mechanism 223 to deform together.

[0053] In some embodiments, the force transfer member 66 is a first force transfer member rotatably connected to the first stabilization motor and the parallelogram mechanism 223. In these embodiments, the load stabilization device 22 also includes a second force transfer member rotatably connected to the second stabilization motor and the parallelogram mechanism 223. The first force transfer member and the second force transfer member are symmetrically arranged on opposite sides of the parallelogram mechanism 223. For example, Figure 6 As shown, the first force transfer member and the second force transfer member are arranged on opposite outer sides of the two second protrusions 2243 of the second connecting arm 224 and close to the base 60.

[0054] In some embodiments, Figure 6 As shown, the base 60 includes a base body 10 connected to the parallelogram mechanism 223 and a base extension arm 61 extending outward from the end of the base body 10. The second support arm 228 is fixedly connected to the base body 10. The stabilization motor 62 is arranged at the base extension arm 61. In some embodiments, the base extension arm 61 is a first base extension arm, and the base also includes a second base extension arm. The second stabilization motor is arranged at the second base body extension arm extending outward from the other end of the base body 10. The first base body extension arm and the second base body extension arm are respectively bent and extended from the two ends of the base body 10 toward the side of the base body 10 close to the parallelogram mechanism 223, so that the base 60 has a U-shaped structure. In some embodiments, the base body 10, the first base extension arm and the second extension arm can be integrally formed.

[0055] Figure 7 is a perspective view of a load stabilizing device 22 according to the present invention. Figure 8 FIG. 2 is another perspective view of the load stabilizing device 22 according to the present invention. Figure 7 and 8As shown, each base extension arm 61 includes a receiving channel 61-1 for receiving the electrical signal transmission line of the corresponding stabilization motor 62. And the second base extension arm includes a receiving channel 61-1 for receiving the electrical signal transmission line of the second stabilization motor. Each receiving channel 61-1 can be arranged inside the corresponding base extension arm 61.

[0056] In some embodiments, Figure 7 and Figure 8 As shown, the base body 10 includes a receiving space 10-1 for receiving the control circuit 1000. The control circuit 1000 can be configured to control the two stabilization motors 62 and / or transmit the power signal to the two stabilization motors 62 through the electrical signal transmission lines of the two stabilization motors 62. In some embodiments, the electrical signal transmission lines of the two stabilization motors 62 can also transmit the rotation angle information of the two stabilization motors 62.

[0057] In some embodiments, Figure 7 As shown, the base body 10 also includes a through hole 10-2 connected to the receiving space 10-1. The electrical signal transmission line of the motion sensor can pass through the through hole 10-2. In some embodiments, the motion sensor may include at least one of an angle sensor or an inertial measurement unit (IMU). In some other embodiments, the motion sensor may include at least one of a sensor for measuring the motion data of the load connection part 80 or a sensor for measuring the rotation angle of the parallelogram mechanism 223. The rotation angle of the parallelogram mechanism 223 may be the angle at which the parallelogram mechanism 223 rotates relative to the base 60.

[0058] In some embodiments, Figure 7 As shown, the load connection portion 80 includes a receiving slot 80-1 for receiving a motion detection circuit. The motion detection circuit can be installed at the load connection portion 80 and is configured to measure the motion of the load connection portion 80. In some embodiments, the motion detection circuit may include a motion sensor configured to obtain motion data of the load connection portion 80. The motion sensor may include, for example, an IMU.

[0059] In some embodiments, the detection circuit may be installed at the parallelogram mechanism 223 and configured to measure the movement of the parallelogram mechanism 223. The detection circuit may include an angle sensor configured to measure the rotation angle of the parallelogram mechanism 223. In some embodiments, the angle sensor may be configured to measure the rotation angle of at least one of the first connecting arm 222 or the second connecting arm 224.

[0060] In some embodiments, the interface 87 may include a quick-release connection ( Figure 7 and Figure 8). The load connection portion 80 may be detachably connected to the load via a quick-release connection portion. In some embodiments, the interface 87 may include an electrical signal interface. The electrical signal interface may be configured to transmit an input electrical signal to the load and / or receive an output electrical signal output by the load. The input electrical signal may include at least one of a power signal or a load control signal. For example, the load control signal may be a signal for controlling a shooting operation of the load. The output electrical signal may include sensed data collected by the load. For example, the sensed data collected by the load may be an image or video captured by the load. In some embodiments, the electrical signal interface may also transmit an input signal to the gimbal 24 and / or receive an output signal output by the gimbal 24. For example, the input signal may include a power signal and / or a control command for controlling the movement of the gimbal 24. The output signal may include, for example, rotation angle information of the gimbal 24.

[0061] In some embodiments, Figure 7 As shown, parallelogram mechanism 223 includes at least one threading channel 223-1. The electric signal transmission line that is communicatively connected to the electric signal interface can be arranged in at least one threading channel 223-1. In certain embodiments, the electric signal transmission line that is electrically connected to the motion detection circuit can be arranged in at least one threading channel 223-1. In certain embodiments, at least one threading channel 223-1 can be arranged at the first connecting arm 222, at the second connecting arm 224, or between the first connecting arm 222 and the second connecting arm 224.

[0062] Reference again Figure 6 The load stabilizing device 22 further includes an elastic component 50. The elastic component 50 is configured to provide an elastic force to the connecting assembly 220. The vertical component of the elastic force generated by the elastic component 50 can be used to balance the weight of the photographic device C, the weight of the pan / tilt head 24, and / or the weight of the load stabilizing device 22.

[0063] In some embodiments, the elastic member 50 is disposed in a cavity of the connection assembly 220, the cavity being formed by the first connection arm 222 and the second connection arm 224. In some embodiments, the elastic member 50 may include a spring (e.g., a coil spring). The elastic member 50 may be mounted at the load stabilizing device 22 in various ways. For example, the end 52 of the elastic member 50 (e.g., see Figure 2 , Fig.10 , Fig.11 , Fig.14 and Fig.15 ) can be mounted on the second support arm 228 or the base body 10, and the other end 54 of the elastic member 50 (see, for example Figure 2 , Fig.10 , Fig.11 , Fig.14 and Fig.15) can be installed at the first support arm 226, the first connecting arm 222 or the second connecting arm 224, as long as the elastic member 50 can provide elastic force to balance or partially balance the weight of the load (e.g., the photographic device C, the pan / tilt head 24, etc.). In some embodiments, the position of the end 54 of the elastic member 50 can be adjusted to adjust the elastic direction of the elastic member 50.

[0064] In some embodiments, the load stabilizing device 22 further includes a switching component 41 disposed at the deformation mechanism. Fig. 9 4 is a perspective view of a switching assembly 41 according to the present invention. The switching assembly 41 may be rotatably connected to the deformation mechanism and is configured to adjust the elastic direction of the elastic component 50. Fig. 9 As shown, the switch assembly 41 includes a switch portion 42 , a switch handle 44 and a coupling member 442 .

[0065] The switch portion 42 is connected to the end 54 of the elastic member 50. The end 54 of the elastic member 50 may also be referred to as a movable end. In some embodiments, the switch portion 42 includes a crankshaft. Fig. 9 As shown, the crankshaft includes two shaft portions 423, an eccentric portion 427 and two connecting portions 425. The two shaft portions 423 are arranged at two opposite sides of the crankshaft. The eccentric portion 427 is arranged in the middle of the crankshaft and deviates from the rotation axis of the two shaft portions 423. The two connecting portions 425 extend from the two shaft portions 423 and are connected between the two shaft portions 423 and the eccentric portion 427.

[0066] like Fig. 9 As shown, the first support arm 226 also includes two shaft holes 2264 at two sides of the first support arm 226. The two shaft portions 423 can be rotatably mounted at the first support arm 226 through the shaft holes 2264. The line connecting the two shaft holes 2264 is the rotation axis of the crankshaft. The eccentric portion 427 is arranged at a distance from the rotation axis of the crankshaft, and the distance is determined by the length of the two connecting portions 425.

[0067] The eccentric portion 427 includes a notch 4272, and the end 54 of the elastic member 50 near the first support arm 226 is hooked to the notch 4272. In some embodiments, the rotatable connection between the elastic member 50 and the eccentric portion 427 can be achieved by hooking the end 54 of the elastic member 50 ( Fig. 9 The eccentric portion 427 is not shown in the figure. The end portion 54 of the elastic member 50 is hooked in the notch 4272. In this way, the position of the end portion 54 of the elastic member 50 can be changed with the rotation of the eccentric portion 427. Therefore, the elastic direction and elastic strength of the elastic member 50 can be changed, and the end portion 54 can be rotated relative to the notch 4272.

[0068] The switch knob 44 is fixedly connected to the switch portion 42, and is configured to receive an external force to drive the switch portion 42 to rotate to adjust the position of the end 54 of the elastic member 50. In some embodiments, the switch knob 44 includes a rotating portion 444. For example, a user can apply force to the rotating portion 444 to control the switch portion 42 to rotate. The rotating portion 444 can have a plate shape that is convenient for the user to rotate.

[0069] The engagement member 442 is connected to the switch handle 44 and the switch portion 42. In some embodiments, as Fig. 9 As shown, the engagement member 442 has a cylindrical shape and includes a shaft mounting hole 4422. A shaft portion 423 of the crankshaft away from the shift knob 44 can pass through the shaft hole 2264, and another shaft portion 423 close to the shift knob 44 can be inserted into the shaft mounting hole 4422.

[0070] The crankshaft can be driven to rotate by the rotating portion 444, thereby driving the end 54 of the elastic member 50 to switch between different positions. During the rotation of the crankshaft, the eccentric portion 427 and the end 54 of the elastic member 50 can stay at any position. In some embodiments, the rotating portion 444 can rotate clockwise or counterclockwise within a certain angle range, and can stably stay and remain at two extreme positions (one of the two extreme positions corresponds to the extreme position of clockwise rotation, and the other extreme position corresponds to the extreme position of counterclockwise rotation).

[0071] like Fig. 9 As shown, the deformation mechanism also includes two stoppers (or simply referred to as "stoppers") 2268. The two stoppers 2268 are arranged at an upper position and a lower position on the outer side of one side of the two side portions of the first support arm 226 close to the switching handle 44. The stopper 2268 arranged at the upper position can also be referred to as a first stopper, and the other stopper 2268 arranged at the lower position can also be referred to as a second stopper. The two stoppers 2268 are configured to keep the rotating portion 444 at a position corresponding to the normal position of the end 54 of the elastic component 50 or at a position corresponding to the reverse position of the end 54 of the elastic component 50. Due to the blocking of the stopper 2268 and the elastic force of the elastic component 50, the rotating portion 444 can be maintained at two extreme positions.

[0072] Fig.10 is a cross-sectional view of the load stabilizing device 22 according to the present invention in a first stabilizing mode. Fig.11 is a cross-sectional view of the load stabilizing device 22 according to the present invention in the second stabilizing mode. Fig.12 FIG. 2 is a side view of a load stabilizing device 22 in a first stabilizing mode according to the present invention. Fig.10As shown, the normal position of the end 54 of the elastic member 50 is closer to the second connecting arm 224 than the first connecting arm 222, and can also be referred to as the first active end position. Fig.11 As shown, the reverse position of the end 54 of the elastic member 50 is a position closer to the first connecting arm 222 than the second connecting arm 224, and may also be referred to as a second active end position.

[0073] When the end 54 is in the first movable end position, the elastic direction of the elastic component 50 is in the first elastic direction, and the first side of the engaging member 442 abuts against the first stop portion under the action of the elastic force along the first elastic direction. The first side of the engaging member 442 is the side of the engaging member 442 close to the first stop portion. When the switching portion 42 adjusts the end 54 from the first movable end position to the second movable end position, the elastic direction of the elastic component 50 is in the second elastic direction, and the second side of the engaging member 442 abuts against the second stop portion under the action of the elastic force along the second elastic direction. The second side of the engaging member 442 is the side of the engaging member 442 close to the second stop portion.

[0074] In some embodiments, the load stabilizing device 22 may have a first stabilizing mode and a second stabilizing mode corresponding to the first elastic direction and the second elastic direction of the elastic component 50. The posture of the load stabilizing device 22 in the second stabilizing mode is rotated 180 degrees in the vertical direction (i.e., reversed) compared to the posture of the load stabilizing device 22 in the first stabilizing mode. In some embodiments, the orientation of the interface 87 of the load connecting portion 80 in the first stabilizing mode may be different from the orientation of the interface 87 in the second stabilizing mode, so that the installation posture of the load carried by the load connecting portion in the first stabilizing mode may be different from the installation posture in the second stabilizing mode.

[0075] In some embodiments, the orientation of the interface 87 of the load connection portion 80 in the first stabilization mode may be opposite to the orientation of the interface 87 in the second stabilization mode, so that the installation posture in the first stabilization mode may be opposite to the installation posture in the second stabilization mode. Fig.10 As shown, when the load stabilizing device 22 is in the first stabilizing mode, the interface 87 faces downward, and the load carried by the load connecting portion 80 is in a normal posture, such as an upright installation posture. Fig.11 As shown, when the load stabilizing device 22 is in the second stabilizing mode, the interface 87 faces upward, and the load carried by the load connecting portion 80 is in a reverse posture, such as an inverted installation posture.

[0076] like Fig.10 and Fig.11As shown, the deformation mechanism may be deformable and may have multiple deformation states. For example, the multiple deformation states may include a first stabilization state and a second stabilization state. When the deformation mechanism is in the first stabilization state, the load stabilization device 22 is in a first stabilization mode. When the deformation mechanism is in the second stabilization state, the load stabilization device 22 is in a second stabilization mode.

[0077] The relative position of the first connecting arm 222 with respect to the second connecting arm 224 in the first stabilization state is different from the relative position in the second stabilization state. In some embodiments, the relative position of the first connecting arm 222 with respect to the second connecting arm 224 in the first stabilization state may be opposite to the relative position in the second stabilization state. Fig.10 As shown, in the first stabilization state, the first connecting arm 222 is above the second connecting arm 224. Fig.11 As shown, in the second stabilization state, the first connecting arm 222 is below the second connecting arm 224 .

[0078] In some embodiments, the length of the diagonal of the parallelogram mechanism 223 in the first stabilization state is different from the length of the diagonal of the parallelogram mechanism 223 in the second stabilization state. For example, the diagonal of the parallelogram mechanism 223 can be a line connecting the hinge points S1 and S4, which can be represented as S1S4 and is also referred to as a first diagonal. The second diagonal of the parallelogram mechanism 223 can be a line connecting the hinge points S2 and S3, which can be represented as S2S3. The second diagonal S2S3 intersects the first diagonal S1S4. In some embodiments, as Fig.10 As shown, in the first stabilization mode, the length of the first diagonal line S1S4 of the parallelogram mechanism 223 may be greater than the length of the second diagonal line S2S3. Fig.11 As shown, in the second stabilization mode, the length of the first diagonal line S1S4 may be shorter than the length of the second diagonal line S2S3. Fig.12 The positions of the hinge points S1, S2, S3 and S4 are shown in FIG.

[0079] In some embodiments, one or more vertex angles of the parallelogram mechanism 223 in the first stabilization mode are different from one or more vertex angles of the parallelogram mechanism 223 in the second stabilization mode. For example, the first vertex angle of the parallelogram mechanism 223 can be the angle between the line S1S3 and the line S1S2, and can be represented as angle S2S1S3. The second vertex angle of the parallelogram mechanism 223 can be the angle between the line S2S4 and the line S1S2, and can be represented as angle S1S2S4. The second vertex angle S1S2S4 is adjacent to the first vertex angle S2S1S3. In some embodiments, as Fig.10As shown, in the first stabilization mode, the first vertex angle S2S1S3 of the parallelogram mechanism 223 is smaller than the second vertex angle S1S2S4. Fig.11 As shown, in the stabilization mode, the first vertex angle S2S1S3 is greater than the second vertex angle S1S2S4.

[0080] Therefore, when the load is intended to be installed in an upright installation posture, the end 54 of the elastic component 50 can be switched to a position adjacent to the second connecting arm 224 by rotating the rotating part 444. The change in the position of the end 54 of the elastic component 50 can change the elastic direction of the elastic force to the first elastic direction. The deformation mechanism can swing upward relative to the base 60. Then, the deformation mechanism can be switched to the first stabilization state, and the load stabilization device 22 can be in the first stabilization mode. When the load is intended to be installed in an inverted installation posture, the end 54 of the elastic component 50 can be switched to a position adjacent to the first connecting arm 222 by rotating the rotating part 444. The change in the position of the end 54 of the elastic component 50 can change the elastic direction of the elastic force to the second elastic direction. The deformation mechanism can swing downward relative to the base 60. Then, the deformation mechanism can be switched to the second stabilization state, and the load stabilization device 22 can be in the second stabilization mode.

[0081] In some other embodiments, the rotating portion 444 for manual operation by the user can be omitted, and an automatic drive device (e.g., a switching motor) can be used. For example, the switching motor can be a brushless motor. The sensor can be arranged at the load connection portion 80, the connection assembly 220, the base 60, etc., and is configured to sense the posture of the load stabilizing device 22. If the load stabilizing device 22 is determined to be in the first stabilizing mode, a process can control the switching motor to switch the position of the end 54 of the elastic component 50 to the first active end position. If the load stabilizing device 22 is determined to be in the second stabilizing mode, a process can control the switching motor to switch the position of the end 54 of the elastic component 50 to the second active end position.

[0082] In some embodiments, the elastic force may include a pulling force. When the deformation mechanism is under the action of the pulling force along the first pulling direction, the deformation mechanism is in a first stabilizing state. When the switching assembly 41 adjusts the pulling direction of the elastic component 50 from the first pulling direction to the second pulling direction, the deformation mechanism can be deformed into a second stabilizing state by the pulling force along the second pulling direction. In some other embodiments, the elastic force may also include a compressive force. When the switching assembly 41 adjusts the compression direction of the elastic component 50 from the first compression direction to the second compression direction, the deformation mechanism can be deformed into a second stabilizing state by the compression force along the second compression direction.

[0083] Fig.13 and Fig.14is a schematic diagram showing a load stabilizing device 22 carrying loads having different weights. Fig.13 and Fig.14 As shown, the load stabilizing device 22 further includes an adjustment member 31. In some embodiments, the adjustment member 31 is arranged at the second support arm 228 and is configured to adjust the degree of deformation of the elastic component 50. For example, when the elastic component 50 includes a spring, the degree of deformation of the elastic component 50 may include the deformation length of the spring. The elastic force of the elastic component 50 can be adjusted by adjusting the degree of deformation of the elastic component 50.

[0084] Therefore, the adjustment member 31 can adjust the elastic force of the elastic component 50 (for example, the component of the elastic force in the vertical direction) by adjusting the deformation degree of the elastic component 50, so that the loads with different weights carried by the load stabilization device 22 can be balanced. In some embodiments, the elastic force of the elastic component 50 can remain unchanged, and the component of the elastic force in the vertical direction can be changed by adjusting the direction of the elastic force provided by the elastic component 50, so that the loads with different weights can be balanced. In some embodiments, a load with a certain weight can be balanced by adjusting the magnitude and direction of the elastic force of the elastic component 50 at the same time.

[0085] In some embodiments, the end 52 of the elastic component 50 is connected to the adjustment member 31. The adjustment member 31 can adjust the degree of deformation of the elastic component 50 by adjusting the installation position of the end 52 of the elastic component 50 under the action of an external force. When the degree of deformation of the elastic component 50 changes, the elastic component 50 can drive the load support assembly 30 to rotate relative to the base 60 to adjust the position of the load carried by the load connection portion 80 along the vertical movement stroke. For example, when the weight of the load is relatively large, the adjustment member 31 can be configured to adjust the installation position of the end 52 on the adjustment member 31 toward a first direction under the action of an external force to increase the degree of deformation of the elastic component 50. The first direction can be an upward direction or a downward direction. Therefore, the elastic component 50 can be configured to drive the load support assembly 30 to rotate relative to the base 60 along a first rotation direction in response to the adjustment member 31 being adjusted to increase the degree of deformation of the elastic component 50, so that the position of the load along the vertical direction can be adjusted upward. When the weight of the load is relatively small, the adjustment member 31 can be configured to adjust the mounting position of the end portion 52 on the adjustment member 31 toward the second direction under the action of an external force to reduce the degree of deformation of the elastic component 50. The second direction can be opposite to the first direction. Therefore, the elastic component 50 can be configured to drive the load support assembly 30 to rotate relative to the base 60 in the second rotation direction in response to the adjustment member 31 being adjusted to reduce the degree of deformation of the elastic component 50, so that the position of the load in the vertical direction can be adjusted downward. The second rotation direction can be opposite to the first rotation direction.

[0086] In some embodiments, the adjustment member 31 can balance loads with different weights by adjusting the height of the end 52 of the elastic component 50 relative to the second support arm 228. Fig.13 and Fig.14 As shown, the adjustment member 31 includes an adjustment rod 34, an adjustment sleeve 36 sleeved on the adjustment rod 34, and an operating portion 32 connected to the adjustment rod. The adjustment rod 34 can be rotatably arranged at the second support arm 228 or the base body 10. The length direction of the adjustment rod 34 is substantially parallel to the longitudinal direction of the second support arm 228. For example, the adjustment rod 34 can be arranged in a vertical direction. The adjustment rod 34 can have a cylindrical shape and have an external thread on the cylindrical surface. For example, the adjustment rod 34 can include a lead screw. The recess 2282 (for example, see Figure 6 ) may be disposed on a side of the second support arm 228 facing the first support arm 226. The adjustment rod 34 may be disposed in the recess 2282 so that the adjustment sleeve 36 may extend into the recess 2282 and be connected to the adjustment rod 34.

[0087] In some embodiments, the adjustment sleeve 36 may include a sleeve portion having an internal thread, such as a lead screw nut. The internal thread of the adjustment portion may engage with the external thread of the adjustment rod 34, so that the threaded connection between the adjustment sleeve 36 and the adjustment rod 34 may be achieved. Therefore, when the adjustment rod 34 is rotated, the adjustment sleeve 36 may be vertically moved upward and downward relative to the adjustment rod 34 and the second support arm 228.

[0088] Reference again Figure 2 In some embodiments, the adjustment sleeve 36 includes a mounting portion 365. The end 52 of the elastic member 50 may be rotatably connected to the mounting portion 365. For example, the protruding member 362 may protrude from one side of the sleeve portion. The protruding member 362 may have a cylindrical mounting portion 365. The end 52 of the elastic member 50 may be provided with a hook (not shown), and the hook may be rotatably sleeved on the mounting portion 365.

[0089] The operating portion 32 protrudes from the surface of the second support arm 228. The operating portion 32 allows the user to directly or indirectly rotate the adjustment rod 34 so as to change the position of the adjustment sleeve 36 on the adjustment rod 34. In some embodiments, the operating portion 32 may have a substantially truncated cone shape, and the outer peripheral side surface of the operating portion 32 may include a surface with a certain roughness, so that the user can more easily operate the adjustment rod 34 to rotate. It is understood that the operating portion 32 may also include an elliptical platform or a polygonal prism platform.

[0090] The connection position of the adjustment sleeve 36 and the adjustment rod 34 can be adjusted by rotating the adjustment rod 34. That is, the connection height of the end 52 of the elastic component 50 relative to the second support arm 228 can be adjusted. The elastic force of the elastic component 50 can be adjusted by adjusting the connection height of the end 52 of the elastic component 50 relative to the second support arm 228. Therefore, the load stabilizing device 22 can adjust the elastic force of the elastic component 50 according to the weight of the load. The load can be a photographic device C and a pan / tilt head 24. In some embodiments, the load can include only the photographic device C or the pan / tilt head 24.

[0091] In some embodiments, the load stabilizing device 22 further includes a position adjustment motor 38. The adjustment motor 38 can be configured to drive the adjustment rod 34 to rotate, thereby automatically adjusting the elastic force of the elastic component 50. In some embodiments, the position adjustment motor 38 can be arranged at the end of the second support arm 228. The position adjustment motor 38 can be any type of motor.

[0092] In some embodiments, in order to better achieve accurate adjustment of the position adjustment motor 38, a sensor may be provided to obtain information related to the position of the load connection portion 80. In some embodiments, the processor may be arranged at the load stabilization device 22, such as in the receiving space of the base body 10, at the receiving groove 80-1 of the load connection portion 80, etc. The processor may be configured to control the rotation of the position adjustment motor 38 according to the above information to actively adjust the force provided by the elastic component 50 to the load support assembly 30 to adapt to the weight of the load. For example, the force provided by the elastic component 50 can be adjusted so that the angle of the connection assembly 220 relative to the base 60 is maintained at a preset angle, such as 90 degrees. The preset angle can keep the first connecting arm 222 and the second connecting arm 224 in, for example, a horizontal or substantially horizontal direction, such as parallel or substantially parallel to the ground. As another example, the force provided by the elastic component 50 can be adjusted so that the load is in a preset position along the vertical motion trajectory.

[0093] In some embodiments, the sensor may include an angle sensor, which may be used to assist the processor in determining the amount and direction of rotation of the position adjustment motor 38. For example, the angle sensor is configured to detect the angle of the connection assembly 220 relative to the base 60. The position adjustment motor 38 may be configured to drive the adjustment rod 34 to rotate in one direction to move the adjustment sleeve 36 toward one end of the second support arm 228 in response to the angle sensor detecting that the angle of the connection assembly 220 relative to the base 60 is greater than 90 degrees, and to drive the adjustment rod to rotate in another direction to move the adjustment sleeve 36 toward the other end of the second support arm 228 in response to the angle sensor detecting that the angle of the connection assembly 220 relative to the base 60 is less than 90 degrees.

[0094] For example, the angle sensor may be configured to detect an angle formed between the second connecting arm 224 and the second supporting arm 228. When the load causes the second connecting arm 224 to tilt upward, as Fig.13 As shown, the angle measured by the angle sensor will be less than 90 degrees, and the processor can determine that the load is light and the adjustment sleeve 36 needs to be lowered. Adjustment is made to change the direction of the elastic force of the elastic member 50 and shorten the length of the elastic member 50. Accordingly, the processor will control the position adjustment motor 38 to rotate in a specific direction and with a specific amplitude so that the second connecting arm 224 can be perpendicular to the second supporting arm 228.

[0095] As another example, when the load causes the second connecting arm 224 to tilt downward, as shown in FIG. Fig.14 As shown, the angle measured by the angle sensor will be greater than 90 degrees, and the processor can determine that the load is heavy and the adjustment sleeve 36 needs to be raised. Adjustments are made to change the direction of the elastic force of the elastic component 50 and extend the length of the elastic component 50. Accordingly, the processor controls the position adjustment motor 38 to rotate in a specific direction and with a specific amplitude so that the second connecting arm 224 can be perpendicular to the second support arm 228. Therefore, it can be determined whether the elastic component 50 matches the load by whether the second connecting arm 224 and the second support arm 228 are vertical (that is, whether the angle measured by the angle sensor is 90 degrees). In some other embodiments, other angles can be used as a reference for determining whether the elastic component 50 matches the load, which is not limited here.

[0096] In some embodiments, multiple installation positions corresponding to multiple loads of different weights of the end 52 of the elastic component 50 connected to the adjustment assembly can be predetermined. The processor can be configured to identify the load and automatically drive the motor to adjust the end 52 of the elastic component 50 to the corresponding predetermined installation position. For example, the load can send an identification number (ID) of the load to the processor so that the processor can identify the load according to the ID.

[0097] The position of the adjustment assembly and the position of the switching assembly 41 can be interchanged. That is, in some other embodiments, the adjustment assembly can be arranged at the first support arm 226, and the switching assembly 41 can be arranged at the second support arm 228. In this way, the position of the end 52 of the elastic member 50 can be adjusted by the switching assembly 41, and the position of the end 54 of the elastic member 50 can be adjusted by the adjustment assembly.

[0098] In some embodiments, the connection assembly 220 may include a crank slider mechanism. Fig.12, the hinge point of the force transmission member 66 and the stabilization motor 62 is represented by S. The rotation center of the stabilization motor 62 is represented by R. The force transmission member 66 can be used as a slide bar in the crank slider mechanism. The line connecting the hinge point S and the rotation center R of the stabilization motor 62 can be represented by SR (non-physical structure) and is regarded as the crank of the crank slider mechanism.

[0099] Fig.15 Schematic diagram showing the working process of the crank slider mechanism according to the present invention. Fig.16 is another schematic diagram showing the working process of the crank slider mechanism according to the present invention. In some other embodiments, such as Fig.15 and Fig.16 As shown, the crank-slider mechanism includes a crank 64 ( Fig.12 line SR) and slide bar 66 (eg Fig.12 The first end of the crank 64 is connected to the stabilizing motor 62 in a coaxial rotation manner (the crank 64 rotates around the rotation center R of the stabilizing motor 62), and the second end of the crank 64 is hinged to the first end of the slide bar 66. The second end of the slide bar 66 is hinged to the second connecting arm 224 (as an example, Fig.15 and Fig.16 2) or the first connecting arm 222. The second connecting arm 224 may be rotatable relative to the second support arm 228. The stabilization motor 62 may be fixed to the second support arm 228. The crank 64 is equivalent to the wire SR.

[0100] During the rotation of the stabilizing motor 62, the second connecting arm 224 can be driven by the slide bar 66 to reciprocate up and down, and has a highest position and a lowest position. In the highest position, the crank 64 and the slide bar 66 are folded toward each other, so that they at least partially overlap to form a first dead point. In the lowest position, the crank 64 and the slide bar 66 extend in two opposite directions, so that they are connected in a straight line to form a second dead point. Therefore, there are two dead points, namely the first dead point and the second dead point corresponding to the highest position and the lowest position, respectively. At the dead point, the force transmitted to the crank 64 by the second connecting arm 224 and the slide bar 66 does not generate a torque that can cause the crank 64 to rotate.

[0101] In some embodiments, the load stabilizing device 22 further includes a first blocking member 65 and a second blocking member 67. The blocking member may also be referred to as a "block". In some embodiments, the first blocking member 65 is arranged outside the first protrusion 2223 of the first connecting arm 222, and the second blocking member 67 is arranged outside the second protrusion 2243 of the second connecting arm 224. In some other embodiments, the first blocking member 65 may be arranged at the second connecting arm 224, and the second blocking member 67 may be arranged at the first connecting arm 222.

[0102] The first blocking member 65 is configured to block the force transfer member 66 when the stabilizing motor 62 drives the force transfer member 66 through the first preset position, and the second blocking member 67 is configured to block the force transfer member 66 when the stabilizing motor 62 drives the force transfer member 66 through the second preset position. In some embodiments, the first preset position may include one of the first dead end and the second dead end, and the second preset position may include the other of the first dead end and the second dead end.

[0103] For example, the first preset position may include a first dead end, and the second preset position may include a second dead end. The elastic force of the elastic component 50 when the force transmitting member 66 is in the first preset position is smaller than the elastic force when the force transmitting member 66 is in a position other than the first preset position. The elastic force of the elastic component 50 when the force transmitting member 66 is in the second preset position is greater than the elastic force when the force transmitting member 66 is in a position other than the second preset position.

[0104] For example, the first blocking member 65 may be arranged at or near a position corresponding to the highest position. The first blocking member 65 may be arranged at the first connecting arm 222. When the stabilizing motor 62 drives the crank 64 to rotate clockwise, the second connecting arm 224 may rotate clockwise and continuously rise. Fig.15 As shown, when the crank 64 and the slide bar 66 are connected in a line (for example, partially overlap each other), the second connecting arm 224 will reach the highest position. The highest position corresponds to the clockwise limit position of the crank slide bar mechanism. If it continues to rotate a small amount in the clockwise direction, the slide bar 66 will contact the first blocking member 65.

[0105] In this case, the second connecting arm 224 at the highest position has a tendency to move downward. However, because the crank-slider mechanism has passed the clockwise limit position, the tendency of the second connecting arm 224 to move downward will be converted into a tendency for the crank 64 and the slide bar 66 to rotate clockwise. Due to the blocking of the first blocking component 65, the crank 64 and the slide bar 66 cannot continue to rotate clockwise, so that the crank 64, the slide bar 66, the second connecting arm 224, etc. can be stably fixed at the position of the first blocking component 65. Therefore, even if the stabilization motor 62 is powered off, the state of the slide bar 66 and the load stabilization device 22 can be locked.

[0106] As another example, the second blocking member 67 may be arranged at or near a position corresponding to the lowest position. The second blocking member 67 may be arranged at the second connecting arm 224. When the stabilizing motor 62 drives the crank 64 to rotate counterclockwise, the second connecting arm 224 may rotate counterclockwise and continuously descend. Fig.16As shown, when the crank 64 and the slide bar 66 are connected in a line without overlapping, the second connecting arm 224 will reach the lowest position. The lowest position corresponds to the counterclockwise limit position of the crank slide bar mechanism. If it continues to rotate a small amount in the counterclockwise direction, the slide bar 66 will contact the second blocking member 67.

[0107] In this case, the second connecting arm 224 at the lowest position has a tendency to move upward. However, because the crank-slider mechanism has passed the counterclockwise limit position, the tendency of the second connecting arm 224 to move upward will be converted into a tendency for the crank 64 and the slide bar 66 to rotate counterclockwise. Due to the blocking of the second blocking component 67, the crank 64 and the slide bar 66 cannot continue to rotate counterclockwise, so that the crank 64, the slide bar 66, the second connecting arm 224, etc. can be stably fixed at the position of the second blocking component 67. Therefore, even if the stabilizing motor 62 is powered off, the state of the slide bar 66 and the load stabilizing device 22 can be locked.

[0108] In the normal working state of the load stabilization device 22 , the stabilization motor 62 may be configured to drive the crank 64 and the slide bar 66 to move between the highest position and the lowest position to achieve an active stabilization function in the vertical direction.

[0109] When the load stabilizing device 22 does not need to be operated, the user can manually or use the stabilizing motor 62 to rotate the second connecting arm 224 at a large angle, so that the sliding rod 66 can resist and stabilize the position of the first blocking component 65 or the second blocking component 67.

[0110] According to the present invention, the crank slider mechanism can enable the stabilizing motor 62 to drive the second connecting arm 224 to swing back and forth, and can also provide a locking function for the second connecting arm 224 when the stabilizing motor 62 is powered off.

[0111] In some embodiments, only one blocking member is provided, for example, only the first blocking member 65 or only the second blocking member 67 is provided.

[0112] In some embodiments, a blocking component may be arranged at the first connecting arm 222. When the stabilization motor 62 rotates to a preset angle, the transfer member abuts against the blocking component to prevent the load from moving in a specific vertical direction. For example, when the stabilization motor 62 rotates, the connection assembly 220 may rotate relative to the base 60 through the force transfer member 66, and the load carried by the load connection portion 80 may move in a vertical direction. When the stabilization motor 62 rotates to a preset angle, the force transfer member 66 abuts against the blocking component to prevent the load from moving in a specific vertical direction. In this way, when the stabilization motor 62 rotates to a preset angle, if the load or the connection assembly 220 has a tendency to move in a specific vertical direction, the load is restricted from moving in a specific vertical direction under the blocking action of the blocking component.

[0113] Other embodiments of the present invention will be apparent to those skilled in the art by consideration of the specification and practice of the embodiments disclosed herein. It is intended that the specification and described embodiments are considered to be examples only and not to limit the scope of the present invention, wherein the true scope and spirit of the present invention are indicated by the appended claims.

Claims

1. A load stabilization device, comprising: a load connection portion configured to carry a load; a connecting assembly connected to the load connecting portion; as well as a stabilization motor drivingly connected to the connection assembly and configured to drive the connection assembly to move so that the connection assembly drives the load connection portion to move translationally; as well as The control circuit is configured to control the stabilization motor so that the stabilization motor drives the load to move in a direction opposite to the vibration of the load in the direction of gravity, so that the vibration of the load in the direction of gravity can be compensated.

2. The device according to claim 1, wherein: The connection assembly includes a deformation mechanism, the deformation mechanism is drivingly connected to the stabilization motor; and The stabilization motor is configured to drive the deformation mechanism to deform.

3. The device according to claim 2, wherein: The deformation mechanism comprises: a first connecting arm; a second connecting arm; and a support arm rotatably connected to the first connecting arm and the second connecting arm, in: The load connection portion is connected to the support arm; and The stabilization motor is drivingly connected to at least one of the first connecting arm or the second connecting arm.

4. The device according to claim 3, wherein: The stabilization motor is rotatably connected to at least one of the first connecting arm and the second connecting arm.

5. The apparatus according to claim 1, further comprising: A force transmission component is movably connected to the connection assembly and the stabilization motor, so that the stabilization motor drives the connection assembly to move through the force transmission component.

6. The device according to claim 5, wherein: The connection assembly includes a deformation mechanism, and the stabilization motor drives the deformation mechanism to deform through the force transmission component.

7. The device according to claim 5, wherein: The force transfer member is rotatably connected to the stabilization motor.

8. The device according to claim 5, wherein: The force transmission component and the stabilization motor form a crank-slider mechanism.

9. The device according to claim 5, wherein: The hinged portion is arranged at the rotor of the stabilization motor; and The force transfer member is rotatably connected to the stabilization motor via the hinge portion.

10. The device according to claim 9, wherein: The hinge portion is spaced apart from a rotation axis of the stabilization motor.

11. The device according to claim 1, in, The stabilization motor is a first stabilization motor; The device also includes: A second stabilization motor, wherein the first stabilization motor and the second stabilization motor drive the connection assembly to move together.

12. The device according to claim 11, wherein The connection assembly includes a deformation mechanism; and The first stabilization motor and the second stabilization motor together drive the deformation mechanism to deform.

13. The device according to claim 12, wherein: The deformation mechanism comprises: a first connecting arm; a second connecting arm; and a support arm rotatably connected to the first connecting arm and the second connecting arm; and Each of the first stabilization motor and the second stabilization motor is connected to at least one of the first connecting arm or the second connecting arm.

14. The apparatus according to claim 13, further comprising: a first force transfer member rotatably connected to the first stabilization motor and the deformation mechanism; as well as A second force transfer member is rotatably connected to the second stabilization motor and the deformation mechanism.

15. The device according to claim 14, wherein: The first force transfer member and the second force transfer member are symmetrically arranged on opposite sides of the deformation mechanism.

16. The device according to claim 11, wherein The first stabilization motor and the second stabilization motor are symmetrically arranged on opposite sides of the deformation mechanism.

17. The device according to claim 11, wherein: The first stabilization motor rotates synchronously with the second stabilization motor.

18. The apparatus according to claim 1, further comprising: A base is connected to the connection assembly, the stabilization motor is installed at the base, and the connection assembly includes a deformation mechanism connected to the base.

19. The apparatus according to claim 1, further comprising: A motion detection circuit is installed at the load connection part, and includes a motion sensor configured to measure motion data of the load connection part.

20. The apparatus according to claim 1, further comprising: A detection circuit is configured to measure the movement of the connection component, and the detection circuit includes an angle sensor configured to measure the rotation angle of the connection component.

21. A load stabilization device, comprising: a connection assembly connected to a load connection portion, the load connection portion being configured to carry a load; a force transfer member connected to the connection assembly; a stabilization motor drivingly connected to the force transfer member and configured to drive the connection assembly to move through the force transfer member to compensate for vibration of the load in the direction of gravity; as well as A blocking component is configured to block the force transfer member when the stabilization motor drives the force transfer member to pass a preset position, so that the movement of the load in the gravity direction is locked.

22. The apparatus of claim 21, wherein: The force transmission member and the stabilization motor form a crank-slider mechanism; and The preset position is the dead point position of the crank slider mechanism.

23. The apparatus of claim 22, wherein: The preset position includes one of a first dead point and / or a second dead point of the crank connecting rod.

24. The apparatus of claim 21, wherein: The blocking component is a first blocking component; The preset position is a first preset position; and The first blocking component is configured to block the force transfer member when the stabilization motor rotates along the first rotation direction to drive the force transfer member to pass through the first preset position; The device also includes: A second blocking component is configured to block the force transfer member when the stabilization motor rotates along a second rotation direction to drive the force transfer member to pass a second preset position, and the second rotation direction is opposite to the first rotation direction.

25. The device according to claim 24, wherein: At least one of the first blocking member or the second blocking member is arranged at the connecting assembly.

26. The apparatus of claim 25, wherein: The connection component comprises: a support arm configured to be connected to the load connection portion; and a first connecting arm and a second connecting arm, which are rotatably connected to the support arm, in: The first blocking member is arranged at one of the first connecting arm and the second connecting arm; and The second blocking member is arranged at the other of the first connecting arm and the second connecting arm.

27. The device according to claim 21, wherein The blocking component is arranged at the connecting assembly.

28. The apparatus of claim 21, wherein: The hinged portion is arranged at the rotor of the stabilization motor; and The force transfer member is movably connected to the rotor of the stabilization motor through the hinge portion.

29. The device according to claim 28, wherein The hinge portion is spaced apart from a rotation axis of the stabilization motor.

30. The apparatus of claim 21, wherein: The connecting assembly includes a deformation mechanism; The force transfer member is movably connected to the deformation mechanism and the stabilization motor; and The stabilization motor is configured to drive the deformation mechanism to deform through the force transmission component.

31. The device according to claim 30, wherein The force transfer member is rotatably connected to the deformation mechanism, and / or the force transfer member is rotatably connected to the stabilization motor.

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